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Add PCH support for faster compilations

Waqar Ahmed requested to merge work/pch into master

Can be enabled using cmake -DBUILD_PCH=ON ..

Before

real    2m2.740s
user    14m14.116s
sys     1m30.621s

After

real    1m23.822s
user    9m20.945s
sys     1m10.903s

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