Parallelize constraint group solving

.github/workflows/publish_dartpy.yml

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

CHANGELOG.md

@@ -2,6 +2,18 @@
 
 ## DART 6
 
+### [DART 6.16.0 (TBD)](https://github.com/dartsim/dart/milestone/83?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 6.15.0 (2024-11-15)](https://github.com/dartsim/dart/milestone/77?closed=1)
 
 * Tested Platforms

CMakeLists.txt

@@ -80,6 +80,7 @@ dart_option(DART_BUILD_DARTPY "Build dartpy" OFF)
 dart_option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF)
 dart_option(DART_CODECOV "Turn on codecov support" OFF)
+dart_option(DART_ENABLE_MT "Enable multi-threading support" ON)
 # Warning: DART_ENABLE_SIMD should be ON only when you build DART and the DART
 # dependent projects on the same machine. If this option is on, then compile
 # option `-march=native` is added to the target `dart` that enables all

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