README: simplify generic compilation instructions

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Simply launch the configure script from a terminal:
```sh
./configure
```
If you have MATLAB, you need to indicate the MATLAB location using the `with-matlab` flag. For example, on GNU/Linux:
```sh
./configure --with-matlab=/usr/local/MATLAB/R2019a
./configure --with-matlab=<…>
```
where the path to MATLAB is specified.
Some important options:
- `--disable-matlab`: skip the compilation of MEX files for MATLAB
- `--disable-octave`: skip the compilation of MEX files for Octave
- `--disable-doc`: skip the compilation of the documentation (PDF and HTML)
- `CFLAGS="-O3" CXXFLAGS="-O3"`: don't compile the C/C++ programs with debugging information
- `MATLAB_MEX_CFLAGS="-O3" MATLAB_MEX_CXXFLAGS="-O3"`: remove debugging information for MATLAB MEX functions
You may need to specify additional options to the configure script, see the output of the `--help` option, and also the platform specific instructions below. If the configuration goes well, the script will tell you which components are correctly configured and will be built.
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