[vcpkg baseline][rbdl-orb/rbdl/ptex] file conflicts, skip rbdl-orb in CI testing

[PhoebeHui]

Related to #19369

Changes:

1. rbdl-orb and rbdl are conflicts, from https://github.com/ORB-HD/rbdl-orb, the two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints. It tends to be conflict, instead of depending on each other.

2. ptex: Add DISABLE_PARALLEL_CONFIGURE to ptex to disable parallel.

Failures:
rbdl-orb:

The following files are already installed in D:/installed/x86-windows and are in conflict with rbdl-orb:x86-windows

Installed by rbdl:x86-windows
    debug/lib/pkgconfig/rbdl.pc
    debug/lib/rbdl.lib
    include/rbdl/Body.h
    include/rbdl/Constraints.h
    include/rbdl/Dynamics.h
    include/rbdl/Joint.h
    include/rbdl/Kinematics.h
    include/rbdl/Logging.h
    include/rbdl/Model.h
    include/rbdl/Quaternion.h
    include/rbdl/SpatialAlgebraOperators.h
    include/rbdl/compileassert.h
    include/rbdl/rbdl.h
    include/rbdl/rbdl_config.h
    include/rbdl/rbdl_eigenmath.h
    include/rbdl/rbdl_math.h
    include/rbdl/rbdl_mathutils.h
    include/rbdl/rbdl_utils.h
    lib/pkgconfig/rbdl.pc
    lib/rbdl.lib

ptex:

CMake Error at src/ptex/CMakeLists.txt:7 (configure_file):
  File exists

cc @ju6ge

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All manifest files must be formatted

./vcpkg format-manifest ports/*/vcpkg.json

Diff

diff --git a/ports/rbdl/vcpkg.json b/ports/rbdl/vcpkg.json
index 235ccf9..ff8d8a9 100644
--- a/ports/rbdl/vcpkg.json
+++ b/ports/rbdl/vcpkg.json
@@ -1,18 +1,18 @@
-{
-  "name": "rbdl",
-  "version": "2.6.0",
-  "port-version": 1,
-  "description": "Rigid Body Dynamics Library",
-  "homepage": "https://github.com/rbdl/rbdl",
-  "dependencies": [
-    "eigen3",
-    {
-      "name": "vcpkg-cmake",
-      "host": true
-    },
-    {
-      "name": "vcpkg-cmake-config",
-      "host": true
-    }
-  ]
-}
+{
+  "name": "rbdl",
+  "version": "2.6.0",
+  "port-version": 1,
+  "description": "Rigid Body Dynamics Library",
+  "homepage": "https://github.com/rbdl/rbdl",
+  "dependencies": [
+    "eigen3",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

After committing all other changes, the version database must be updated

git add -u && git commit
git checkout 57bd7102d9fd880daa1b0958692294c4a125f6d8 -- versions
./vcpkg x-add-version --all

Diff

diff --git a/versions/baseline.json b/versions/baseline.json
index 19650fa..d31106b 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -5526,11 +5526,11 @@
     },
     "rbdl": {
       "baseline": "2.6.0",
-      "port-version": 0
+      "port-version": 1
     },
     "rbdl-orb": {
       "baseline": "3.0.0",
-      "port-version": 0
+      "port-version": 1
     },
     "re2": {
       "baseline": "2020-10-01",
diff --git a/versions/r-/rbdl-orb.json b/versions/r-/rbdl-orb.json
index 0b2c7b6..1afbf1e 100644
--- a/versions/r-/rbdl-orb.json
+++ b/versions/r-/rbdl-orb.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "1e77ee2fd726ac065e9ff20498d0131afe5b5ebe",
+      "version": "3.0.0",
+      "port-version": 1
+    },
     {
       "git-tree": "d475aade9be86281a6db741ee68e30a23d0f16d3",
       "version": "3.0.0",
diff --git a/versions/r-/rbdl.json b/versions/r-/rbdl.json
index 2091d05..91a7b20 100644
--- a/versions/r-/rbdl.json
+++ b/versions/r-/rbdl.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "d25d0be759a7f9007d0d6ed8b7927bff0bbe365e",
+      "version": "2.6.0",
+      "port-version": 1
+    },
     {
       "git-tree": "c2823f8341acd1e564485661989fb3780a6b4a2a",
       "version-string": "2.6.0",

[dg0yt]

👍

[ju6ge]

@PhoebeHui jup that is correct, to give a little context: Our research group has been writing patches and fixing bugs for rbdl. rbdl was originally developed by Martin Felis at our research group, after he left the original version has not changed very much. Since rbdl is heavily used in our group with time we have had the need to update rbdl with new features, removing bugs and in general making rbdl easier to use and less error prone. Sadly trying to upstream these features has lead no where. This means the two version "conflict" in the sense that they can't be installed at the same time, but anything that works with the original rbdl should also be able to just use 'rbdl-orb' without needing to change the code much. Also unlike the port of rbdl, rbdl-orb does contain some of the addons that are also present in the original version but for some reason are not included in the port. The addons enable some very important features such as reading in a model from urdf or lua files, which is important if you want to write code that can be used with multiple different models. Hopefully at some future point we will be able to have a single version of rbdl again, but at the moment this seems unlikely.

Anyway marking the two libraries as conflicting seems like the correct move here.

Kind regards,
ju6ge

[PhoebeHui]

@ju6ge, thanks for confirming this!