Refactor LCP solver architecture under dart::math::lcp

dart/constraint/BallJointConstraint.cpp

@@ -35,7 +35,7 @@
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/math/Constants.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 #include <iostream>
 

dart/constraint/BoxedLcpConstraintSolver.cpp

@@ -48,8 +48,8 @@
 #include "dart/constraint/ConstraintBase.hpp"
 #include "dart/constraint/DantzigBoxedLcpSolver.hpp"
 #include "dart/constraint/PgsBoxedLcpSolver.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
 #include "dart/math/lcp/Lemke.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 namespace dart {
 namespace constraint {

dart/constraint/ContactConstraint.cpp

@@ -39,7 +39,7 @@
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/math/Constants.hpp"
 #include "dart/math/Helpers.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 #include <iostream>
 

dart/constraint/DantzigBoxedLcpSolver.cpp

@@ -33,7 +33,7 @@
 #include "dart/constraint/DantzigBoxedLcpSolver.hpp"
 
 #include "dart/common/Profile.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 namespace dart {
 namespace constraint {

dart/constraint/DantzigLCPSolver.cpp

@@ -42,8 +42,8 @@
 #include "dart/common/Logging.hpp"
 #include "dart/constraint/ConstrainedGroup.hpp"
 #include "dart/constraint/ConstraintBase.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
 #include "dart/math/lcp/Lemke.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 namespace dart {
 namespace constraint {

dart/constraint/JointConstraint.cpp

@@ -38,7 +38,7 @@
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/math/Constants.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 #include <algorithm>
 

dart/constraint/JointLimitConstraint.cpp

@@ -38,7 +38,7 @@
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/math/Constants.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 #include <iostream>
 

dart/constraint/MimicMotorConstraint.cpp

@@ -37,7 +37,7 @@
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 #include <iostream>
 

dart/constraint/PGSLCPSolver.cpp

@@ -43,8 +43,8 @@
 #include "dart/common/Profile.hpp"
 #include "dart/constraint/ConstrainedGroup.hpp"
 #include "dart/constraint/ConstraintBase.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
 #include "dart/math/lcp/Lemke.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 namespace dart {
 namespace constraint {

dart/constraint/PgsBoxedLcpSolver.cpp

@@ -33,8 +33,8 @@
 #include "dart/constraint/PgsBoxedLcpSolver.hpp"
 
 #include "dart/math/Constants.hpp"
-#include "dart/math/lcp/Dantzig/Matrix.hpp"
-#include "dart/math/lcp/Dantzig/Misc.hpp"
+#include "dart/math/lcp/dantzig/Matrix.hpp"
+#include "dart/math/lcp/dantzig/Misc.hpp"
 
 #include <Eigen/Dense>
 

dart/constraint/ServoMotorConstraint.cpp

@@ -37,7 +37,7 @@
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 #include <iostream>
 

dart/constraint/SoftContactConstraint.cpp

@@ -43,7 +43,7 @@
 #include "dart/dynamics/SoftMeshShape.hpp"
 #include "dart/math/Constants.hpp"
 #include "dart/math/Helpers.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 #include <iostream>
 

dart/constraint/WeldJointConstraint.cpp

@@ -36,7 +36,7 @@
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/math/Constants.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"
 
 namespace dart {
 namespace constraint {

dart/lcpsolver/dantzig/PivotMatrix.hpp

@@ -1,4 +1,4 @@
 #pragma once
 
 #include "dart/lcpsolver/detail/DeprecatedNamespace.hpp"
-#include "dart/math/lcp/Dantzig/PivotMatrix.hpp"
+#include "dart/math/lcp/dantzig/PivotMatrix.hpp"

dart/lcpsolver/dantzig/common.h

@@ -1,4 +1,4 @@
 #pragma once
 
 #include "dart/lcpsolver/detail/DeprecatedNamespace.hpp"
-#include "dart/math/lcp/Dantzig/Common.hpp"
+#include "dart/math/lcp/dantzig/Common.hpp"

dart/lcpsolver/dantzig/lcp-impl.hpp

@@ -1,4 +1,4 @@
 #pragma once
 
 #include "dart/lcpsolver/detail/DeprecatedNamespace.hpp"
-#include "dart/math/lcp/Dantzig/Lcp-impl.hpp"
+#include "dart/math/lcp/dantzig/Lcp-impl.hpp"

dart/lcpsolver/dantzig/lcp.h

@@ -1,4 +1,4 @@
 #pragma once
 
 #include "dart/lcpsolver/detail/DeprecatedNamespace.hpp"
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
+#include "dart/math/lcp/dantzig/Lcp.hpp"

dart/lcpsolver/dantzig/matrix-impl.hpp

@@ -1,4 +1,4 @@
 #pragma once
 
 #include "dart/lcpsolver/detail/DeprecatedNamespace.hpp"
-#include "dart/math/lcp/Dantzig/Matrix-impl.hpp"
+#include "dart/math/lcp/dantzig/Matrix-impl.hpp"

dart/lcpsolver/dantzig/matrix.h

@@ -1,4 +1,4 @@
 #pragma once
 
 #include "dart/lcpsolver/detail/DeprecatedNamespace.hpp"
-#include "dart/math/lcp/Dantzig/Matrix.hpp"
+#include "dart/math/lcp/dantzig/Matrix.hpp"

dart/lcpsolver/dantzig/misc.h

@@ -1,4 +1,4 @@
 #pragma once
 
 #include "dart/lcpsolver/detail/DeprecatedNamespace.hpp"
-#include "dart/math/lcp/Dantzig/Misc.hpp"
+#include "dart/math/lcp/dantzig/Misc.hpp"

dart/lcpsolver/detail/DeprecatedNamespace.hpp

@@ -16,14 +16,12 @@
 namespace dart {
 namespace math {
 namespace lcp {
+using namespace ::dart::math;
 } // namespace lcp
 } // namespace math
-} // namespace dart
-
-namespace dart {
 namespace
-    [[deprecated("dart::lcpsolver is deprecated; include dart/math/lcp headers "
-                 "and use dart::math instead")]] lcpsolver {
+    [[deprecated("dart::lcpsolver is deprecated; include dart/math/lcp "
+                 "headers and use dart::math instead")]] lcpsolver {
 using namespace math::lcp;
 } // namespace lcpsolver
 } // namespace dart

dart/math/lcp/All.hpp

@@ -1,5 +1,13 @@
 #pragma once
 
-#include "dart/math/lcp/Dantzig/Lcp.hpp"
-#include "dart/math/lcp/Lemke.hpp"
-#include "dart/math/lcp/ODELCPSolver.hpp"
+// New LCP solver framework (v2)
+#include <dart/math/lcp/LcpSolver.hpp>
+#include <dart/math/lcp/LcpTypes.hpp>
+
+// Pivoting methods
+#include <dart/math/lcp/pivoting/LemkeSolver.hpp>
+
+// Legacy LCP solvers (v1 - backward compatibility)
+#include <dart/math/lcp/Lemke.hpp>
+#include <dart/math/lcp/ODELCPSolver.hpp>
+#include <dart/math/lcp/dantzig/Lcp.hpp>

dart/math/lcp/CMakeLists.txt

@@ -5,12 +5,36 @@ dart_add_core_headers(${math_lcp_hdrs})
 dart_add_core_sources(${math_lcp_srcs})
 
 # Dantzig implementation headers and sources (remain public API)
-file(GLOB math_lcp_dantzig_hdrs "Dantzig/*.hpp")
-file(GLOB math_lcp_dantzig_srcs "Dantzig/*.cpp")
+file(GLOB math_lcp_dantzig_hdrs "dantzig/*.hpp")
+file(GLOB math_lcp_dantzig_srcs "dantzig/*.cpp")
 dart_add_core_headers(${math_lcp_dantzig_hdrs})
 dart_add_core_sources(${math_lcp_dantzig_srcs})
 
-# Compute relative header names (e.g., lcp/Lemke.hpp, lcp/Dantzig/Common.hpp)
+# Pivoting methods (Lemke, Dantzig wrappers, etc.)
+file(GLOB math_lcp_pivoting_hdrs "pivoting/*.hpp")
+file(GLOB math_lcp_pivoting_srcs "pivoting/*.cpp")
+dart_add_core_headers(${math_lcp_pivoting_hdrs})
+dart_add_core_sources(${math_lcp_pivoting_srcs})
+
+# Projection methods (PGS, PSOR, BGS, etc. - future)
+file(GLOB math_lcp_projection_hdrs "projection/*.hpp")
+file(GLOB math_lcp_projection_srcs "projection/*.cpp")
+dart_add_core_headers(${math_lcp_projection_hdrs})
+dart_add_core_sources(${math_lcp_projection_srcs})
+
+# Newton methods (future)
+file(GLOB math_lcp_newton_hdrs "newton/*.hpp")
+file(GLOB math_lcp_newton_srcs "newton/*.cpp")
+dart_add_core_headers(${math_lcp_newton_hdrs})
+dart_add_core_sources(${math_lcp_newton_srcs})
+
+# Other methods (interior point, etc. - future)
+file(GLOB math_lcp_other_hdrs "other/*.hpp")
+file(GLOB math_lcp_other_srcs "other/*.cpp")
+dart_add_core_headers(${math_lcp_other_hdrs})
+dart_add_core_sources(${math_lcp_other_srcs})
+
+# Compute relative header names (e.g., lcp/Lemke.hpp, lcp/dantzig/Common.hpp)
 set(math_lcp_header_names "")
 foreach(header ${math_lcp_hdrs})
   file(RELATIVE_PATH rel_path "${CMAKE_CURRENT_SOURCE_DIR}" ${header})
@@ -29,8 +53,47 @@ install(
   COMPONENT headers
 )
 
+install(
+  FILES ${math_lcp_dantzig_hdrs}
+  DESTINATION include/dart/math/lcp/dantzig
+  COMPONENT headers
+)
+
+# Compatibility install for legacy Dantzig include path
 install(
   FILES ${math_lcp_dantzig_hdrs}
   DESTINATION include/dart/math/lcp/Dantzig
   COMPONENT headers
 )
+
+if(math_lcp_pivoting_hdrs)
+  install(
+    FILES ${math_lcp_pivoting_hdrs}
+    DESTINATION include/dart/math/lcp/pivoting
+    COMPONENT headers
+  )
+endif()
+
+if(math_lcp_projection_hdrs)
+  install(
+    FILES ${math_lcp_projection_hdrs}
+    DESTINATION include/dart/math/lcp/projection
+    COMPONENT headers
+  )
+endif()
+
+if(math_lcp_newton_hdrs)
+  install(
+    FILES ${math_lcp_newton_hdrs}
+    DESTINATION include/dart/math/lcp/newton
+    COMPONENT headers
+  )
+endif()
+
+if(math_lcp_other_hdrs)
+  install(
+    FILES ${math_lcp_other_hdrs}
+    DESTINATION include/dart/math/lcp/other
+    COMPONENT headers
+  )
+endif()

dart/math/lcp/LcpSolver.cpp

@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/math/lcp/LcpSolver.hpp"
+
+namespace dart {
+namespace math {
+
+//==============================================================================
+LcpResult LcpSolver::solve(
+    const Eigen::MatrixXd& A, const Eigen::VectorXd& b, Eigen::VectorXd& x)
+{
+  return solve(A, b, x, mDefaultOptions);
+}
+
+//==============================================================================
+LcpOptions LcpSolver::getDefaultOptions() const
+{
+  return mDefaultOptions;
+}
+
+//==============================================================================
+void LcpSolver::setDefaultOptions(const LcpOptions& options)
+{
+  mDefaultOptions = options;
+}
+
+} // namespace math
+} // namespace dart