Azure: install vcpkg dependencies for utils component (#1400)

* azure: utils vcpkg install tinyxml2, boost headers

* utils: check for boost headers

* gui: disable win32 build

* remove target_include_directories

.azure-pipelines.yml

@@ -143,7 +143,9 @@ jobs:
     VCPKG_INSTALL_ROOT: $(Build.SourcesDirectory)\vcpkg
     VCPKG_ARCH: 'x64-windows'
     VCPKG_PACKAGES: 'assimp boost-system boost-filesystem ccd eigen3 fcl'
-    VCPKG_OPTIONAL_PACKAGES: 'bullet3 ode'
+    # utils needs tinyxml2 and boost algorithm/lexical-cast
+    #   and also boost-math to resolve a circular dependency with lexical-cast
+    VCPKG_OPTIONAL_PACKAGES: 'boost-algorithm boost-lexical-cast boost-math bullet3 ode tinyxml2'
     BUILD_TOOLSET_VERSION: '142'
     CMAKE_GENERATOR: 'Visual Studio 16 2019'
   steps:

dart/utils/CMakeLists.txt

@@ -2,6 +2,30 @@
 dart_find_package(tinyxml2)
 dart_check_optional_package(TINYXML2 "dart-utils" "tinyxml2" "1.0.1")
 
+# Test whether boost algorithm and lexical_cast headers are available.
+include(CheckCXXSourceCompiles)
+set(CMAKE_REQUIRED_FLAGS "-w")
+set(CMAKE_REQUIRED_INCLUDES "${Boost_INCLUDE_DIRS}")
+check_cxx_source_compiles(
+  "
+  #include <boost/algorithm/string.hpp>
+  #include <boost/lexical_cast.hpp>
+  int main()
+  {
+    return 0;
+  }
+  "
+  HAS_BOOST_ALGORITHM_LEXICAL_CAST
+)
+if(HAS_BOOST_ALGORITHM_LEXICAL_CAST)
+  if(DART_VERBOSE)
+    message(STATUS "Looking for Boost algorithm and lexical_cast headers - found")
+  endif()
+else()
+  message(WARNING "Looking for Boost algorithm and lexical_cast headers - NOT found, to use dart-utils, please install missing boost headers")
+  return()
+endif()
+
 # Search all header and source files
 file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")