CI fixes: Mac runner upgrade and Doxygen installations

[nickbianco]

Brief summary of changes

Upgrades all Mac runners to macOS 14 now that macOS 12 will be officially deprecated soon (already receiving warnings in GitHub Actions). Attempts to fix the Doxygen install issue on Windows; there is a comment suggesting that a choco install was previously unreliable, but giving it a try again here.

Testing I've completed

[perf-win]

Looking for feedback on...

CHANGELOG.md (choose one)

• no need to update because...CI fixes.

Performance analysis

Platform: Windows, self-hosted runner

Test Name	lhs [secs]	stderr [secs]	rhs [secs]	stderr [secs]	Speedup
Arm26	0.34	0.00	0.35	0.00	0.98
ellipsoid_wrap	4.09	0.00	4.06	0.00	1.01
ellipsoid_wrap_function_based_paths	3.39	0.00	3.39	0.00	1.00
Gait2354	0.43	0.00	0.42	0.00	1.01
MocoSlidingMass	1.49	0.01	1.43	0.00	1.04
MocoSquatToStand	13.54	0.06	13.49	0.04	1.00
passive_dynamic	5.62	0.01	5.59	0.01	1.00
passive_dynamic_noanalysis	3.37	0.00	3.33	0.00	1.01
RajagopalModel	7.88	0.01	7.90	0.00	1.00
ToyDropLanding	12.36	0.04	12.33	0.01	1.00
ToyDropLanding_fbp_stepwisereg	11.09	0.01	11.08	0.01	1.00
ToyDropLanding_function_based_paths	11.24	0.02	11.28	0.03	1.00
ToyDropLanding_nomuscles	0.56	0.00	0.57	0.00	0.98

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This change is 

[aymanhab]

ci changes LGTM 👍 other unrelated changes, however, snuck in, please remove if these need separate review. Feel free to merge after addressing..

[aymanhab]

Would be good to limit this to ci, unless you feel the other changes are relevant to this PR

[nickbianco]

Would be good to limit this to ci, unless you feel the other changes are relevant to this PR

The CI failures on Mac seems to be related to updating the runner to macOS 14. Some of the failures are due to overly strict floating point comparisons, so not surprising that these failures are cropping up. I'm trying to use Catch's recommend floating point comparison tools to address them. I'm not sure why testOutputReporter is failing yet though.

[nickbianco]

Note: could improve Doxygen install based on simbody/simbody#801.

[nickbianco]

@aymanhab asking for another review here since I've made several changes. Finally patched all the testing failures, some of them were hidden because we were using non-Catch2 macros (e.g., testOutputReporter). I made a few other minor changes, including removing unnecessary code in testOutputReporter, upgrading the GitHub Actions checkout module, and using ubuntu-latest rather than macos-12 to run the perf testing jobs.

[aymanhab]

LGTM, thanks @nickbianco I'd just spot check Doxygen to see if the result is usable or if we need to upgrade or configuration files

Reviewed 2 of 4 files at r3, 1 of 1 files at r4.
Reviewable status: 3 of 4 files reviewed, 1 unresolved discussion (waiting on @nickbianco)

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.github/workflows/continuous_integration.yml line 30 at r4 (raw file):

      run: |
        (New-Object System.Net.WebClient).DownloadFile("https://github.com/doxygen/doxygen/releases/download/Release_1_12_0/doxygen-1.12.0.windows.x64.bin.zip", "doxygen.zip")
        7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen

We were sticking with 1.8.14 on windows because later versions were problematic and produced unexpected docs. Would be good to spot check the layout/colors/etc. locally

[nickbianco]

Tried using SimTK::Eps in some places in testDeGrooteFregly2016Muscle, but those tests failed again, so reverting back to manual tolerances (seems like SimTK::Eps is getting simplified to 0.0 on macos-14).

I will take a look at the docs generated with the new version of Doxygen.

[nickbianco]

It looks like the latest Doxygen version does produce some odd formatting of the docs:

I'll try to revert to an earlier version and see if it's better.

[nickbianco]

Actually, the image I posted above is from the Mac CI builds, which already had been installing the latest version of Doxygen (1.12) via Homebrew. So the changes in this PR actually bring the Windows and Mac builds in sync on the Doxygen version.

If it's okay with you @aymanhab, I think I'll open a separate issue specific issues with using the latest Doxygen. That way we can get CI up and running in the meantime.

[nickbianco]

(And we can always build the docs locally with whatever version of Doxgyen we need for releases, etc.)

[aymanhab]

Sure, let's merge if you're happy with everything else so we have successful builds. It may make sense to build Doxygen on windows only if unused on other platforms but that's to discuss separately on the Doxygen issue.

[nickbianco]

Opened the Doxygen issue here: #3930.

Merging this one. Thanks @aymanhab!