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

Merge pull request #588 from lmontaut/topic/misc-cpatch #758

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Run time

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Job	Run time
CI on ubuntu / py 3.8 with pip	13m 41s
CI on ubuntu / py 3.9 with pip	13m 19s
CI on ubuntu / py 3.10 with pip	13m 45s
CI on ubuntu / py 3.11 with pip	13m 30s
CI on ubuntu / py 3.12 with pip	13m 30s
CI on macos / py 3.9 with pip	6m 37s
CI on macos / py 3.10 with pip	6m 41s
CI on macos / py 3.11 with pip	7m 37s
CI on macos / py 3.12 with pip	6m 25s
	1h 35m 5s