[wip/pinocchio] Fix a number of issues in the package

* Disable parallel builds as g++ processes consumes loads of memory
* Fix PLIST
* Fix DEPEND_ABIs: drop useless requirements on assimp, add minimum 3.0 version
  on urdfdom
* Drop specific user settings (PREFER.*)
* Explicitly set cmake build options
* Sort dependencies

patch-aa: ensure that cmake does not find unwanted optional dependencies
patch-ab: fix a quoting issue in a cmakefile
patch-ac: fix build with assimp-2