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Refactor CMake logic for the CUDA compiler (#3582)
Description of changes: - the CUDA compiler guessing mechanism was removed - the `WITH_CUDA` option is now opt-in - for non-standard CUDA compilers (Clang, HIP), the user has to provide an extra string option `WITH_CUDA_COMPILER` (any of "nvcc", "clang", "hip") - if the requested CUDA compiler is not found or is too old, CMake will fail - the minimal CUDA compiler version numbers are defined in the top-level `CMakeLists.txt` - the convoluted (and incorrect) CXX optimization flag deduction mechanism in `build_cmake.sh` was replaced with dedicated build types (`Coverage` and `RelWithAssert`)
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