Compile OpenSimAD stack on arm64 architecture

[aymanhab]

example_kinetics doesn't work on native arm64 on osx due to missing build of OpenSimAD on this platform.

[aymanhab]

@antoinefalisse I tried to build opensimAD and out of the box the dependencies fail to build because the versions of MUMPS, CASADI, ... are too old for the arm64 native compilers. We updated these versions for OpenSim native build but I don't know the size of the surgery yet to apply these changes here or if it will expose downstream issues related to changes in mumps/metis/casadi/ipopt stack. Thoughts?

[antoinefalisse]

@aymanhab I am a bit confused because opensimAD does not rely on CasADi. It is based on an older version of OpenSim (pre moco and thus pre casadi). Have you looked at the code here? https://github.com/antoinefalisse/opensim-core/tree/AD-recorder-work-py-install

[aymanhab]

@antoinefalisse It wasn't clear based on the instructions what dependencies are required in CMake, for example ipopt, mumps, casadi, tropter, BTK. Most of these predate arm64 availability and so do not compile natively on it but they may not be needed. Can you please clarify what dependencies, if any, are needed? Thank you

[aymanhab]

@antoinefalisse Can you clarify if we need ipopt and its dependencies for OpenSimAD? If so then we need to upgrade to the later version of ipopt now in use by opensim, if not then I can easily make a build. Please let me know either way. Thank you

[antoinefalisse]

@aymanhab nope you don't need any of the dependencies. It is based on an older version of Simbody/OpenSim: https://github.com/antoinefalisse/opensim-core/tree/AD-recorder-work-py-install and no need for ipopt, mumps, casadi, tropter, btk, etc