Update to v4.0.0

[traversaro]

Thanks to @glebbelov we have a new release of ampl-mp: https://github.com/ampl/mp/releases/tag/v4.0.0 . This issue tracks adding support for it.

As suggest by AMPL, ideally we should also package ASL as a separate project (https://github.com/ampl/asl), so that projects that depends on asl (like ipopt, fyi @conda-forge/ipopt) can just depend on it instead of depending on the whole ampl-mp.

Hopefully this should enabling having Windows builds, and finally fixing conda-forge/ipopt-feedstock#55 .