Fix serialization unit test when running without Qhull support

* hpp-fcl-compat: headers

* hpp-fcl-compat: python

* hpp-fcl-compat: CMake

* hpp-fcl-compat: skip serialization

* Doc: no automoc for doxygen 1.9.8 and 1.10.0

And avoid those in conda environments

Co-authored-by: Joris Vaillant <joris.vaillant@inria.fr>

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Co-authored-by: Joris Vaillant <joris.vaillant@inria.fr>

Fix additional unsupported contact patch pair

[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/astral-sh/ruff-pre-commit: v0.4.10 → v0.5.1](https://github.com/astral-sh/ruff-pre-commit/compare/v0.4.10...v0.5.1)
- [github.com/pre-commit/mirrors-clang-format: v18.1.7 → v18.1.8](https://github.com/pre-commit/mirrors-clang-format/compare/v18.1.7...v18.1.8)