cmake: bump minimum cmake version to 3.10

[leleneme]

This pull request gets rid of this warning:

CMake Deprecation Warning at CMakeLists.txt:14 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
  to tell CMake that the project requires at least <min> but has been updated
  to work with policies introduced by <max> or earlier.

It is also worth noting that the project does not build on the latest release tag release-3.2.0 on the latest release of CMake, since version 4.0 drops compatibility with CMake < 3.5 completely (mentioned in issue #96).