Fix various Python wheel generation issues

[kylc]

• Fix numpy at <2.0 because Boost-Python does not support numpy>=2.0 as of Boost-1.86. See this issue; the fix will likely be included in 1.87: Compilation failure using numpy 2.0.0b1 boostorg/python#431
• Use the new Github Mac M1 runner when building the arm64 wheel. This makes that target a native build instead of a cross-compile.
  • This requires some additional logic to find the system clang++ executable. I don't have a Mac so I can't test a better solution, but it could probably be cleaned up.
• Work around a error: no member named 'piecewise_construct' in namespace 'std'; error on MacOS by bumping Boost dependency version. See: Boost 1.79.0 errors using Xcode 15.3: upgrade to 1.84.0+ NREL/OpenStudio#5229
• Fix a CastXML build error complaining about missing the clang resource directory.
• Silence a CMake warning when using CMake>=3.30 caused by the removal of FindBoost (https://cmake.org/cmake/help/latest/policy/CMP0167.html)

@zkingston I also pulled in your changes to fix an error in the Python binding generation due to the recent changes in include paths. These affected the CI wheel generation too, but I can wait and rebase if you want to merge those separately.

Follow here to see a successful CI build: https://github.com/kylc/ompl/actions/runs/10998657273

[zkingston]

Thanks @kylc! Happy to have those changes I made put here. Something we might also want to consider is dropping the pinned version of pygccxml, and forcing only clang to be used as the compiler for the bindings (since castxml is not playing nice with modern gcc). See:

• 8caf571#diff-dd108539255863968fda1b52f8d1908bde57908f32f93d1beb58652aa06b05bdR6
• 8caf571#diff-60f7d754a0c159e4789a1ac359dc6552c6187ec903af6e6c3af43232be7449a8R55

[zkingston]

LGTM. Not sure what is going on with the failed Mac build - cannot replicate that on my local machine.

[zkingston]

Probably want to have this be a variable with the found clang executable, not explicitly hardcoding this path.

[zkingston]

Maybe move the below clang search to above?

[kylc]

Now that we build the macos/arm64 target natively instead of cross-compiling, it seem like we can use the system clang installation instead of the one from homebrew. The clang binary search logic is now gone in c817f36.

I've replaced this bit with a shutil.where("clang++") in 8740aa8.

[kylc]

Pulled in your changes mostly as-is. I also bumped the CastXML version in case that separately resolves the GCC issues; I see some GCC-related commits recently in the CastXML repo.

Will remove the WIP commit after the wheel job succeeds on my fork and then we can get this merged. Follow: https://github.com/kylc/ompl/actions/runs/11002295331

If you can take a look at ompl/pyplusplus#2, it fixes some errors with the Python bindings on MacOS that have been reported as issues here.

[zkingston]

Mark got there before me, but looks good to go!

[kylc]

Thanks, ready to merge!