Remove boost dependency #229
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This PR replaces #212. This work performs the minimal replacement of boost::python with pybind11. It also:
Replaces large, fragile, ad-hoc setup.py with direct running of cmake from pyproject.toml, using scikit-build-core.
Incorporates a local copy of boost/math/quaternion.hpp with trig functions removed to lift any dependency on other boost parts.
Cleans up python imports (which had absolute imports of "so3g") and replaces with relative imports within the package.
Moves the python package into a
python/so3gsubdirectory, which makes discovery by the build system easier.