[tbb, pagmo2] Update TBB to 2021.5 and update pagmo2 to 2.18.0 (#26284)

* [tbb] Update to 2021.3.0

* [tbb] Add Threads dependency

* [pagmo2] Update to support new TBB

* [openvdb] Update to 8.1.0

* [embree2] Remove from baseline -- it is no longer receiving support from upstream

* [usd] Mark as unsupported

* [usd] Disable USD in CI due to policy https://github.com/PixarAnimationStudios/USD/issues/1600

* [openvdb] Bump port-version

* Update version database

* [pagmo2] Fix vcpkg.json

* update version

* wip update

* versions

* [embree2] deprecate, [openvdb,usd] resolve conflicts, [tbb] update

* Added libxml port.

* Remove port version as it's initial port.

* Added baseline version

* Support only for windows and static

* Allowed building debug version

* update versions

* Update ports/libxpm/portfile.cmake

Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com>

* Added new lines

* Update ports/libxpm/vcpkg.json

Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com>

* Update ports/libxpm/portfile.cmake

Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com>

* Update ports/libxpm/vcpkg.json

Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com>

* Regenerated versions

* Update ports/libxpm/vcpkg.json

Co-authored-by: JonLiu1993 <63675417+JonLiu1993@users.noreply.github.com>

* Libxpm is taken from gitlab now.

* Dropped changes against master in original repo for libxpm.

* Dropped libxpm from baseline

* Dropped version for libxpm

* Update cpuinfo

* Updated date of version

* Update version database

* Removed support for arm32 & uwp as library is not supporting it.

* Version regenerated

* Update ports/cpuinfo/vcpkg.json

Co-authored-by: Alexander Neumann <30894796+Neumann-A@users.noreply.github.com>

* Updated versions

* Initial commit WIP

* Fixed compilation of latest stable version

* Dropped comments

* Switch from version-string to version

* Added versions

* Fixed path of cmake files for other projects

* Updated versions

* Various modernization.

* Fully mark embree2 as deprecated.

* [pagmo2] Disable -Werror

* [cctag] Fix finding and use of TBB.

* [openvdb] Baseline the static versions because they exceed FFFFFFFF in size, and I'm not sure if that's fixable....

* [gazebo] Apply https://github.com/osrf/gazebo/pull/3174 patch to fix TBB.

* Respond to failures in https://dev.azure.com/vcpkg/public/_build/results?buildId=76586

* [pagmo2] Add license. See 19d774fbb6/src/bfe.cpp (L5-L27)

* [tbb] Add license.

* [embree2] Add "license".

* [tbb] Use vcpkg_cmake_config_fixup and fix version as requested by @LilyWangLL

* [usd] Add usd is known broken message.

* [embree2] Remove completely.

* Fix version database.

* Fix usd version database.

* Fix wrong case on Linux.

* Lowercase the tbb directory to get to their configs.

* [cctag] minimize patches

* [tbb] Apply supports expression fix suggested in https://github.com/microsoft/vcpkg/pull/26284#discussion_r967427833

* [usd] Add note about upstream issue.

* [pagmo2] Minimize patch.

Co-authored-by: Robert Schumacher <roschuma@microsoft.com>
Co-authored-by: Jonliu1993 <13720414433@163.com>
Co-authored-by: Mathis Logemann <mathisloge@gmail.com>
Co-authored-by: Victor Romero <viromer@microsoft.com>
Co-authored-by: Vladimír Aubrecht <vladimir.aubrecht@me.com>
Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com>
Co-authored-by: JonLiu1993 <63675417+JonLiu1993@users.noreply.github.com>
Co-authored-by: Alexander Neumann <30894796+Neumann-A@users.noreply.github.com>

ports/cctag/0001-fix-osx.patch

@@ -1,10 +1,11 @@
+diff --git a/src/cctag/utils/Exceptions.hpp b/src/cctag/utils/Exceptions.hpp
+index 094d278..8647f76 100644
 --- a/src/cctag/utils/Exceptions.hpp
 +++ b/src/cctag/utils/Exceptions.hpp
-@@ -7,7 +7,7 @@
-  */
+@@ -8,6 +8,7 @@
  #ifndef _CCTAG_EXCEPTIONS_HPP_
  #define _CCTAG_EXCEPTIONS_HPP_
--
+ 
 +#define _GNU_SOURCE
  #include <boost/exception/diagnostic_information.hpp>
  #include <boost/exception/errinfo_file_name.hpp>

ports/cctag/0002-find-tbb.patch

@@ -0,0 +1,173 @@
+diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
+index c5a82c0..3ce4719 100644
+--- a/cmake/Config.cmake.in
++++ b/cmake/Config.cmake.in
+@@ -42,6 +42,7 @@
+ include(CMakeFindDependencyMacro)
+ 
+ set(OpenCV_DIR @OpenCV_DIR@)
++find_dependency(TBB)
+ find_dependency(OpenCV)
+ find_dependency(Eigen3 @CCTAG_EIGEN_REQUIRED_VERSION@)
+ find_dependency(Boost 1.66 REQUIRED COMPONENTS @BOOST_REQUIRED_COMPONENTS@)
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 7b64b83..5398ed4 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -176,7 +176,8 @@ if(CCTAG_WITH_CUDA)
+                        ${OpenCV_LIBS}
+                        Boost::date_time Boost::chrono Boost::thread Boost::serialization Boost::system Boost::filesystem Boost::atomic Boost::program_options Boost::timer Boost::math_c99
+                        Eigen3::Eigen
+-                       ${TBB_LIBRARIES} ${CUDA_CUDADEVRT_LIBRARY})
++                       TBB::tbb
++                       ${CUDA_CUDADEVRT_LIBRARY})
+ 
+   if(NOT MSVC)
+    target_link_libraries(CCTag pthread dl)
+@@ -184,7 +185,7 @@ if(CCTAG_WITH_CUDA)
+ 
+   target_compile_definitions(CCTag
+                          PUBLIC -DCCTAG_WITH_CUDA
+-                         PRIVATE ${TBB_DEFINITIONS})
++)
+ 
+   if(CCTAG_HAVE_SHFL_DOWN_SYNC)
+     target_compile_definitions(CCTag PRIVATE "-DCCTAG_HAVE_SHFL_DOWN_SYNC")
+@@ -220,16 +221,13 @@ else() # without CUDA
+ #  get_target_property(testprop CCTag INTERFACE_INCLUDE_DIRECTORIES )
+ #  message(STATUS "testprop: ${testprop}")
+ 
+-  target_compile_definitions(CCTag
+-                             PRIVATE ${TBB_DEFINITIONS})
+ 
+   target_link_libraries(CCTag
+                         PUBLIC
+                           ${OpenCV_LIBS}
+                           Eigen3::Eigen
+                           Boost::atomic Boost::chrono Boost::date_time Boost::filesystem Boost::serialization Boost::system Boost::thread Boost::timer Boost::math_c99
+-                        PRIVATE
+-                          ${TBB_LIBRARIES})
++                          TBB::tbb)
+ 
+   if(NOT "${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
+     target_link_libraries(CCTag PRIVATE pthread dl)
+diff --git a/src/applications/CMakeLists.txt b/src/applications/CMakeLists.txt
+index 506d19b..c7154fc 100644
+--- a/src/applications/CMakeLists.txt
++++ b/src/applications/CMakeLists.txt
+@@ -86,7 +86,7 @@ target_include_directories(detection PUBLIC
+   )
+ target_link_libraries(detection PUBLIC
+   CCTag::CCTag
+-  ${TBB_LIBRARIES}
++  TBB::tbb
+   ${OpenCV_LIBS}
+   Boost::filesystem Boost::program_options Boost::timer
+   )
+diff --git a/src/cctag/Detection.cpp b/src/cctag/Detection.cpp
+index 21c47bf..a800fbc 100644
+--- a/src/cctag/Detection.cpp
++++ b/src/cctag/Detection.cpp
+@@ -44,6 +44,7 @@
+ #include <list>
+ #include <utility>
+ #include <memory>
++#include <mutex>
+ #ifdef CCTAG_WITH_CUDA
+ #include <cctag/cuda/cctag_cuda_runtime.h> // only for debugging
+ #endif // CCTAG_WITH_CUDA
+@@ -71,7 +72,7 @@ static void constructFlowComponentFromSeed(
+         std::vector<CandidatePtr> & vCandidateLoopOne,
+         const Parameters & params)
+ {
+-  static tbb::mutex G_SortMutex;
++  static std::mutex G_SortMutex;
+   
+   assert( seed );
+   // Check if the seed has already been processed, i.e. belongs to an already
+@@ -102,7 +103,7 @@ static void constructFlowComponentFromSeed(
+     }
+     
+     {
+-      tbb::mutex::scoped_lock lock(G_SortMutex);
++      std::lock_guard<std::mutex> lock(G_SortMutex);
+       candidate->_averageReceivedVote = (float) (nReceivedVote*nReceivedVote) / (float) nVotedPoints;
+       auto it = std::lower_bound(vCandidateLoopOne.begin(), vCandidateLoopOne.end(), candidate,
+         [](const CandidatePtr& c1, const CandidatePtr& c2) { return c1->_averageReceivedVote > c2->_averageReceivedVote; });
+@@ -119,8 +120,8 @@ static void completeFlowComponent(
+   std::size_t runId,
+   const Parameters & params)
+ {
+-  static tbb::spin_mutex G_UpdateMutex;
+-  static tbb::mutex G_InsertMutex;
++  static std::mutex G_UpdateMutex;
++  static std::mutex G_InsertMutex;
+   
+   try
+   {
+@@ -171,7 +172,7 @@ static void completeFlowComponent(
+       if (nSegmentCommon == -1)
+       {
+         {
+-          tbb::spin_mutex::scoped_lock lock(G_UpdateMutex);
++          std::lock_guard<std::mutex> lock(G_UpdateMutex);
+           nLabel = nSegmentOut;
+           ++nSegmentOut;
+         }
+@@ -239,7 +240,7 @@ static void completeFlowComponent(
+     }
+ 
+     {
+-      tbb::mutex::scoped_lock lock(G_InsertMutex);
++      std::lock_guard<std::mutex> lock(G_InsertMutex);
+       vCandidateLoopTwo.push_back(candidate);
+     }
+ 
+@@ -384,7 +385,7 @@ static void cctagDetectionFromEdgesLoopTwoIteration(
+   float scale,
+   const Parameters& params)
+ {
+-    static tbb::mutex G_InsertMutex;
++    static std::mutex G_InsertMutex;
+     
+     const Candidate& candidate = vCandidateLoopTwo[iCandidate];
+ 
+@@ -543,7 +544,7 @@ static void cctagDetectionFromEdgesLoopTwoIteration(
+ #endif
+       
+       {
+-        tbb::mutex::scoped_lock lock(G_InsertMutex);
++        std::lock_guard<std::mutex> lock(G_InsertMutex);
+         markers.push_back( tag ); // markers takes responsibility for delete
+       }
+ #ifdef CCTAG_SERIALIZE
+diff --git a/src/cctag/Identification.cpp b/src/cctag/Identification.cpp
+index 15c9d9b..99b616a 100644
+--- a/src/cctag/Identification.cpp
++++ b/src/cctag/Identification.cpp
+@@ -29,6 +29,7 @@
+ 
+ #include <cmath>
+ #include <vector>
++#include <mutex>
+ 
+ #include <tbb/tbb.h>
+ 
+@@ -71,7 +72,7 @@ bool orazioDistanceRobust(
+ #endif // GRIFF_DEBUG
+   
+   const size_t cut_count = cuts.size();
+-  static tbb::mutex vscore_mutex;
++  static std::mutex vscore_mutex;
+ 
+   tbb::parallel_for(size_t(0), cut_count, [&](size_t i) {
+     const cctag::ImageCut& cut = cuts[i];
+@@ -183,7 +184,7 @@ bool orazioDistanceRobust(
+   #endif // GRIFF_DEBUG
+ 
+       {
+-        tbb::mutex::scoped_lock lock(vscore_mutex);
++        std::lock_guard<std::mutex> lock(vscore_mutex);
+         vScore[idSet.front().first].push_back(idSet.front().second);
+       }
+     }

ports/cctag/portfile.cmake

@@ -6,8 +6,11 @@ vcpkg_from_github(
     HEAD_REF develop
     PATCHES
         0001-fix-osx.patch
+        0002-find-tbb.patch # Includes changes similar to https://github.com/alicevision/CCTag/pull/178/
 )
 
+file(REMOVE "${SOURCE_PATH}/cmake/FindTBB.cmake" "${SOURCE_PATH}/src/applications/cmake/FindTBB.cmake")
+
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
         FEATURES
             cuda       CCTAG_WITH_CUDA
@@ -15,7 +18,7 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
 )
 
 if("cuda" IN_LIST FEATURES)
-    include(${CURRENT_INSTALLED_DIR}/share/cuda/vcpkg_find_cuda.cmake)
+    include("${CURRENT_INSTALLED_DIR}/share/cuda/vcpkg_find_cuda.cmake")
     vcpkg_find_cuda(OUT_CUDA_TOOLKIT_ROOT CUDA_TOOLKIT_ROOT)
     message(STATUS "CUDA_TOOLKIT_ROOT ${CUDA_TOOLKIT_ROOT}")
 endif()

ports/cctag/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "cctag",
   "version-semver": "1.0.2",
-  "port-version": 1,
+  "port-version": 2,
   "maintainers": "alicevision-team@googlegroups.com",
   "description": "Computer vision library for detecting CCTag markers made up of concentric circles",
   "homepage": "https://github.com/alicevision/CCTag",

ports/embree2/cmake_policy.patch

@@ -1,14 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index afa704d..96dc4f8 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -57,6 +57,9 @@ IF(COMMAND cmake_policy)
-   if (POLICY CMP0042)
-     cmake_policy(SET CMP0042 OLD)
-   endif()
-+  if (POLICY CMP0001)
-+    cmake_policy(SET CMP0001 OLD)
-+  endif()
- ENDIF(COMMAND cmake_policy)
- 
- MARK_AS_ADVANCED(CMAKE_BACKWARDS_COMPATIBILITY)

ports/embree2/portfile.cmake

@@ -1,53 +0,0 @@
-vcpkg_from_github(
-    OUT_SOURCE_PATH SOURCE_PATH
-    REPO embree/embree
-    REF v2.17.7
-    SHA512 3ea548e5ed85f68dc1f9dfe864711f9b731e0df8a2258257f77db08bbdbe3a9014a626313e3ff41174f3b26f09dc8ff523900119ff4c8465bfff53f621052873
-    HEAD_REF devel2
-    PATCHES
-        cmake_policy.patch
-)
-
-file(REMOVE "${SOURCE_PATH}/common/cmake/FindTBB.cmake")
-
-string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" EMBREE_STATIC_LIB)
-string(COMPARE EQUAL "${VCPKG_CRT_LINKAGE}" "static" EMBREE_STATIC_RUNTIME)
-
-vcpkg_cmake_configure(
-    SOURCE_PATH "${SOURCE_PATH}"
-    DISABLE_PARALLEL_CONFIGURE
-    OPTIONS
-        -DEMBREE_ISPC_SUPPORT=OFF
-        -DEMBREE_TUTORIALS=OFF
-        -DEMBREE_STATIC_LIB=${EMBREE_STATIC_LIB}
-        -DEMBREE_STATIC_RUNTIME=${EMBREE_STATIC_RUNTIME}
-        "-DTBB_LIBRARIES=TBB::tbb"
-        "-DTBB_INCLUDE_DIRS=${CURRENT_INSTALLED_DIR}/include"
-)
-
-# just wait, the release build of embree is insanely slow in MSVC
-# a single file will took about 2-10 min
-vcpkg_cmake_install()
-vcpkg_copy_pdbs()
-
-# these cmake files do not seem to contain helpful configuration for find libs, just remove them
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/embree-config.cmake")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/embree-config-version.cmake")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/embree-config.cmake")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/embree-config-version.cmake")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/cmake" "${CURRENT_PACKAGES_DIR}/debug/lib/cmake")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/uninstall.command" "${CURRENT_PACKAGES_DIR}/debug/uninstall.command")
-
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/bin/models")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin/models")
-
-if("${VCPKG_LIBRARY_LINKAGE}" STREQUAL "static")
-    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
-endif()
-
-file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/share/embree2")
-file(RENAME "${CURRENT_PACKAGES_DIR}/share/doc" "${CURRENT_PACKAGES_DIR}/share/embree2/doc")
-
-file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

ports/embree2/vcpkg.json

@@ -1,15 +0,0 @@
-{
-  "name": "embree2",
-  "version-semver": "2.17.7",
-  "port-version": 4,
-  "description": "High Performance Ray Tracing Kernels.",
-  "homepage": "https://github.com/embree/embree",
-  "supports": "!arm",
-  "dependencies": [
-    "tbb",
-    {
-      "name": "vcpkg-cmake",
-      "host": true
-    }
-  ]
-}

ports/gazebo/fix-tbb.patch

@@ -0,0 +1,443 @@
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index af56ee4..8583740 100644
+--- a/cmake/SearchForStuff.cmake
++++ b/cmake/SearchForStuff.cmake
+@@ -301,7 +301,7 @@ if (PKG_CONFIG_FOUND)
+ 
+   #################################################
+   # Find TBB
+-  pkg_check_modules(TBB tbb<2021)
++  pkg_check_modules(TBB tbb)
+   set (TBB_PKG_CONFIG "tbb")
+   if (NOT TBB_FOUND)
+     message(STATUS "TBB not found, attempting to detect manually")
+@@ -325,6 +325,12 @@ if (PKG_CONFIG_FOUND)
+       endif(tbb_library)
+     endif (NOT TBB_FOUND)
+   endif (NOT TBB_FOUND)
++  set(HAVE_TBB_GREATER_OR_EQUAL_2021 OFF)
++  if (DEFINED TBB_VERSION AND NOT ${TBB_VERSION} STREQUAL "")
++    if (${TBB_VERSION} VERSION_GREATER_EQUAL "2021.0")
++      set(HAVE_TBB_GREATER_OR_EQUAL_2021 ON)
++    endif()
++  endif()
+ 
+   #################################################
+   # Find OGRE
+diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
+index 36bb341..6bb8e51 100644
+--- a/cmake/gazebo-config.cmake.in
++++ b/cmake/gazebo-config.cmake.in
+@@ -223,3 +223,11 @@ list(APPEND @PKG_NAME@_LIBRARIES ${IGNITION-FUEL_TOOLS_LIBRARIES})
+ list(APPEND @PKG_NAME@_LDFLAGS -Wl,-rpath,${GAZEBO_INSTALL_LIB_DIR}/gazebo-@GAZEBO_MAJOR_VERSION@/plugins)
+ list(APPEND @PKG_NAME@_LDFLAGS -L${GAZEBO_INSTALL_LIB_DIR})
+ list(APPEND @PKG_NAME@_LDFLAGS -L${GAZEBO_INSTALL_LIB_DIR}/gazebo-@GAZEBO_MAJOR_VERSION@/plugins)
++
++set (GAZEBO_HAS_TBB_GREATER_OR_EQUAL_2021 @HAVE_TBB_GREATER_OR_EQUAL_2021@)
++if (GAZEBO_HAS_TBB_GREATER_OR_EQUAL_2021)
++  find_package(TBB CONFIG)
++  if (TARGET tbb::tbb)
++    list(APPEND @PKG_NAME@_LIBRARIES TBB::tbb)
++  endif ()
++endif ()
+diff --git a/gazebo/transport/CMakeLists.txt b/gazebo/transport/CMakeLists.txt
+index 8e59020..a72d49b 100644
+--- a/gazebo/transport/CMakeLists.txt
++++ b/gazebo/transport/CMakeLists.txt
+@@ -29,6 +29,7 @@ set (headers
+   SubscribeOptions.hh
+   Subscriber.hh
+   SubscriptionTransport.hh
++  TaskGroup.hh
+   TopicManager.hh
+   TransportIface.hh
+   TransportTypes.hh
+@@ -70,6 +71,12 @@ if (WIN32)
+   target_link_libraries(gazebo_transport ws2_32 Iphlpapi)
+ endif()
+ 
++if(${CMAKE_VERSION} VERSION_LESS "3.13.0")
++  link_directories(${TBB_LIBRARY_DIRS})
++else()
++  target_link_directories(gazebo_transport PUBLIC ${TBB_LIBRARY_DIRS})
++endif()
++
+ if (USE_PCH)
+     add_pch(gazebo_transport transport_pch.hh ${Boost_PKGCONFIG_CFLAGS} "-I${PROTOBUF_INCLUDE_DIR}" "-I${TBB_INCLUDEDIR}")
+ endif()
+diff --git a/gazebo/transport/Connection.hh b/gazebo/transport/Connection.hh
+index 0e7d88a..cbcd7af 100644
+--- a/gazebo/transport/Connection.hh
++++ b/gazebo/transport/Connection.hh
+@@ -17,7 +17,16 @@
+ #ifndef _CONNECTION_HH_
+ #define _CONNECTION_HH_
+ 
++#undef emit
+ #include <tbb/task.h>
++#define emit
++
++// If TBB_VERSION_MAJOR is not defined, this means that
++// tbb >= 2021 and we can include the tbb/version.h header
++#ifndef TBB_VERSION_MAJOR
++#include <tbb/version.h>
++#endif
++
+ #include <google/protobuf/message.h>
+ 
+ #include <boost/asio.hpp>
+@@ -37,6 +46,9 @@
+ #include "gazebo/common/Console.hh"
+ #include "gazebo/common/Exception.hh"
+ #include "gazebo/common/WeakBind.hh"
++#if TBB_VERSION_MAJOR >= 2021
++#include "gazebo/transport/TaskGroup.hh"
++#endif
+ #include "gazebo/util/system.hh"
+ 
+ #define HEADER_LENGTH 8
+@@ -54,7 +66,11 @@ namespace gazebo
+     /// \cond
+     /// \brief A task instance that is created when data is read from
+     /// a socket and used by TBB
++#if TBB_VERSION_MAJOR < 2021
+     class GZ_TRANSPORT_VISIBLE ConnectionReadTask : public tbb::task
++#else
++    class GZ_TRANSPORT_VISIBLE ConnectionReadTask
++#endif
+     {
+       /// \brief Constructor
+       /// \param[_in] _func Boost function pointer, which is the function
+@@ -68,6 +84,7 @@ namespace gazebo
+               {
+               }
+ 
++#if TBB_VERSION_MAJOR < 2021
+       /// \bried Overridden function from tbb::task that exectues the data
+       /// callback.
+       public: tbb::task *execute()
+@@ -75,6 +92,11 @@ namespace gazebo
+                 this->func(this->data);
+                 return NULL;
+               }
++#else
++      /// \brief Execute the data callback
++      public: void operator()() const
++              { this->func(this->data); }
++#endif
+ 
+       /// \brief The boost function pointer
+       private: boost::function<void (const std::string &)> func;
+@@ -310,12 +332,16 @@ namespace gazebo
+ 
+                 if (!_e && !transport::is_stopped())
+                 {
++#if TBB_VERSION_MAJOR < 2021
+                   ConnectionReadTask *task = new(tbb::task::allocate_root())
+                         ConnectionReadTask(boost::get<0>(_handler), data);
+                   tbb::task::enqueue(*task);
+ 
+                   // Non-tbb version:
+                   // boost::get<0>(_handler)(data);
++#else
++                  this->taskGroup.run<ConnectionReadTask>(boost::get<0>(_handler), data);
++#endif
+                 }
+               }
+ 
+@@ -465,6 +491,11 @@ namespace gazebo
+ 
+       /// \brief True if the connection is open.
+       private: bool isOpen;
++
++#if TBB_VERSION_MAJOR >= 2021
++      /// \brief For managing asynchronous tasks with tbb
++      private: TaskGroup taskGroup;
++#endif
+     };
+     /// \}
+   }
+diff --git a/gazebo/transport/ConnectionManager.cc b/gazebo/transport/ConnectionManager.cc
+index b0546e5..17016a4 100644
+--- a/gazebo/transport/ConnectionManager.cc
++++ b/gazebo/transport/ConnectionManager.cc
+@@ -27,6 +27,7 @@
+ using namespace gazebo;
+ using namespace transport;
+ 
++#if TBB_VERSION_MAJOR < 2021
+ /// TBB task to process nodes.
+ class TopicManagerProcessTask : public tbb::task
+ {
+@@ -37,20 +38,30 @@ class TopicManagerProcessTask : public tbb::task
+             return NULL;
+           }
+ };
++#endif
+ 
+ /// TBB task to establish subscriber to publisher connection.
++#if TBB_VERSION_MAJOR < 2021
+ class TopicManagerConnectionTask : public tbb::task
++#else
++class TopicManagerConnectionTask
++#endif
+ {
+   /// \brief Constructor.
+   /// \param[in] _pub Publish message
+   public: explicit TopicManagerConnectionTask(msgs::Publish _pub) : pub(_pub) {}
+ 
+   /// Implements the necessary execute function
++#if TBB_VERSION_MAJOR < 2021
+   public: tbb::task *execute()
+           {
+             TopicManager::Instance()->ConnectSubToPub(pub);
+             return NULL;
+           }
++#else
++  public: void operator()() const
++          { TopicManager::Instance()->ConnectSubToPub(pub); }
++#endif
+ 
+   /// \brief Publish message
+   private: msgs::Publish pub;
+@@ -273,11 +284,6 @@ void ConnectionManager::RunUpdate()
+   if (this->masterConn)
+     this->masterConn->ProcessWriteQueue();
+ 
+-  // Use TBB to process nodes. Need more testing to see if this makes
+-  // a difference.
+-  // TopicManagerProcessTask *task = new(tbb::task::allocate_root())
+-  //   TopicManagerProcessTask();
+-  // tbb::task::enqueue(*task);
+   boost::recursive_mutex::scoped_lock lock(this->connectionMutex);
+ 
+   TopicManager::Instance()->ProcessNodes();
+@@ -403,9 +409,13 @@ void ConnectionManager::ProcessMessage(const std::string &_data)
+     if (pub.host() != this->serverConn->GetLocalAddress() ||
+         pub.port() != this->serverConn->GetLocalPort())
+     {
++#if TBB_VERSION_MAJOR < 2021
+       TopicManagerConnectionTask *task = new(tbb::task::allocate_root())
+       TopicManagerConnectionTask(pub);
+       tbb::task::enqueue(*task);
++#else
++      this->taskGroup.run<TopicManagerConnectionTask>(pub);
++#endif
+     }
+   }
+   // publisher_subscribe. This occurs when we try to subscribe to a topic, and
+diff --git a/gazebo/transport/ConnectionManager.hh b/gazebo/transport/ConnectionManager.hh
+index ef80eaf..6dc212b 100644
+--- a/gazebo/transport/ConnectionManager.hh
++++ b/gazebo/transport/ConnectionManager.hh
+@@ -27,8 +27,11 @@
+ #include "gazebo/msgs/msgs.hh"
+ #include "gazebo/common/SingletonT.hh"
+ 
+-#include "gazebo/transport/Publisher.hh"
+ #include "gazebo/transport/Connection.hh"
++#include "gazebo/transport/Publisher.hh"
++#if TBB_VERSION_MAJOR >= 2021
++#include "gazebo/transport/TaskGroup.hh"
++#endif
+ #include "gazebo/util/system.hh"
+ 
+ /// \brief Explicit instantiation for typed SingletonT.
+@@ -194,6 +197,11 @@ namespace gazebo
+       /// \brief Condition used for synchronization
+       private: boost::condition_variable namespaceCondition;
+ 
++#if TBB_VERSION_MAJOR >= 2021
++      /// \brief For managing asynchronous tasks with tbb
++      private: TaskGroup taskGroup;
++#endif
++
+       // Singleton implementation
+       private: friend class SingletonT<ConnectionManager>;
+     };
+diff --git a/gazebo/transport/Node.hh b/gazebo/transport/Node.hh
+index b7d37f7..7248b72 100644
+--- a/gazebo/transport/Node.hh
++++ b/gazebo/transport/Node.hh
+@@ -18,7 +18,12 @@
+ #ifndef GAZEBO_TRANSPORT_NODE_HH_
+ #define GAZEBO_TRANSPORT_NODE_HH_
+ 
++#undef emit
+ #include <tbb/task.h>
++#define emit
++#ifndef TBB_VERSION_MAJOR
++#include <tbb/version.h>
++#endif
+ #include <boost/bind/bind.hpp>
+ #include <boost/enable_shared_from_this.hpp>
+ #include <map>
+@@ -26,6 +31,9 @@
+ #include <string>
+ #include <vector>
+ 
++#if TBB_VERSION_MAJOR >= 2021
++#include "gazebo/transport/TaskGroup.hh"
++#endif
+ #include "gazebo/transport/TransportTypes.hh"
+ #include "gazebo/transport/TopicManager.hh"
+ #include "gazebo/util/system.hh"
+@@ -36,7 +44,11 @@ namespace gazebo
+   {
+     /// \cond
+     /// \brief Task used by Node::Publish to publish on a one-time publisher
++#if TBB_VERSION_MAJOR < 2021
+     class GZ_TRANSPORT_VISIBLE PublishTask : public tbb::task
++#else
++    class GZ_TRANSPORT_VISIBLE PublishTask
++#endif
+     {
+       /// \brief Constructor
+       /// \param[in] _pub Publisher to publish the message on.
+@@ -49,16 +61,23 @@ namespace gazebo
+         this->msg->CopyFrom(_message);
+       }
+ 
++#if TBB_VERSION_MAJOR < 2021
+       /// \brief Overridden function from tbb::task that exectues the
+       /// publish task.
+       public: tbb::task *execute()
++#else
++      /// \brief Executes the publish task.
++      public: void operator()() const
++#endif
+               {
+                 this->pub->WaitForConnection();
+                 this->pub->Publish(*this->msg, true);
+                 this->pub->SendMessage();
+                 delete this->msg;
++#if TBB_VERSION_MAJOR < 2021
+                 this->pub.reset();
+                 return NULL;
++#endif
+               }
+ 
+       /// \brief Pointer to the publisher.
+@@ -159,11 +178,15 @@ namespace gazebo
+                   const google::protobuf::Message &_message)
+               {
+                 transport::PublisherPtr pub = this->Advertise<M>(_topic);
++#if TBB_VERSION_MAJOR < 2021
+                 PublishTask *task = new(tbb::task::allocate_root())
+                   PublishTask(pub, _message);
+ 
+                 tbb::task::enqueue(*task);
+                 return;
++#else
++                this->taskGroup.run<PublishTask>(pub, _message);
++#endif
+               }
+ 
+       /// \brief Advertise a topic
+@@ -420,6 +443,10 @@ namespace gazebo
+ 
+       /// \brief List of newly arrive messages
+       private: std::map<std::string, std::list<MessagePtr> > incomingMsgsLocal;
++#if TBB_VERSION_MAJOR >= 2021
++      /// \brief For managing asynchronous tasks with tbb
++      private: TaskGroup taskGroup;
++#endif
+ 
+       private: boost::mutex publisherMutex;
+       private: boost::mutex publisherDeleteMutex;
+diff --git a/gazebo/transport/TaskGroup.hh b/gazebo/transport/TaskGroup.hh
+new file mode 100644
+index 0000000..b95b5d8
+--- /dev/null
++++ b/gazebo/transport/TaskGroup.hh
+@@ -0,0 +1,47 @@
++/*
++ * Copyright (C) 2021 Open Source Robotics Foundation
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ *     http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *
++*/
++#ifndef GAZEBO_TRANSPORT_TASKGROUP_HH_
++#define GAZEBO_TRANSPORT_TASKGROUP_HH_
++
++#include <utility>
++
++// Emit is both a macro in Qt and a function defined by tbb
++#undef emit
++#include <tbb/tbb.h>
++#define emit
++
++namespace gazebo {
++  namespace transport {
++    class TaskGroup
++    {
++      public: ~TaskGroup() noexcept
++              {
++                // Wait for running tasks to finish
++                this->taskGroup.wait();
++              }
++
++      public: template<class Functor, class... Args> void run(Args&&... args)
++      {
++        this->taskGroup.run(Functor(std::forward<Args>(args)...));
++      }
++
++      private: tbb::task_group taskGroup;
++    };
++  }
++}
++
++#endif
+diff --git a/gazebo/transport/transport_pch.hh b/gazebo/transport/transport_pch.hh
+index 0119d40..f288de2 100644
+--- a/gazebo/transport/transport_pch.hh
++++ b/gazebo/transport/transport_pch.hh
+@@ -21,6 +21,7 @@
+  * To get a starting list for this file, I use the command:
+  *    grep --include="*.hh" --include="*.cc" --no-filename -r "#include <" | sort -u
+  */
++
+ #include <boost/algorithm/string.hpp>
+ #include <boost/asio.hpp>
+ #include <boost/bind/bind.hpp>
+@@ -44,8 +45,18 @@
+ #include <stdio.h>
+ #include <stdlib.h>
+ #include <string>
++#include <tbb/task.h>
++#ifndef TBB_VERSION_MAJOR
++#include <tbb/version.h>
++#endif
++#if TBB_VERSION_MAJOR < 2021
+ #include <tbb/blocked_range.h>
+ #include <tbb/parallel_for.h>
+ #include <tbb/task.h>
++#else
++#undef emit
++#include <tbb/tbb.h>
++#define emit
++#endif
+ #include <utility>
+ #include <vector>
+diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
+index 5f2c112..6d09a11 100644
+--- a/tools/CMakeLists.txt
++++ b/tools/CMakeLists.txt
+@@ -49,6 +49,7 @@ target_link_libraries(gz
+  gazebo_gui
+  gazebo_physics
+  gazebo_sensors
++ gazebo_transport
+  ${Qt5Core_LIBRARIES}
+  ${Qt5Widgets_LIBRARIES}
+  ${Boost_LIBRARIES}

ports/gazebo/portfile.cmake

@@ -12,7 +12,8 @@ vcpkg_from_github(
     HEAD_REF gazebo11
     PATCHES
         0001-Fix-deps.patch
-        ${gazebo3211}
+        "${gazebo3211}"
+        fix-tbb.patch # Effectively https://github.com/osrf/gazebo/pull/3174 with merge conflict resolutions
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
@@ -33,7 +34,7 @@ vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS
         -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON
-        -DPKG_CONFIG_EXECUTABLE=${CURRENT_HOST_INSTALLED_DIR}/tools/pkgconf/pkgconf${VCPKG_HOST_EXECUTABLE_SUFFIX}
+        "-DPKG_CONFIG_EXECUTABLE=${CURRENT_HOST_INSTALLED_DIR}/tools/pkgconf/pkgconf${VCPKG_HOST_EXECUTABLE_SUFFIX}"
         ${FEATURE_OPTIONS}
         -DBUILD_TESTING=OFF  # Not enabled by default, but to be sure
 )

ports/gazebo/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "gazebo",
   "version-date": "2022-01-20",
-  "port-version": 3,
+  "port-version": 4,
   "description": "Open source robotics simulator.",
   "homepage": "http://gazebosim.org",
   "license": "Apache-2.0",

ports/pagmo2/disable-C4701.patch

@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 96653ba..1afaafa 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -80,7 +80,7 @@ endif()
- if(YACMA_COMPILER_IS_MSVC)
-   # Disable the idiotic minmax macros on MSVC, some annoying warnings,
-   # enable the bigobj option and the WIN32_LEAN_AND_MEAN definition.
--  list(APPEND PAGMO_CXX_FLAGS_DEBUG "-DNOMINMAX" "/wd4459" "/wd4127" "/wd4702" "/wd4251" "/bigobj" "-DWIN32_LEAN_AND_MEAN")
-+  list(APPEND PAGMO_CXX_FLAGS_DEBUG "-DNOMINMAX" "/wd4459" "/wd4127" "/wd4702" "/wd4251" "/wd4701" "/bigobj" "-DWIN32_LEAN_AND_MEAN")
-   list(APPEND PAGMO_CXX_FLAGS_RELEASE "-DNOMINMAX" "/wd4459" "/wd4127" "/wd4702" "/wd4251" "/bigobj" "-DWIN32_LEAN_AND_MEAN")
-   # Enable strict conformance mode, if supported.
-   set(CMAKE_REQUIRED_QUIET TRUE)

ports/pagmo2/disable-md-override.patch

@@ -1,20 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 96653ba..549d9d4 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -141,6 +141,7 @@ endif()
- # Boost setup.
- include(PagmoFindBoost)
- 
-+if(0)
- # Explanation: on MSVC, when building static libraries, it is good practice to link
- # to the static runtime. CMake, however, is hard-coded to link to the dynamic runtime.
- # Hence we hackishly replace the /MD flag with /MT. This is the approach suggested
-@@ -161,6 +162,7 @@ if(YACMA_COMPILER_IS_MSVC AND PAGMO_BUILD_STATIC_LIBRARY)
-         endif()
-     endforeach()
- endif()
-+endif()
- 
- # List of source files.
- set(PAGMO_SRC_FILES

ports/pagmo2/disable-werror.patch

@@ -0,0 +1,20 @@
+diff --git a/cmake_modules/yacma/YACMACompilerLinkerSettings.cmake b/cmake_modules/yacma/YACMACompilerLinkerSettings.cmake
+index 7d7aa1b..81c8bf6 100644
+--- a/cmake_modules/yacma/YACMACompilerLinkerSettings.cmake
++++ b/cmake_modules/yacma/YACMACompilerLinkerSettings.cmake
+@@ -95,7 +95,6 @@ if(NOT _YACMACompilerLinkerSettingsRun)
+         # NOTE: enable unconditionally, as it seems like the CMake
+         # machinery for detecting this fails. Perhaps the source code
+         # used for checking the flag emits warnings?
+-        list(APPEND _YACMA_CXX_FLAGS_DEBUG "-Werror")
+         # New warnings in clang 8.
+         # NOTE: a few issues with macros here, let's disable for now.
+         # _YACMA_CHECK_ENABLE_DEBUG_CXX_FLAG(-Wextra-semi-stmt)
+@@ -180,7 +179,6 @@ if(NOT _YACMACompilerLinkerSettingsRun)
+         # Enable higher warning level than usual.
+         _YACMA_CHECK_ENABLE_DEBUG_CXX_FLAG(/W4)
+         # Treat warnings as errors.
+-        _YACMA_CHECK_ENABLE_DEBUG_CXX_FLAG(/WX)
+     endif()
+ 
+     # Set the cache variables.

ports/pagmo2/doxygen.patch

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 34bad69..dfb942d 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -398,8 +398,8 @@ endif()
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/config.hpp.in" "${CMAKE_CURRENT_BINARY_DIR}/include/pagmo/config.hpp" @ONLY)
+ 
+ # Configure the doc files.
+-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/doc/doxygen/Doxyfile.in" "${CMAKE_CURRENT_SOURCE_DIR}/doc/doxygen/Doxyfile" @ONLY)
+-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/doc/sphinx/conf.py.in" "${CMAKE_CURRENT_SOURCE_DIR}/doc/sphinx/conf.py" @ONLY)
++# configure_file("${CMAKE_CURRENT_SOURCE_DIR}/doc/doxygen/Doxyfile.in" "${CMAKE_CURRENT_SOURCE_DIR}/doc/doxygen/Doxyfile" @ONLY)
++# configure_file("${CMAKE_CURRENT_SOURCE_DIR}/doc/sphinx/conf.py.in" "${CMAKE_CURRENT_SOURCE_DIR}/doc/sphinx/conf.py" @ONLY)
+ 
+ # This is just a simple counter variable, internal use only.
+ set(_PAGMO_TEST_NUM "0")

ports/pagmo2/find-tbb.patch

@@ -2,11 +2,12 @@ diff --git a/pagmo-config.cmake.in b/pagmo-config.cmake.in
 index 9553fc8..cb5e90b 100644
 --- a/pagmo-config.cmake.in
 +++ b/pagmo-config.cmake.in
-@@ -8,6 +8,7 @@ set(THREADS_PREFER_PTHREAD_FLAG YES)
+@@ -8,6 +8,8 @@ set(THREADS_PREFER_PTHREAD_FLAG YES)
  find_package(Threads REQUIRED)
  unset(THREADS_PREFER_PTHREAD_FLAG)
  include(PagmoFindBoost)
-+find_package(TBB REQUIRED)
++include(CMakeFindDependencyMacro)
++find_dependency(TBB CONFIG)
  @_PAGMO_CONFIG_OPTIONAL_DEPS@
  # Restore original module path.
  set(CMAKE_MODULE_PATH "${_PAGMO_CONFIG_OLD_MODULE_PATH}")

ports/pagmo2/portfile.cmake

@@ -1,36 +1,37 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
-    REPO  esa/pagmo2 
-    REF v2.16.1
-    SHA512 dac85a8525316e827df809d187d40f14dc20db7119796b7384d7855f83ba37e0bb595f6d8199053aac857460816929dd599c9d43802f2ed920a6f42dd2f16a03
+    REPO esa/pagmo2
+    REF v2.18.0
+    SHA512 026f038e979bb884bdc4e465bd60ffe60d3d74d38159a70897da7c890230450a0457a943e25c8bdb3f17bafdaa388a6a21f6d44502b4d08860dae6cb4e75a477
     HEAD_REF master
     PATCHES
-        "disable-C4701.patch"
-        "disable-md-override.patch"
-        "find-tbb.patch"
+        doxygen.patch
+        find-tbb.patch
+        disable-werror.patch
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
    FEATURES
-   nlopt  PAGMO_WITH_NLOPT
+   nlopt PAGMO_WITH_NLOPT
 )
 string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" PAGMO_BUILD_STATIC_LIBRARY)
-vcpkg_configure_cmake(
-    SOURCE_PATH ${SOURCE_PATH}
-    PREFER_NINJA
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS
         ${FEATURE_OPTIONS}
+        -DPAGMO_BUILD_TESTS=OFF
+        -DPAGMO_BUILD_BENCHMARKS=OFF
+        -DPAGMO_BUILD_TUTORIALS=OFF
         -DPAGMO_WITH_EIGEN3=ON
         -DPAGMO_BUILD_STATIC_LIBRARY=${PAGMO_BUILD_STATIC_LIBRARY}
 )
 
-vcpkg_install_cmake()
+vcpkg_cmake_install()
 
 vcpkg_copy_pdbs()
-vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/pagmo)
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/pagmo")
 
-file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
-file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
-
-file(INSTALL ${SOURCE_PATH}/COPYING.lgpl3 DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
 
+vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/COPYING.lgpl3" "${SOURCE_PATH}/COPYING.gpl3")

ports/pagmo2/vcpkg.json

@@ -1,14 +1,23 @@
 {
   "name": "pagmo2",
-  "version": "2.16.1",
-  "description": "A C++ platform to perform parallel computations of optimisation tasks (global and local) via the asynchronous generalized island model.",
+  "version": "2.18.0",
+  "description": "A C++ platform to perform parallel computations of optimization tasks (global and local) via the asynchronous generalized island model.",
   "homepage": "https://esa.github.io/pagmo2/",
+  "license": "GPL-3.0-or-later OR LGPL-3.0-or-later",
   "dependencies": [
     "boost-any",
     "boost-graph",
     "boost-serialization",
     "eigen3",
-    "tbb"
+    "tbb",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
   ],
   "features": {
     "nlopt": {

ports/tbb/CMakeLists.txt

@@ -1,40 +0,0 @@
-project(tbb CXX)
-
-file(GLOB SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*)
-file(COPY ${SOURCES} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/src)
-
-include(${CMAKE_CURRENT_BINARY_DIR}/src/cmake/TBBBuild.cmake REQUIRED)
-if(NOT BUILD_SHARED_LIBS)
-    set(TBB_STATIC_INCLUDE extra_inc=big_iron.inc)
-endif()
-if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
-  set(FORWARD_SDK_ROOT "SDKROOT=${CMAKE_OSX_SYSROOT}")
-  if(CMAKE_OSX_ARCHITECTURES STREQUAL "arm64")
-    set(arch "arch=arm64")
-  endif()
-endif()
-
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-  if(NOT CMAKE_HOST_SYSTEM_PROCESSOR STREQUAL CMAKE_SYSTEM_PROCESSOR)
-    set(arch "arch=${CMAKE_SYSTEM_PROCESSOR}")
-    if(CMAKE_CXX_COMPILER)
-        set(CPLUS "CPLUS=${CMAKE_CXX_COMPILER}")
-    endif()
-    if(CMAKE_C_COMPILER)
-        set(CONLY "CONLY=${CMAKE_C_COMPILER}")
-    endif()
-  endif()
-endif()
-
-tbb_build(TBB_ROOT ${CMAKE_CURRENT_BINARY_DIR}/src MAKE_ARGS ${arch} ${CPLUS} ${CONLY} ${TBB_STATIC_INCLUDE} ${FORWARD_SDK_ROOT})
-
-set(SUBDIR ${CMAKE_CURRENT_BINARY_DIR}/tbb_cmake_build/tbb_cmake_build_subdir)
-if(CMAKE_BUILD_TYPE STREQUAL "Release")
-    set(SUBDIR "${SUBDIR}_release")
-else()
-    set(SUBDIR "${SUBDIR}_debug")
-endif()
-
-file(GLOB OUTPUTS ${SUBDIR}/*.so.* ${SUBDIR}/*.so ${SUBDIR}/*.a ${SUBDIR}/*.dylib ${SUBDIR}/*.dylib.*)
-
-install(FILES ${OUTPUTS} DESTINATION lib)

ports/tbb/fix-static-build.patch

@@ -1,13 +0,0 @@
-diff --git a/src/tbb/cilk-tbb-interop.h b/src/tbb/cilk-tbb-interop.h
-index 295734b..f35531e 100644
---- a/src/tbb/cilk-tbb-interop.h
-+++ b/src/tbb/cilk-tbb-interop.h
-@@ -29,6 +29,8 @@
- #else
- #ifdef IN_CILK_RUNTIME
- #define CILK_EXPORT __declspec(dllexport)
-+#elif defined(IN_CILK_STATIC)
-+#define CILK_EXPORT /* nothing */
- #else
- #define CILK_EXPORT __declspec(dllimport)
- #endif  // IN_CILK_RUNTIME

ports/tbb/portfile.cmake

@@ -3,136 +3,36 @@ set(VCPKG_POLICY_MISMATCHED_NUMBER_OF_BINARIES enabled)
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO oneapi-src/oneTBB
-    REF eca91f16d7490a8abfdee652dadf457ec820cc37 # 2020_U3
-    SHA512 7144e1dc68304b5358e6ea330431b6f0c61fadb147efa353a5b242777d6fabf7b8cf99b79cffb51b49b911dd17a9f1879619d6eebdf319f23ec3235c89cffc25
-    HEAD_REF tbb_2019
-    PATCHES
-        fix-static-build.patch
-        terminate-when-buildtool-notfound.patch
+    REF v2021.5.0
+    SHA512 0e7b71022e397a6d7abb0cea106847935ae79a1e12a6976f8d038668c6eca8775ed971202c5bd518f7e517092b67af805cc5feb04b5c3a40e9fbf972cc703a46
+    HEAD_REF onetbb_2021
 )
 
-file(COPY ${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt DESTINATION ${SOURCE_PATH})
-
-if (NOT VCPKG_TARGET_IS_WINDOWS)
-    vcpkg_configure_cmake(
-        SOURCE_PATH ${SOURCE_PATH}
-        PREFER_NINJA
-    )
-
-    vcpkg_install_cmake()
-
-    # Settings for TBBConfigInternal.cmake.in
-    if (VCPKG_LIBRARY_LINKAGE STREQUAL static)
-        set(TBB_LIB_EXT a)
-    else()
-        if (VCPKG_TARGET_IS_LINUX)
-            set(TBB_LIB_EXT "so.2")
-        elseif(VCPKG_TARGET_IS_OSX)
-            set(TBB_LIB_EXT "dylib")
-        else()
-            set(TBB_LIB_EXT "so")
-        endif()
-    endif()
-    set(TBB_LIB_PREFIX lib)
-else()
-    if (VCPKG_CRT_LINKAGE STREQUAL static)
-        set(RELEASE_CONFIGURATION Release-MT)
-        set(DEBUG_CONFIGURATION Debug-MT)
-    else()
-        set(RELEASE_CONFIGURATION Release)
-        set(DEBUG_CONFIGURATION Debug)
-    endif()
-
-    macro(CONFIGURE_PROJ_FILE arg)
-        set(CONFIGURE_FILE_NAME ${arg})
-        set(CONFIGURE_BAK_FILE_NAME ${arg}.bak)
-        if (NOT EXISTS ${CONFIGURE_BAK_FILE_NAME})
-            configure_file(${CONFIGURE_FILE_NAME} ${CONFIGURE_BAK_FILE_NAME} COPYONLY)
-        endif()
-        configure_file(${CONFIGURE_BAK_FILE_NAME} ${CONFIGURE_FILE_NAME} COPYONLY)
-        file(READ ${CONFIGURE_FILE_NAME} SLN_CONFIGURE)
-        if (VCPKG_LIBRARY_LINKAGE STREQUAL static)
-            string(REPLACE "<ConfigurationType>DynamicLibrary<\/ConfigurationType>"
-                        "<ConfigurationType>StaticLibrary<\/ConfigurationType>" SLN_CONFIGURE "${SLN_CONFIGURE}")
-            string(REPLACE "\/D_CRT_SECURE_NO_DEPRECATE"
-                        "\/D_CRT_SECURE_NO_DEPRECATE \/DIN_CILK_STATIC" SLN_CONFIGURE "${SLN_CONFIGURE}")
-        else()
-            string(REPLACE "\/D_CRT_SECURE_NO_DEPRECATE"
-                        "\/D_CRT_SECURE_NO_DEPRECATE \/DIN_CILK_RUNTIME" SLN_CONFIGURE "${SLN_CONFIGURE}")
-        endif()
-        file(WRITE ${CONFIGURE_FILE_NAME} "${SLN_CONFIGURE}")
-    endmacro()
-
-    CONFIGURE_PROJ_FILE(${SOURCE_PATH}/build/vs2013/tbb.vcxproj)
-    CONFIGURE_PROJ_FILE(${SOURCE_PATH}/build/vs2013/tbbmalloc.vcxproj)
-    CONFIGURE_PROJ_FILE(${SOURCE_PATH}/build/vs2013/tbbmalloc_proxy.vcxproj)
-
-    vcpkg_install_msbuild(
-        SOURCE_PATH ${SOURCE_PATH}
-        PROJECT_SUBPATH build/vs2013/makefile.sln
-        RELEASE_CONFIGURATION ${RELEASE_CONFIGURATION}
-        DEBUG_CONFIGURATION ${DEBUG_CONFIGURATION}
-    )
-    # Settings for TBBConfigInternal.cmake.in
-    set(TBB_LIB_EXT lib)
-    set(TBB_LIB_PREFIX)
-endif()
-
-file(COPY
-  ${SOURCE_PATH}/include/tbb
-  ${SOURCE_PATH}/include/serial
-  DESTINATION ${CURRENT_PACKAGES_DIR}/include)
-
-# Settings for TBBConfigInternal.cmake.in
-if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
-    set(TBB_DEFAULT_COMPONENTS tbb tbbmalloc)
-else()
-    set(TBB_DEFAULT_COMPONENTS tbb tbbmalloc tbbmalloc_proxy)
-endif()
-
-file(READ "${SOURCE_PATH}/include/tbb/tbb_stddef.h" _tbb_stddef)
-string(REGEX REPLACE ".*#define TBB_VERSION_MAJOR ([0-9]+).*" "\\1" _tbb_ver_major "${_tbb_stddef}")
-string(REGEX REPLACE ".*#define TBB_VERSION_MINOR ([0-9]+).*" "\\1" _tbb_ver_minor "${_tbb_stddef}")
-string(REGEX REPLACE ".*#define TBB_INTERFACE_VERSION ([0-9]+).*" "\\1" TBB_INTERFACE_VERSION "${_tbb_stddef}")
-set(TBB_VERSION "${_tbb_ver_major}.${_tbb_ver_minor}")
-set(TBB_RELEASE_DIR "\${_tbb_root}/lib")
-set(TBB_DEBUG_DIR "\${_tbb_root}/debug/lib")
-
-configure_file(
-    ${SOURCE_PATH}/cmake/templates/TBBConfigInternal.cmake.in
-    ${CURRENT_PACKAGES_DIR}/share/tbb/TBBConfig.cmake
-    @ONLY
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DTBB_TEST=OFF
+        -DTBB_STRICT=OFF
 )
 
-configure_file(
-    ${SOURCE_PATH}/cmake/templates/TBBConfigVersion.cmake.in
-    ${CURRENT_PACKAGES_DIR}/share/tbb/TBBConfigVersion.cmake
-    @ONLY
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/TBB")
+vcpkg_fixup_pkgconfig()
+vcpkg_copy_pdbs()
+
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/share/doc"
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+    # These are duplicate libraries provided on Windows -- users should use the tbb12 libraries instead
+    "${CURRENT_PACKAGES_DIR}/lib/tbb.lib"
+    "${CURRENT_PACKAGES_DIR}/debug/lib/tbb_debug.lib"
 )
 
-file(READ ${CURRENT_PACKAGES_DIR}/share/tbb/TBBConfig.cmake _contents)
-string(REPLACE
-    "get_filename_component(_tbb_root \"\${_tbb_root}\" PATH)"
-    "get_filename_component(_tbb_root \"\${_tbb_root}\" PATH)\nget_filename_component(_tbb_root \"\${_tbb_root}\" PATH)"
-    _contents
-    "${_contents}"
-)
-string(REPLACE
-    "set(_tbb_release_lib \"/${TBB_LIB_PREFIX}"
-    "set(_tbb_release_lib \"\${_tbb_root}/lib/${TBB_LIB_PREFIX}"
-    _contents
-    "${_contents}"
-)
-string(REPLACE
-    "set(_tbb_debug_lib \"/${TBB_LIB_PREFIX}"
-    "set(_tbb_debug_lib \"\${_tbb_root}/debug/lib/${TBB_LIB_PREFIX}"
-    _contents
-    "${_contents}"
-)
+file(READ "${CURRENT_PACKAGES_DIR}/share/tbb/TBBConfig.cmake" _contents)
+file(WRITE "${CURRENT_PACKAGES_DIR}/share/tbb/TBBConfig.cmake" "
+include(CMakeFindDependencyMacro)
+find_dependency(Threads)
+${_contents}")
 
-string(REPLACE "SHARED IMPORTED)" "UNKNOWN IMPORTED)" _contents "${_contents}")
-file(WRITE ${CURRENT_PACKAGES_DIR}/share/tbb/TBBConfig.cmake "${_contents}")
-
-file(COPY ${CMAKE_CURRENT_LIST_DIR}/usage DESTINATION ${CURRENT_PACKAGES_DIR}/share/tbb)
-# Handle copyright
-file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

ports/tbb/terminate-when-buildtool-notfound.patch

@@ -1,13 +0,0 @@
-diff --git a/cmake/TBBBuild.cmake b/cmake/TBBBuild.cmake
-index a2222e3..756d85c 100644
---- a/cmake/TBBBuild.cmake
-+++ b/cmake/TBBBuild.cmake
-@@ -158,7 +158,7 @@ function(tbb_build)
-     mark_as_advanced(TBB_MAKE_TOOL)
- 
-     if (NOT TBB_MAKE_TOOL)
--        message(STATUS "Intel TBB can not be built: required make-tool (${make_tool_name}) was not found")
-+        message(FATAL_ERROR "Intel TBB can not be built: required make-tool (${make_tool_name}) was not found")
-         set(${tbb_build_CONFIG_DIR} ${tbb_build_CONFIG_DIR}-NOTFOUND PARENT_SCOPE)
-         return()
-     endif()

ports/tbb/usage

@@ -1,4 +0,0 @@
-The package tbb provides CMake targets:
-
-    find_package(TBB CONFIG REQUIRED)
-    target_link_libraries(main PRIVATE TBB::tbb)

ports/tbb/vcpkg.json

@@ -1,8 +1,18 @@
 {
   "name": "tbb",
-  "version-string": "2020_U3",
-  "port-version": 8,
+  "version": "2021.5.0",
   "description": "Intel's Threading Building Blocks.",
   "homepage": "https://github.com/01org/tbb",
-  "supports": "!(uwp | arm | arm64) | linux | osx"
+  "license": "Apache-2.0",
+  "supports": "(windows & !uwp) | linux | osx",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
 }

ports/usd/portfile.cmake

@@ -1,6 +1,15 @@
 # Don't file if the bin folder exists. We need exe and custom files.
 SET(VCPKG_POLICY_EMPTY_PACKAGE enabled)
 
+message(STATUS [=[
+The usd port does not work the the version of Threading Building Blocks (tbb) currently chosen by vcpkg's baselines,
+and does not expect to be updated to work with current versions soon. See
+https://github.com/PixarAnimationStudios/USD/issues/1600
+
+If you must use this port in your project, pin a version of tbb of 2020_U3 or older via a manifest file.
+See https://vcpkg.io/en/docs/examples/versioning.getting-started.html for instructions.
+]=])
+
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO PixarAnimationStudios/USD

ports/usd/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "usd",
   "version-string": "20.08",
-  "port-version": 2,
+  "port-version": 3,
   "description": "Universal Scene Description (USD) is an efficient, scalable system for authoring, reading, and streaming time-sampled scene description for interchange between graphics applications.",
   "homepage": "https://github.com/PixarAnimationStudios/USD",
   "supports": "!x86",

scripts/ci.baseline.txt

@@ -222,15 +222,6 @@ ecsutil:x64-uwp=fail
 # Checks for gnu extension so only works with gcc.
 elfutils:x64-osx=fail
 elfutils:arm64-osx=fail
-# embree creates common conflicting static library names when built in static mode, reported upstream:
-# https://github.com/embree/embree/issues/331
-embree2:x64-windows-static=skip
-embree2:x64-windows-static-md=skip
-# embree2 conflicts with embree3
-embree2:x64-linux=skip
-embree2:x64-osx=skip
-embree2:arm64-osx=skip
-embree2:arm64-osx=skip
 epsilon:arm-uwp=fail
 epsilon:x64-uwp=fail
 faiss:arm64-windows=fail
@@ -813,7 +804,10 @@ openmesh:arm-uwp=fail
 openmesh:x64-uwp=fail
 openscap:x64-windows-static=fail
 openscap:x64-osx=fail
-openscap:arm64-osx=fail
+# https://github.com/AcademySoftwareFoundation/openvdb/issues/1362
+# openvdb\openvdb\libopenvdb.lib : fatal error LNK1248: image size (109A36020) exceeds maximum allowable size (FFFFFFFF)
+openvdb:x64-windows-static=fail
+openvdb:x64-windows-static-md=fail
 openvpn3:x64-osx=fail
 openvpn3:arm64-osx=fail
 openvr:arm64-windows=fail
@@ -1142,7 +1136,16 @@ unicorn-lib:x64-uwp=fail
 unittest-cpp:arm64-windows=fail
 unittest-cpp:arm-uwp=fail
 unittest-cpp:x64-uwp=fail
-usd:x86-windows=fail
+# USD has set official policy that they will not update to be compatible with TBB in the near term (https://github.com/PixarAnimationStudios/USD/issues/1600)
+usd:arm64-windows=skip
+usd:arm-uwp=skip
+usd:x64-uwp=skip
+usd:x64-windows=skip
+usd:x64-windows-static=skip
+usd:x64-windows-static-md=skip
+usd:x64-linux=skip
+usd:x64-osx=skip
+usd:x86-windows=skip
 uthenticode:arm-uwp=fail
 uthenticode:x64-uwp=fail
 v8:arm64-windows=fail

versions/baseline.json

@@ -1322,7 +1322,7 @@
     },
     "cctag": {
       "baseline": "1.0.2",
-      "port-version": 1
+      "port-version": 2
     },
     "cctz": {
       "baseline": "2.3",
@@ -2128,10 +2128,6 @@
       "baseline": "0.186",
       "port-version": 4
     },
-    "embree2": {
-      "baseline": "2.17.7",
-      "port-version": 4
-    },
     "embree3": {
       "baseline": "3.12.2",
       "port-version": 2
@@ -2514,7 +2510,7 @@
     },
     "gazebo": {
       "baseline": "2022-01-20",
-      "port-version": 3
+      "port-version": 4
     },
     "gcem": {
       "baseline": "1.14.1",
@@ -5509,7 +5505,7 @@
       "port-version": 2
     },
     "pagmo2": {
-      "baseline": "2.16.1",
+      "baseline": "2.18.0",
       "port-version": 0
     },
     "paho-mqtt": {
@@ -7153,8 +7149,8 @@
       "port-version": 0
     },
     "tbb": {
-      "baseline": "2020_U3",
-      "port-version": 8
+      "baseline": "2021.5.0",
+      "port-version": 0
     },
     "tcb-span": {
       "baseline": "2021-12-15",
@@ -7526,7 +7522,7 @@
     },
     "usd": {
       "baseline": "20.08",
-      "port-version": 2
+      "port-version": 3
     },
     "usockets": {
       "baseline": "0.8.1",

versions/c-/cctag.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "e9166dee873ce930a3c5e12b544dc47583343221",
+      "version-semver": "1.0.2",
+      "port-version": 2
+    },
     {
       "git-tree": "979f28c0cc646b1a4c057ee810772a6b8964b65a",
       "version-semver": "1.0.2",

versions/g-/gazebo.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "b1f5088e196340aad31ea3700aceae72df1407ae",
+      "version-date": "2022-01-20",
+      "port-version": 4
+    },
     {
       "git-tree": "094ba2b47c08f30d45b33081f8b2b3790b2ec070",
       "version-date": "2022-01-20",

versions/p-/pagmo2.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "fa28deef736ea34bcc41143a960e8be97653ba1d",
+      "version": "2.18.0",
+      "port-version": 0
+    },
     {
       "git-tree": "ea29ee58051fba73e950597ca2b0109dd6df0dec",
       "version": "2.16.1",

versions/t-/tbb.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "e2d94c971f648a21fa3068485c590b70bfa8b716",
+      "version": "2021.5.0",
+      "port-version": 0
+    },
     {
       "git-tree": "016aeb70aa2dfba55a141a928863a0191314d4a9",
       "version-string": "2020_U3",

versions/u-/usd.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "c241a36daa1c8695be5e0d4a8a29f2cc304dd6b1",
+      "version-string": "20.08",
+      "port-version": 3
+    },
     {
       "git-tree": "177f2af7397316cc1fa92a72ea8992f6acca8dfb",
       "version-string": "20.08",