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

Merge pull request #574 from lmontaut/topic/multi-contact-points #723

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Run time

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Job	Run time
CI on ubuntu / py 3.8 with pip	13m 23s
CI on ubuntu / py 3.9 with pip	13m 39s
CI on ubuntu / py 3.10 with pip	14m 12s
CI on ubuntu / py 3.11 with pip	13m 7s
CI on ubuntu / py 3.12 with pip	13m 34s
CI on macos / py 3.8 with pip	55s
CI on macos / py 3.9 with pip	6m 51s
CI on macos / py 3.10 with pip	43s
CI on macos / py 3.11 with pip	7m 59s
CI on macos / py 3.12 with pip	26s
	1h 24m 49s