[dartsim] Add new port

[traversaro]

Describe the pull request

• What does your PR fix? This PR adds a new port for the DART (Dynamic Animation and Robotics Toolkit) library, a articulated body simulated library used in Robotics and Graphics (http://dartsim.github.io/). Fix [New Port Request] Dynamic Animation and Robotics Toolkit (DART) #10015 .

• Which triplets are supported/not supported? Have you updated the CI baseline?
  As far as I know all the triplet should be supported.

• Does your PR follow the maintainer guide?
  Yes

[traversaro]

Apparently this need a bit more work, marking it as WIP.

[PhoebeHui]

The second patch failed to apply, could you update it?

Checking patch cmake/DARTMacros.cmake...
error: while searching for:
endif()
else()
set(HAVE_${variable} FALSE CACHE BOOL "Check if ${variable} found." FORCE)
if(ARGV3) # version
message(WARNING "Looking for ${dependency} - NOT found, to use"
" ${component}, please install ${dependency} (>= ${ARGV3})")
else()
message(WARNING "Looking for ${dependency} - NOT found, to use"
" ${component}, please install ${dependency}")
endif()
return()
endif()

error: patch failed: cmake/DARTMacros.cmake:135
error: cmake/DARTMacros.cmake: patch does not apply

[traversaro]

Yes, I already fixed it locally, I need to push it upstream, but the port is still blocked by #12795 .

[traversaro]

Yes, I already fixed it locally, I need to push it upstream, but the port is still blocked by #12795 .

#12795 has been merged, I just rebased the PR on the top of the latest master.

[traversaro]

The PR is now failing due to the error:

FAILED: dart/utils/CMakeFiles/dart-utils.dir/XmlHelpers.cpp.o 
/usr/bin/c++  -DBOOST_TEST_DYN_LINK -I/mnt/vcpkg-ci/buildtrees/dartsim/src/v6.9.4-8a922c6dbc.clean -I. -isystem /mnt/vcpkg-ci/installed/x64-linux/share/eigen3/../../include/eigen3 -isystem /mnt/vcpkg-ci/installed/x64-linux/include -fPIC -Wall -Wextra -fPIC -g -fno-omit-frame-pointer -fno-inline-functions -fno-inline-functions-called-once -fno-optimize-sibling-calls -MD -MT dart/utils/CMakeFiles/dart-utils.dir/XmlHelpers.cpp.o -MF dart/utils/CMakeFiles/dart-utils.dir/XmlHelpers.cpp.o.d -o dart/utils/CMakeFiles/dart-utils.dir/XmlHelpers.cpp.o -c /mnt/vcpkg-ci/buildtrees/dartsim/src/v6.9.4-8a922c6dbc.clean/dart/utils/XmlHelpers.cpp
In file included from /mnt/vcpkg-ci/installed/x64-linux/include/boost/lexical_cast/detail/converter_lexical_streams.hpp:63:0,
                 from /mnt/vcpkg-ci/installed/x64-linux/include/boost/lexical_cast/detail/converter_lexical.hpp:54,
                 from /mnt/vcpkg-ci/installed/x64-linux/include/boost/lexical_cast/try_lexical_convert.hpp:44,
                 from /mnt/vcpkg-ci/installed/x64-linux/include/boost/lexical_cast.hpp:32,
                 from /mnt/vcpkg-ci/buildtrees/dartsim/src/v6.9.4-8a922c6dbc.clean/dart/utils/XmlHelpers.cpp:38:
/mnt/vcpkg-ci/installed/x64-linux/include/boost/lexical_cast/detail/inf_nan.hpp:34:10: fatal error: boost/math/special_functions/sign.hpp: No such file or directory
 #include <boost/math/special_functions/sign.hpp>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

That is probably due to #8753 . However, an obvious workaround is to add an explicit dependency on boost-math.

[traversaro]

The CI tests are now running correctly.

[PhoebeHui]

The changes looks good to me, thanks for your contribution!

[ras0219-msft]

Thanks!

[jslee02]

Shouldn't this version be 6.9.4 to match the one in portfile.cmake?

[traversaro]

Good catch @jslee02, I am not sure how the 9.4.0 ended there, probably when I migrated from the CONTROL file to the new vcpkg.json I copied an existing file and I forgot to update the version. A fix for this is in #13550 , let's hope the jump backword in version is not creating problems.

[jslee02]

Thanks for the quick patch!