Fix Python 3 doc generation

Fix packaging of the project

Co-authored-by: Joseph Mirabel <josephmirabel@gmail.com>

Compilation on Windows.

Because using its .pc would not work on Windows, and its -config.cmake
is broken.

While here remove switch for assimp < 2.0, as assimp v3 is from 2014.

Assimp seems to not be well packaged :(

Boost is not exported. Use full path instead.

[CMake] Install missing header.

Add collide and distance prototype that update the GJK guess.

Add support function cached guess in queries and merge query attribute.

Add function to generate the convex hull.

Add hint to the support function + Fix usage of GJK guess.