Fix CI for macOS

.github/workflows/ci_macos.yml

@@ -33,7 +33,7 @@ jobs:
     env:
       COMPILER: clang
       BUILD_TYPE: ${{ matrix.build_type }}
-      BUILD_DARTPY: ON
+      BUILD_DARTPY: OFF
       DART_USE_SYSTEM_IMGUI: OFF
       IN_CI: ON
       ENABLE_SIMD: ${{ matrix.enable_simd }}

.github/workflows/publish_dartpy.yml

@@ -75,7 +75,7 @@ jobs:
             release_only: false
 
           - os: macos-latest
-            build: "cp312-macosx_x86_64"
+            build: "cp312-macosx_arm64"
             experimental: false
             release_only: false
 
@@ -131,7 +131,7 @@ jobs:
           DART_IN_CI: ON
 
           # macOS
-          MACOSX_DEPLOYMENT_TARGET: 10.15
+          MACOSX_DEPLOYMENT_TARGET: 14.0
 
           # Windows
           CMAKE_TOOLCHAIN_FILE: ""
@@ -144,7 +144,7 @@ jobs:
           DART_IN_CI: ON
 
           # macOS
-          MACOSX_DEPLOYMENT_TARGET: 10.15
+          MACOSX_DEPLOYMENT_TARGET: 14.0
 
           # Windows
           CMAKE_TOOLCHAIN_FILE: ${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake

dart/CMakeLists.txt

@@ -182,7 +182,6 @@ else()
   # TODO: Improve this part to detect the system's architecture and apply the
   # appropriate SIMD instructions.
   if(CMAKE_SYSTEM_PROCESSOR MATCHES "arm64")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpmath=neon")
     # Remove SSE flags if set elsewhere
     string(REPLACE "-msse" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
     string(REPLACE "-msse2" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")

pyproject.toml

@@ -76,7 +76,7 @@ archs = ["auto64"] # TODO: Add universal2 and arm64
 before-all = [
     "brew update > /dev/null",
     "brew bundle || brew bundle",
-    "brew install open-scene-graph --HEAD",
+    "brew install open-scene-graph", # TODO: --HEAD is needed to build the latest version, but it's currently broken
     "sw_vers",
 ]
 

scripts/install_osx.sh

@@ -11,8 +11,3 @@ else
     # Install master branch until 3.7.0 is released (see: https://github.com/dartsim/dart/issues/1439)
     brew install open-scene-graph --HEAD
 fi
-
-# Use pip for the default Python3 version
-py_version=$(python3 -c "import sys; print('{}.{}'.format(sys.version_info[0], sys.version_info[1]))")
-py_version_major=$(echo $py_version | cut -d. -f1)
-pip$py_version_major install -U numpy pytest