release: Update CHANGELOG.md for 2.4.0

CHANGELOG.md

@@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+## [2.4.0] - 2023-11-27
+
 ### Added
 - Add method to `CollisionObject` to get `CollisionGeometry` raw pointer
 
@@ -431,7 +433,8 @@ Now Eigen is at the heart of linear algebra computations.
 First release
 
 
-[Unreleased]: https://github.com/humanoid-path-planner/hpp-fcl/compare/v2.3.7...HEAD
+[Unreleased]: https://github.com/humanoid-path-planner/hpp-fcl/compare/v2.4.0...HEAD
+[2.4.0]: https://github.com/humanoid-path-planner/hpp-fcl/compare/v2.3.7...v2.4.0
 [2.3.7]: https://github.com/humanoid-path-planner/hpp-fcl/compare/2.3.6...v2.3.7
 [2.3.6]: https://github.com/humanoid-path-planner/hpp-fcl/compare/v2.3.5...v2.3.6
 [2.3.5]: https://github.com/humanoid-path-planner/hpp-fcl/compare/v2.3.4...v2.3.5