Parallelize constraint group solving

w

.github/workflows/ci_windows.yml

@@ -52,6 +52,7 @@ jobs:
             opengl
             osg
             pagmo2
+            taskflow
             tinyxml2
             tracy
             urdfdom

.github/workflows/publish_dartpy.yml

@@ -114,6 +114,7 @@ jobs:
             opengl
             osg
             pagmo2
+            taskflow
             tinyxml2
             tracy
             urdfdom

CHANGELOG.md

@@ -5,13 +5,15 @@
 ### [DART 6.15.0 (TBD)](https://github.com/dartsim/dart/milestone/77?closed=1)
 
 * Tested Platforms
-
   * Linux
     * Ubuntu 22.04 LTS / GCC 11.4 / x86_64
     * Ubuntu 24.04 LTS / GCC 13.2 / x86_64
   * macOS 14 / Clang 15 / arm64
   * Windows / MSVC 19.40 / x86_64
 
+* Dependencies
+  * Added optional dependency [Taskflow](https://github.com/taskflow/taskflow) for parallel programming
+
 ### [DART 6.14.2 (2024-06-28)](https://github.com/dartsim/dart/milestone/79?closed=1)
 
 * Tested Platforms

cmake/DARTFindDependencies.cmake

@@ -106,6 +106,9 @@ else()
   )
 endif()
 
+# Taskflow
+dart_find_package(Taskflow)
+
 #=======================
 # Optional dependencies
 #=======================

cmake/DARTFindTaskflow.cmake

@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2024, 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 "BSD-style" License
+
+find_package(Taskflow)

dart/CMakeLists.txt

@@ -222,6 +222,20 @@ if(spdlog_FOUND)
   add_component_dependency_packages(${PROJECT_NAME} dart spdlog)
 endif()
 
+# Taskflow settings
+if(Taskflow_FOUND)
+  if(TARGET spdlog::spdlog_header_only)
+    add_component_dependency_packages(${PROJECT_NAME} dart Taskflow)
+    target_link_libraries(dart PUBLIC Taskflow::Taskflow)
+    target_compile_definitions(dart PUBLIC -DDART_HAVE_Taskflow=1)
+  else()
+    message(WARNING "Taskflow found, but no target is found. Expected Taskflow::Taskflow")
+    target_compile_definitions(dart PUBLIC -DDART_HAVE_Taskflow=0)
+  endif()
+else()
+  target_compile_definitions(dart PUBLIC -DDART_HAVE_Taskflow=0)
+endif()
+
 if(MSVC)
   set_target_properties(
     dart PROPERTIES