[dartsim] Add new port (#13320)

* [dartsim] Add new port

* Update vcpkg.json

* Update vcpkg.json

* Update vcpkg.json

ports/dartsim/1478.patch

@@ -0,0 +1,25 @@
+From 6d03ee61c38e2b07b2dbb85f0ba61d2a76956e3b Mon Sep 17 00:00:00 2001
+From: Steve Peters <scpeters@openrobotics.org>
+Date: Fri, 24 Jul 2020 17:24:42 -0700
+Subject: [PATCH] Don't force CMAKE_INSTALL_PREFIX on windows
+
+Fixes #1477.
+
+Signed-off-by: Steve Peters <scpeters@openrobotics.org>
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 6552bedc162..47df721559b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -51,7 +51,7 @@ initialize_component_helpers(${PROJECT_NAME})
+ 
+ # System install paths on Windows
+ if(WIN32)
+-  set(CMAKE_INSTALL_PREFIX "C:/Golems" CACHE PATH "Install prefix" FORCE)
++  set(CMAKE_INSTALL_PREFIX "C:/Golems" CACHE PATH "Install prefix")
+ endif()
+ 
+ #===============================================================================

ports/dartsim/1497.patch

@@ -0,0 +1,50 @@
+From 9fde9124927789ca2399f99c1be9b101ed1e8550 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio.traversaro@iit.it>
+Date: Thu, 3 Sep 2020 17:28:01 +0200
+Subject: [PATCH] CMake: Add DART_SKIP_<dep> advanced option
+
+Add DART_SKIP_<dep> option to permit to specify that
+a dependecy should not used even if it is found in the system.
+---
+ cmake/DARTMacros.cmake | 21 ++++++++++++++-------
+ 1 file changed, 14 insertions(+), 7 deletions(-)
+
+diff --git a/cmake/DARTMacros.cmake b/cmake/DARTMacros.cmake
+index 8b1a89292ee..409b02bd742 100644
+--- a/cmake/DARTMacros.cmake
++++ b/cmake/DARTMacros.cmake
+@@ -127,7 +127,9 @@ endfunction()
+ 
+ #===============================================================================
+ macro(dart_check_optional_package variable component dependency)
+-  if(${${variable}_FOUND})
++  option(DART_SKIP_${variable} "If ON, do not use ${variable} even if it is found." OFF)
++  mark_as_advanced(DART_SKIP_${variable})
++  if(${${variable}_FOUND} AND NOT ${DART_SKIP_${variable}})
+     set(HAVE_${variable} TRUE CACHE BOOL "Check if ${variable} found." FORCE)
+     if(DART_VERBOSE)
+       message(STATUS "Looking for ${dependency} - version ${${variable}_VERSION}"
+@@ -135,12 +137,17 @@ macro(dart_check_optional_package variable component dependency)
+     endif()
+   else()
+     set(HAVE_${variable} FALSE CACHE BOOL "Check if ${variable} found." FORCE)
+-    if(ARGV3) # version
+-      message(STATUS "Looking for ${dependency} - NOT found, to use"
+-                      " ${component}, please install ${dependency} (>= ${ARGV3})")
+-    else()
+-      message(STATUS "Looking for ${dependency} - NOT found, to use"
+-                      " ${component}, please install ${dependency}")
++    if(NOT ${${variable}_FOUND})
++      if(ARGV3) # version
++        message(STATUS "Looking for ${dependency} - NOT found, to use"
++                        " ${component}, please install ${dependency} (>= ${ARGV3})")
++      else()
++        message(STATUS "Looking for ${dependency} - NOT found, to use"
++                        " ${component}, please install ${dependency}")
++      endif()
++    elseif(${DART_SKIP_${variable}} AND DART_VERBOSE)
++      message(STATUS "Not using ${dependency} - version ${${variable}_VERSION}"
++                     " even if found because DART_SKIP_${variable} is ON.")
+     endif()
+     return()
+   endif()

ports/dartsim/portfile.cmake

@@ -0,0 +1,40 @@
+# Shared library support is broken upstream (https://github.com/dartsim/dart/issues/1005#issuecomment-375406260)
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO dartsim/dart
+    REF v6.9.4
+    SHA512 a9e8712a294286772ee1e3c3899aac7d202f1d3c2b9242ebeaddb2a142787b192d5421a6e3f889dd9ff9ca9e9106b1f893a0c8ab2e1656b04fac6d0be13494ba
+    HEAD_REF release-6.9
+    PATCHES 1478.patch
+            1497.patch
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS -DDART_VERBOSE=ON
+            -DDART_MSVC_DEFAULT_OPTIONS=ON
+            -DDART_SKIP_DOXYGEN=ON
+            -DDART_SKIP_FLANN=ON
+            -DDART_SKIP_IPOPT=ON
+            -DDART_SKIP_NLOPT=ON
+            -DDART_SKIP_OPENGL=ON
+            -DDART_SKIP_pagmo=ON
+)
+
+vcpkg_install_cmake()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH share/dart/cmake TARGET_PATH share/dart)
+
+# Remove pkg-config file as they are broken upstream (https://github.com/dartsim/dart/issues/1496)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib/pkgconfig)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/share/doc)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
+
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/dartsim RENAME copyright)
+

ports/dartsim/vcpkg.json

@@ -0,0 +1,25 @@
+{
+  "name": "dartsim",
+  "version-string": "9.4.0",
+  "description": "Dynamic Animation and Robotics Toolkit",
+  "homepage": "https://dartsim.github.io/",
+  "dependencies": [
+    "assimp",
+    "boost-algorithm",
+    "boost-filesystem",
+    "boost-functional",
+    "boost-lexical-cast",
+    "boost-math",
+    "boost-optional",
+    "boost-regex",
+    "boost-system",
+    "bullet3",
+    "ccd",
+    "eigen3",
+    "fcl",
+    "octomap",
+    "ode",
+    "tinyxml2",
+    "urdfdom"
+  ]
+}