Build hpp-fcl for Mac OS X/Linux via pip

Compute multiple contact points/contact surfaces #722

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Run time

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Job	Run time
CI on ubuntu / py 3.8 with pip	13m 45s
CI on ubuntu / py 3.9 with pip	13m 41s
CI on ubuntu / py 3.10 with pip	16m 20s
CI on ubuntu / py 3.11 with pip	13m 42s
CI on ubuntu / py 3.12 with pip	17m 13s
CI on macos / py 3.8 with pip	51s
CI on macos / py 3.9 with pip	8m 17s
CI on macos / py 3.10 with pip	8m 13s
CI on macos / py 3.11 with pip	7m 8s
CI on macos / py 3.12 with pip	10m 35s
	1h 49m 45s