[cmake] Change formatting of listfiles to use gersemi, remove cmake-format

[ManifoldFR]

This PR removes the abandoned cmake-format to use the maintained gersemi. It also reformats all the CMake listfiles, picking up case-sensitive definitions from the jrl-cmakemodules and other listfiles in Pinocchio.

[github-actions]

👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
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Thanks.
The Pinocchio development team.

[jcarpent]

Should it possible to postpone this PR due to parallel developments?
It will be hard to do the proper merging with Pinocchio 4 in preparation.

[jcarpent]

I will handle the merging ;)

[jorisv]

Gersemi seem to well handle functions with optional arguments. The result is nice even without specifying the arguments in a config file (like we did in .cmake-format.yaml).

[ManifoldFR]

Gersemi seem to well handle functions with optional arguments. The result is nice even without specifying the arguments in a config file (like we did in .cmake-format.yaml).

Yes, the author of gersemi BlankSpruce did this deliberately to simplify the parsing logic. Users just have to write their functions/macros which use cmake_parse_arguments in a standard way and fulfill the "deal" in the README.

I've already used cmake_parse_arguments successfully in aligator to simplify some CMake functions and have them formatted cleanly. It works much better than what I could achieve with cmake-format.

@jcarpent we can wait for Pinocchio 4, sure 😃