[math/{py-,}pinocchio] Update to v2.6.21

    ## [2.6.21] - 2023-11-27

    ### Added

    - Add inverse dynamics (`rnea`) Python and C++ example ([2083](stack-of-tasks/pinocchio#2083))
    - Add visualization of Frames in MeshCat viewer ([2098](stack-of-tasks/pinocchio#2098))

    ### Fixed

    - Re-initialize `Ycrb[0]` in `crbaMinimal` ([2040](stack-of-tasks/pinocchio#2040))
    - Fix custom scalar use in `log` function ([2047](stack-of-tasks/pinocchio#2047))
    - Raise exception on wrong input size in `XYZQUATToSE3` Python binding function ([2073](stack-of-tasks/pinocchio#2073))
    - Remove memory leak in `buildGeomFromUrdf` and `buildGeomFromUrdfString` Python binding functions ([2082]()stack-of-tasks/pinocchio#2082)
    - Fix Panda3D viewer examples ([2087](stack-of-tasks/pinocchio#2087))
    - Fix centroidal dynamics derivatives with respect to time ([2094](stack-of-tasks/pinocchio#2094)))

    ### Changed

    - Rename freeflyer_joint to root_joint in `humanoid` sample model ([2043](stack-of-tasks/pinocchio#2043))
    - CMake minimal version is now 3.10 ([2055](stack-of-tasks/pinocchio#2055))
    - Split headers and sources in different directories to have a more standard C++ project ([2070](stack-of-tasks/pinocchio#2070))

    ### Removed

    - Remove support to `hpp-fcl` < v2.0.0 ([2086](stack-of-tasks/pinocchio#2086))

    ## Packaging changes

    - removed patches ad, ae: fixed upstream 🎉
    - updated patches af, ah, an
    - added patch ao

math/pinocchio/Makefile

@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		2.6.20
+VERSION=		2.6.21
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics

math/pinocchio/distinfo

@@ -1,6 +1,5 @@
-SHA1 (pinocchio-2.6.20.tar.gz) = 7decb3e305346dbdf3107fad0499f4c89f50dbc5
-RMD160 (pinocchio-2.6.20.tar.gz) = 9ee7c0144a65662a6a5197d7742ae9c5b1151757
-Size (pinocchio-2.6.20.tar.gz) = 63274887 bytes
-SHA1 (patch-ad) = 163b59351345bfac5928eb58752e89c6742fcf4a
-SHA1 (patch-ae) = 246e96d117ba8119cad42c954b8b125edc4095e0
-SHA1 (patch-an) = 2ce211d9ebe2c8fad0cdf0366826262a5cb8de0d
+SHA1 (pinocchio-2.6.21.tar.gz) = be3fb8ba663703a4dbb340a3478ce9382502a3c2
+RMD160 (pinocchio-2.6.21.tar.gz) = 418e7d173a7053a1ea6bbffddbbf4fb5c1785fea
+Size (pinocchio-2.6.21.tar.gz) = 62788418 bytes
+SHA1 (patch-an) = fae437ed4e631debeee19e2aeb11932658bcd5ae
+SHA1 (patch-ao) = 1159bb5ef693a8d1a9fc0d82ab181238cafc9c04

math/pinocchio/patches/patch-an

@@ -1,16 +1,9 @@
---- CMakeLists.txt.orig	2022-08-16 10:40:17.000000000 +0200
-+++ CMakeLists.txt	2022-08-16 10:44:13.150033099 +0200
-@@ -176,26 +176,10 @@
-   MESSAGE(STATUS "Pinocchio won't be compiled with its Python bindings. If you want to enable this feature, please set the option BUILD_PYTHON_INTERFACE to ON.")
- ENDIF(BUILD_PYTHON_INTERFACE)
-
--IF(BUILD_WITH_HPP_FCL_SUPPORT)
-   ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
-   LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
-   ADD_PROJECT_DEPENDENCY(hpp-fcl 1.7.3 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 1.7.3")
--  # Check whether hpp-fcl python bindings are available.
--  SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
--  IF(BUILD_PYTHON_INTERFACE)
+--- CMakeLists.txt.orig	2023-11-27 22:54:41.000000000 +0100
++++ CMakeLists.txt	2023-11-29 12:16:04.396391509 +0100
+@@ -184,17 +184,7 @@
+   # Check whether hpp-fcl python bindings are available.
+   SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
+   IF(BUILD_PYTHON_INTERFACE)
 -    EXECUTE_PROCESS(COMMAND ${PYTHON_EXECUTABLE} -c "import hppfcl"
 -      RESULT_VARIABLE _hpp_fcl_python_bindings_not_found
 -      OUTPUT_QUIET
@@ -22,8 +15,6 @@
 -      MESSAGE(STATUS "hpp-fcl Python bindings NOT found.")
 -    ENDIF()
 -    UNSET(_hpp_fcl_python_bindings_not_found)
--  ENDIF(BUILD_PYTHON_INTERFACE)
--ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
+   ENDIF(BUILD_PYTHON_INTERFACE)
+ ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
- # Enforce the preprocessed version of boost::list and boost::vector
- # This information is redundant with the content of include/pinocchio/container/boost-container-limits.hpp

math/pinocchio/patches/patch-ao

@@ -0,0 +1,16 @@
+Install python headers
+
+--- CMakeLists.txt.orig	2023-11-27 22:54:41.000000000 +0100
++++ CMakeLists.txt	2023-11-29 13:51:42.402143222 +0100
+@@ -245,11 +245,9 @@
+ LIST(APPEND ${PROJECT_NAME}_HEADERS
+   ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS}
+   )
+-IF(BUILD_PYTHON_INTERFACE)
+   LIST(APPEND ${PROJECT_NAME}_HEADERS
+     ${${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS}
+     )
+-ENDIF(BUILD_PYTHON_INTERFACE)
+
+ # Macros to update sources path in subdirs
+ FUNCTION(REMOVE_PATH_FROM_LIST list_name path_name dest_list)

math/py-pinocchio/Makefile

@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		2.6.20
+VERSION=		2.6.21
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics (python bindings)

math/py-pinocchio/distinfo

@@ -1,8 +1,7 @@
-SHA1 (pinocchio-2.6.20.tar.gz) = 7decb3e305346dbdf3107fad0499f4c89f50dbc5
-RMD160 (pinocchio-2.6.20.tar.gz) = 9ee7c0144a65662a6a5197d7742ae9c5b1151757
-Size (pinocchio-2.6.20.tar.gz) = 63274887 bytes
-SHA1 (patch-ae) = 246e96d117ba8119cad42c954b8b125edc4095e0
-SHA1 (patch-af) = 4723e537c63705de73d76d1ba6eaf0c700fd060d
+SHA1 (pinocchio-2.6.21.tar.gz) = be3fb8ba663703a4dbb340a3478ce9382502a3c2
+RMD160 (pinocchio-2.6.21.tar.gz) = 418e7d173a7053a1ea6bbffddbbf4fb5c1785fea
+Size (pinocchio-2.6.21.tar.gz) = 62788418 bytes
+SHA1 (patch-af) = 9b5ce426d4e373598310f9861eb05247d4ab5e30
 SHA1 (patch-ag) = 1c6dd98f92528773698a835c19e1e5d0700306cb
-SHA1 (patch-ah) = 566ff11ca51e9cb1d2c6a363d033633c75248b00
+SHA1 (patch-ah) = 96b1b614a62b92e0077d803a8bf52548572c733d
 SHA1 (patch-ak) = 13d5a86b847b0e5ca1eb3c43fb18986e0ccf6272