CI fixes

* Fix the blaze_INCLUDE_DIR setting for macosci

* Use absolute home path for blaze on osx CI/CD pipeline

* Avoid using FAIL in non-test function

* Update CUDA toolkit version to 12.8 in CI configuration and packaging scripts

* Use NVIDIA's official docker container instead of our self-built one

* Use Intel oneAPI+CUDA container

* Load intel oneapi

* Use ${CASCADE_INSTALL_DIR}/build instead of ${CASCADE_INSTALL_DIR}/atm
to make it consistent in our upgraded docker

* Build opencascade

* Eliminate the noisy information in the CI/CD output

* Fix the target dir of opencascade

* Remove OCCT_INSTALL_BIN_LETTER from opencascade

* Use external installation location

* Use CMAKE_INSTALL_PREFIX to specify prefix

* Fix the syntax error in the buildOCCT script

* Use pre-built opencascade

* Manually include chrono to make it compatible with microsoft/STL#5105

* Build VSG before running test on Windows

* Remove additional character in Windows's testing pipeline

* Change the vsg library path to Windows's style

Author: uebian

CMakePresets.json

@@ -84,7 +84,7 @@
 				"glm_DIR": "$env{HOME}/Packages/gl/$env{LIB_DIR}/cmake/glm",
 				"OpenCRG_INCLUDE_DIR": "$env{HOME}/Packages/OpenCRG/include",
 				"OpenCRG_LIBRARY": "$env{HOME}/Packages/OpenCRG/lib/libOpenCRG.1.1.2.a",
-				"OpenCASCADE_DIR": "$env{HOME}/Packages/opencascade-7.4.0/adm",
+				"OpenCASCADE_DIR": "$env{HOME}/Packages/opencascade-7.4.0/$env{LIB_DIR}/cmake/opencascade",
 				"spectra_INCLUDE_DIR": "$env{HOME}/Packages/spectra/include",
 				"vsg_DIR": "$env{CI_PROJECT_DIR}/contrib/build-scripts/vsg_build/lib/cmake/vsg",
 				"vsgImGui_DIR": "$env{CI_PROJECT_DIR}/contrib/build-scripts/vsg_build/lib/cmake/vsgImGui",

contrib/.gitlab-ci.yml

@@ -69,17 +69,13 @@ linux:doxygen:deploy:
   tags:
     - linux
   image:
-      name: uwsbel/packages:test
+      name: uwsbel/packages:cuda12.8.1
   before_script:
     # Defining configuration variables
     - export DEBIAN_FRONTEND=noninteractive
     - export LIB_DIR="lib"
     - export IOMP5_DIR=""
-    - apt-get update; apt-get -y install unzip wget python3 python3-pip libomp-dev
-      git cmake ninja-build doxygen libvulkan-dev pkg-config libirrlicht-dev 
-      freeglut3-dev mpich libasio-dev libboost-dev libglfw3-dev libglm-dev 
-      libglew-dev libtinyxml2-dev swig python3-dev libhdf5-dev libnvidia-gl-535
-      curl software-properties-common
+    - source /opt/intel/oneapi/setvars.sh
     - ldconfig
     # ROS
     - add-apt-repository universe
@@ -277,7 +273,7 @@ windows:vs2022:build:
   # Build urdf with buildURDF script
   - '& $CI_PROJECT_DIR\contrib\build-scripts\windows\buildURDF.bat $CI_PROJECT_DIR\contrib\build-scripts\urdf_build'
   # Configuring chrono
-  - cmake -B "$CI_PROJECT_DIR\build" -S "$CI_PROJECT_DIR" -T "cuda=C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.2" -DCMAKE_CXX_FLAGS="/MP4" -DPython3_FIND_STRATEGY:STRING=LOCATION -DPython3_ROOT_DIR:PATH="C:/Users/builder/miniconda3" --preset=windowsci-vs2022
+  - cmake -B "$CI_PROJECT_DIR\build" -S "$CI_PROJECT_DIR" -T "cuda=C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.8" -DCMAKE_CXX_FLAGS="/MP4" -DPython3_FIND_STRATEGY:STRING=LOCATION -DPython3_ROOT_DIR:PATH="C:/Users/builder/miniconda3" --preset=windowsci-vs2022
   - cd build
   # Building chrono
   - cmake --build . -j 8 --config Release
@@ -291,6 +287,9 @@ windows:vs2022:test:
   needs: ["windows:vs2022:build"]
   extends: .windows
   script:
+  # Build vsg with buildVSG script
+  - '& $CI_PROJECT_DIR\contrib\build-scripts\windows\buildVSG.bat $CI_PROJECT_DIR\contrib\build-scripts\vsg_build'
+  - $env:PATH += ";$CI_PROJECT_DIR\contrib\build-scripts\vsg_build\bin"
   - cd build
   - ctest --output-on-failure -E "utest_PARSERS|utest_FSI"
   dependencies: ["windows:vs2022:build"]

contrib/build-scripts/linux/buildChrono.sh

@@ -83,7 +83,7 @@ cmake -G ${BUILDSYSTEM} -B ${BUILD_DIR} -S ${SOURCE_DIR} \
       -DGLM_INCLUDE_DIR:PATH=${GL_INSTALL_DIR}/include \
       -DOpenCRG_INCLUDE_DIR:PATH=${CRG_INCLUDE_DIR} \
       -DOpenCRG_LIBRARY:FILEPATH=${CRG_LIBRARY} \
-      -DOpenCASCADE_DIR:PATH=${CASCADE_INSTALL_DIR}/adm \
+      -DOpenCASCADE_DIR:PATH=${CASCADE_INSTALL_DIR}/${LIB_DIR}/cmake/opencascade \
       -DSpectra_INCLUDE_DIR:PATH=${SPECTRA_INCLUDE_DIR}/include \
       -DMATLAB_SDK_ROOT:PATH=${MATLAB_INSTALL_DIR}/extern \
       -Dvsg_DIR:PATH=${VSG_INSTALL_DIR}/${LIB_DIR}/cmake/vsg \

contrib/packaging-python/conda/bld.bat

@@ -44,7 +44,7 @@ cmake -G "Visual Studio 17 2022" -T "v142" ^
  -DCH_ENABLE_MODULE_SENSOR=ON ^
  -DNUMPY_INCLUDE_DIR="C:/Users/builder/miniconda3/pkgs/numpy-base/Lib/site-packages/numpy/core/include/" ^
  -DOptiX_INSTALL_DIR="C:/ProgramData/NVIDIA Corporation/OptiX SDK 7.7.0" ^
- -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.2" ^
+ -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.8" ^
  -DGLFW_DLL="C:/Users/builder/Documents/glfw-3.3.5/lib-vc2019/glfw3.dll" ^
  -DGLFW_INCLUDE_DIR="C:/Users/builder/Documents/glfw-3.3.5/include" ^
  -DGLFW_LIBRARY="C:/Users/builder/Documents/glfw-3.3.5/lib-vc2019/glfw3dll.lib" ^

contrib/packaging-python/conda/build.sh

@@ -52,7 +52,7 @@ cmake -G "Ninja" -DCMAKE_INSTALL_PREFIX=$PREFIX \
  -DBUILD_BENCHMARKING=OFF \
  -DBUILD_GMOCK=OFF \
  -DCH_ENABLE_MODULE_CASCADE=ON \
- -DOpenCASCADE_DIR=$HOME/Packages/opencascade-7.4.0/adm \
+ -DOpenCASCADE_DIR=$HOME/Packages/opencascade-7.4.0/lib/cmake/opencascade \
  -DCH_ENABLE_MODULE_PARDISO_MKL=ON \
  -DMKL_INCLUDE_DIR=$BUILD_PREFIX/include \
  -DMKL_RT_LIBRARY=$BUILD_PREFIX/lib/libmkl_rt.so \

src/chrono_sensor/optix/ChOptixUtils.h

@@ -22,6 +22,7 @@
 #include <optix.h>
 #include <cuda_runtime_api.h>
 #include <nvrtc.h>
+#include <chrono>
 
 #include "chrono/assets/ChVisualMaterial.h"
 #include "chrono/assets/ChVisualShapeBox.h"