Build taichi with opengl off and vulkan on failed on master

[ailzhang]

To repro: TAICHI_CMAKE_ARGS="-DTI_WITH_VULKAN:BOOL=ON -DTI_WITH_OPENGL:BOOL=OFF -DTI_BUILD_TESTS:BOOL=OFF -DTI_EXPORT_CORE:BOOL=ON -DTI_WITH_C_API:BOOL=ON" python setup.py develop

IMHO the root cause is probably that vulkan_prog_impl/opengl_prog_impl should depend on spirv_codegen. #4832 (comment)
cc: @qiao-bo

[qiao-bo]

Thanks for the hint. Actually, this is another example that our CI fails to cover all our build combinations. Perhaps we can set a build matrix in nightly?