[Helper] XCode: run in Debug (and load debug plugins)

[fredroy]

Based on

• [Helper] PluginManager: support loading from Non-MSVC Multi-Configuration Build #5133

Problem: Using XCode, it was impossible to load plugins with runSofa, when the config is "Debug" (i.e plugins are suffixed with _d), which is problematic if you want to try to debug in Debug configuration.

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It appeared that the cmake statement adding the suffix

sofa/Sofa/framework/Helper/CMakeLists.txt

Line 223 in 4eda9c7

set_property(SOURCE ${SRC_ROOT}/system/PluginManager.cpp APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG "SOFA_LIBSUFFIX=_d" )

seems to not do anything with XCode.
Moreover, this cmake line is deprecated https://cmake.org/cmake/help/latest/policy/CMP0043.html
And its modern replacement

set_property(SOURCE ${SRC_ROOT}/system/PluginManager.cpp APPEND PROPERTY
 COMPILE_DEFINITIONS $<$<CONFIG:Debug>:SOFA_LIBSUFFIX=_d>
)

is NOT COMPATIBLE with XCode:

CMake Error in Sofa/framework/Helper/CMakeLists.txt:
  Xcode does not support per-config per-source COMPILE_DEFINITIONS:

    $<$<CONFIG:Debug>:SOFA_LIBSUFFIX=_d>

  specified for source:

    blabla/sofa/src/current/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp

So it means that XCode was never able to add a compile_definition for a single file.

So this PR set the suffix using the new macro which detects the configuration (from #5133)

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Note: doing this PR made me realize that it is not possible currently:

• to load a debug plugin with runSofa(more precisely Sofa.Helper) compiled in not debug
• and vice versa (loading a non-debug plugin with a debug runSofa)

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By submitting this pull request, I acknowledge that
I have read, understand, and agree SOFA Developer Certificate of Origin (DCO).

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Reviewers will merge this pull-request only if

• it builds with SUCCESS for all platforms on the CI.
• it does not generate new warnings.
• it does not generate new unit test failures.
• it does not generate new scene test failures.
• it does not break API compatibility.
• it is more than 1 week old (or has fast-merge label).