Hi yaoyiyao,
you can find a CMakeLists.txt file in ..../chrono/contrib/opencrg-support. Follow the description there. You should end up with static libraries. DLLs are not needed, you can use the static ones as well. Here is an excerpt from my configuration script:
-DOPENCRG_INCLUDE_DIR:PATH=$DEPFIX/include \
-DOPENCRG_LIBRARY:FILEPATH=$DEPFIX/lib/libOpenCRG.lib \
You can of course also use the gui version of cmake and provide these paths (take full paths!).
Best