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GH-43532: [Python] Remove usage of deprecated pkg_resources in setup.py (#43602)



### Rationale for this change
Closes #43532.

### What changes are included in this PR?
Remove deprecated `pkg_resources.resource_filename('numpy', 'core/include')`, replace with `numpy.get_include()`

### Are these changes tested?
Test by CI.

### Are there any user-facing changes?
No

* GitHub Issue: #43532

Authored-by: Tai Le Manh <manhtai.lmt@gmail.com>
Signed-off-by: Antoine Pitrou <antoine@python.org>