[Bindings] Remove static SofaInitializer, call unload into each respective module and clear cache

[fredroy]

Was
A small experiment (successful?) about unloading module when they themselves are unloaded~~
Also should help fix the shenanigans about #425 and sofa-framework/sofa#4828

This PR:

• Fix import Sofa does not cleanup #429
• Add cleanup to core and ensure that the cleanup happens in runSofa #425
• in Windows/MSVC, fix quitting when using python3 as interpreter

output before:

$ python
Python 3.10.5 (tags/v3.10.5:f377153, Jun  6 2022, 16:14:13) [MSC v.1929 64 bit (AMD64)] on win32
Type "help", "copyright", "credits" or "license" for more information.
>>> import Sofa
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: D:\sofa\build\current
Warning: environment variable SOFAPYTHON3_ROOT is empty. Trying to guess it.
Guessed SOFAPYTHON3_ROOT: D:\sofa\build\current
Detected SOFA development build
Detected SofaPython3 development build
Found Sofa.Helper.dll in D:\sofa\build\current\bin\RelWithDebInfo
Found SofaPython3.dll in D:\sofa\build\current\bin\RelWithDebInfo
---------------------------------------
>>> quit()
[WARNING] [Sofa.Simulation.Graph] the library has not been cleaned up (sofa::simulation::graph::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaSimulationCommon] the library has not been cleaned up (sofa::simulation::common::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaSimulationCore] the library has not been cleaned up (sofa::simulation::core::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaCore] the library has not been cleaned up (sofa::core::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaDefaultType] the library has not been cleaned up (sofa::defaulttype::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaHelper] the library has not been cleaned up (sofa::helper::cleanup() has never been called, see sofa/helper/init.h)

output after:

$ python
Python 3.10.5 (tags/v3.10.5:f377153, Jun  6 2022, 16:14:13) [MSC v.1929 64 bit (AMD64)] on win32
Type "help", "copyright", "credits" or "license" for more information.
>>> import Sofa
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: D:\sofa\build\current
Warning: environment variable SOFAPYTHON3_ROOT is empty. Trying to guess it.
Guessed SOFAPYTHON3_ROOT: D:\sofa\build\current
Detected SOFA development build
Detected SofaPython3 development build
Found Sofa.Helper.dll in D:\sofa\build\current\bin\RelWithDebInfo
Found SofaPython3.dll in D:\sofa\build\current\bin\RelWithDebInfo
---------------------------------------
>>> quit()
[INFO]    [SofaPython3.Simulation] Sofa.Simulation unload()
[INFO]    [SofaPython3.Core] Sofa.Core unload()
[INFO]    [SofaPython3.Helper] Sofa.Helper unload()

Thanks to https://pybind11.readthedocs.io/en/stable/advanced/misc.html#module-destructors

[alxbilger]

Sounds good 👍