dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/gui/osg/render/SphereShapeNode.hpp

@@ -0,0 +1,76 @@
+/*
+ * 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.
+ */
+
+#ifndef DART_GUI_OSG_RENDER_SPHERESHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_SPHERESHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/MatrixTransform>
+#include <osg/ShapeDrawable>
+
+namespace dart {
+
+namespace dynamics {
+class SphereShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class SphereShapeGeode;
+class SphereShapeDrawable;
+
+class SphereShapeNode : public ShapeNode, public ::osg::MatrixTransform
+{
+public:
+  SphereShapeNode(
+      std::shared_ptr<dart::dynamics::SphereShape> shape,
+      ShapeFrameNode* parent);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~SphereShapeNode();
+
+  std::shared_ptr<dart::dynamics::SphereShape> mSphereShape;
+  SphereShapeGeode* mGeode;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_SPHERESHAPENODE_HPP_

include/dart/gui/osg/render/VoxelGridShapeNode.hpp

@@ -0,0 +1,83 @@
+/*
+ * 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.
+ */
+
+#ifndef DART_GUI_OSG_RENDER_VOXELGRIDSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_VOXELGRIDSHAPENODE_HPP_
+
+#include <dart/config.hpp>
+
+#if HAVE_OCTOMAP
+
+  #include <dart/gui/osg/render/ShapeNode.hpp>
+
+  #include <osg/MatrixTransform>
+  #include <osg/ShapeDrawable>
+
+namespace dart {
+
+namespace dynamics {
+class VoxelGridShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class VoxelGridShapeGeode;
+class VoxelNode;
+
+class VoxelGridShapeNode : public ShapeNode, public ::osg::Group
+{
+public:
+  VoxelGridShapeNode(
+      std::shared_ptr<dynamics::VoxelGridShape> shape, ShapeFrameNode* parent);
+
+  void refresh() override;
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~VoxelGridShapeNode() override;
+
+  std::shared_ptr<dynamics::VoxelGridShape> mVoxelGridShape;
+  VoxelGridShapeGeode* mGeode;
+  std::vector<::osg::ref_ptr<VoxelNode>> mVoxelNodes;
+  std::size_t mVoxelGridVersion;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // HAVE_OCTOMAP
+
+#endif // DART_GUI_OSG_RENDER_VOXELGRIDSHAPENODE_HPP_

include/dart/gui/osg/render/WarningShapeNode.hpp

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+
+#ifndef DART_GUI_OSG_RENDER_WARNINGSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_WARNINGSHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/Node>
+
+#include <memory>
+
+namespace dart {
+namespace gui {
+namespace osg {
+namespace render {
+
+class WarningShapeNode : public ShapeNode, public ::osg::Node
+{
+public:
+  WarningShapeNode(
+      std::shared_ptr<dart::dynamics::Shape> shape, ShapeFrameNode* parent);
+
+  void refresh();
+
+protected:
+  virtual ~WarningShapeNode();
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_WARNINGSHAPENODE_HPP_

include/dart/gui/osg/render/all.hpp

@@ -0,0 +1,19 @@
+// Automatically generated file by cmake
+
+#include "dart/gui/osg/render/BoxShapeNode.hpp"
+#include "dart/gui/osg/render/CapsuleShapeNode.hpp"
+#include "dart/gui/osg/render/ConeShapeNode.hpp"
+#include "dart/gui/osg/render/CylinderShapeNode.hpp"
+#include "dart/gui/osg/render/EllipsoidShapeNode.hpp"
+#include "dart/gui/osg/render/HeightmapShapeNode.hpp"
+#include "dart/gui/osg/render/LineSegmentShapeNode.hpp"
+#include "dart/gui/osg/render/MeshShapeNode.hpp"
+#include "dart/gui/osg/render/MultiSphereShapeNode.hpp"
+#include "dart/gui/osg/render/PlaneShapeNode.hpp"
+#include "dart/gui/osg/render/PointCloudShapeNode.hpp"
+#include "dart/gui/osg/render/PyramidShapeNode.hpp"
+#include "dart/gui/osg/render/ShapeNode.hpp"
+#include "dart/gui/osg/render/SoftMeshShapeNode.hpp"
+#include "dart/gui/osg/render/SphereShapeNode.hpp"
+#include "dart/gui/osg/render/VoxelGridShapeNode.hpp"
+#include "dart/gui/osg/render/WarningShapeNode.hpp"

include/dart/gui/osg/render/render.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/gui/osg/render/all.hpp> instead of <dart/gui/osg/render/render.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/gui/osg/render/render.hpp is deprecated. Use dart/gui/osg/render/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/gui/osg/render/render.hpp is deprecated. Use dart/gui/osg/render/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/gui/osg/render/all.hpp"

include/dart/integration/EulerIntegrator.hpp

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+
+#ifndef DART_INTEGRATION_EULERINTEGRATOR_HPP_
+#define DART_INTEGRATION_EULERINTEGRATOR_HPP_
+
+#include <dart/integration/Integrator.hpp>
+
+namespace dart {
+namespace integration {
+
+/// \brief class EulerIntegrator
+class EulerIntegrator : public Integrator
+{
+public:
+  /// \brief Constructor
+  EulerIntegrator();
+
+  /// \brief Destructor
+  virtual ~EulerIntegrator();
+
+  // Documentation inherited
+  void integrate(IntegrableSystem* _system, double _dt) override;
+
+  // Documentation inherited
+  void integratePos(IntegrableSystem* _system, double _dt) override;
+
+  // Documentation inherited
+  void integrateVel(IntegrableSystem* _system, double _dt) override;
+};
+
+} // namespace integration
+} // namespace dart
+
+#endif // DART_INTEGRATION_EULERINTEGRATOR_HPP_

include/dart/integration/Integrator.hpp

@@ -0,0 +1,104 @@
+/*
+ * 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.
+ */
+
+#ifndef DART_INTEGRATION_INTEGRATOR_HPP_
+#define DART_INTEGRATION_INTEGRATOR_HPP_
+
+#include <Eigen/Dense>
+
+#include <vector>
+
+namespace dart {
+namespace integration {
+
+/// \brief Any class that uses an integrator should implement this interface
+class IntegrableSystem
+{
+public:
+  /// \brief Constructor
+  IntegrableSystem();
+
+  /// \brief Destructor
+  virtual ~IntegrableSystem();
+
+public:
+  /// \brief Set configurations
+  virtual void setConfigs(const Eigen::VectorXd& _configs) = 0;
+
+  /// \brief Set generalized velocities
+  virtual void setGenVels(const Eigen::VectorXd& _genVels) = 0;
+
+  /// \brief Get configurations
+  virtual Eigen::VectorXd getConfigs() const = 0;
+
+  /// \brief Get generalized velocities
+  virtual Eigen::VectorXd getGenVels() const = 0;
+
+  /// \brief Evaulate generalized accelerations
+  virtual Eigen::VectorXd evalGenAccs() = 0;
+
+  /// \brief Integrate configruations and store them in the system
+  virtual void integrateConfigs(const Eigen::VectorXd& _genVels, double _dt)
+      = 0;
+
+  /// \brief Integrate generalized velocities and store them in the system
+  virtual void integrateGenVels(const Eigen::VectorXd& _genVels, double _dt)
+      = 0;
+};
+
+// TODO(kasiu): Consider templating the class (which currently only works on
+// arbitrarily-sized vectors of doubles)
+/// \brief class Integrator
+class Integrator
+{
+public:
+  /// \brief Constructor
+  Integrator();
+
+  /// \brief Destructor
+  virtual ~Integrator();
+
+public:
+  /// \brief Integrate the system with time step dt
+  virtual void integrate(IntegrableSystem* _system, double _dt) = 0;
+
+  /// \brief Integrate velocity of the system with time step dt
+  virtual void integratePos(IntegrableSystem* _system, double _dt) = 0;
+
+  /// \brief Integrate velocity of the system with time step dt
+  virtual void integrateVel(IntegrableSystem* _system, double _dt) = 0;
+};
+
+} // namespace integration
+} // namespace dart
+
+#endif // DART_INTEGRATION_INTEGRATOR_HPP_

include/dart/integration/RK4Integrator.hpp

@@ -0,0 +1,68 @@
+/*
+ * 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.
+ */
+
+#ifndef DART_INTEGRATION_RK4INTEGRATOR_HPP_
+#define DART_INTEGRATION_RK4INTEGRATOR_HPP_
+
+#include <dart/integration/Integrator.hpp>
+
+namespace dart {
+namespace integration {
+
+/// \brief class RK4Integrator
+class RK4Integrator : public Integrator
+{
+public:
+  /// \brief Constructor
+  RK4Integrator();
+
+  /// \brief Destructor
+  virtual ~RK4Integrator();
+
+  // Documentation inherited
+  void integrate(IntegrableSystem* _system, double _dt) override;
+
+private:
+  /// \brief Initial configurations
+  Eigen::VectorXd q1;
+
+  /// \brief Chache data for generalized velocities
+  Eigen::VectorXd dq1, dq2, dq3, dq4;
+
+  /// \brief Chache data for generalized accelerations
+  Eigen::VectorXd ddq1, ddq2, ddq3, ddq4;
+};
+
+} // namespace integration
+} // namespace dart
+
+#endif // DART_INTEGRATION_RK4INTEGRATOR_HPP_

include/dart/integration/SemiImplicitEulerIntegrator.hpp

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+
+#ifndef DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_
+#define DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_
+
+#include <dart/integration/Integrator.hpp>
+
+namespace dart {
+namespace integration {
+
+/// \brief class SemiImplicitEulerIntegrator
+class SemiImplicitEulerIntegrator : public Integrator
+{
+public:
+  /// \brief Constructor
+  SemiImplicitEulerIntegrator();
+
+  /// \brief Destructor
+  virtual ~SemiImplicitEulerIntegrator();
+
+  // Documentation inherited
+  void integrate(IntegrableSystem* _system, double _dt) override;
+
+  // Documentation inherited
+  void integratePos(IntegrableSystem* _system, double _dt) override;
+
+  // Documentation inherited
+  void integrateVel(IntegrableSystem* _system, double _dt) override;
+};
+
+} // namespace integration
+} // namespace dart
+
+#endif // DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_

include/dart/integration/all.hpp

@@ -0,0 +1,6 @@
+// Automatically generated file by cmake
+
+#include "dart/integration/EulerIntegrator.hpp"
+#include "dart/integration/Integrator.hpp"
+#include "dart/integration/RK4Integrator.hpp"
+#include "dart/integration/SemiImplicitEulerIntegrator.hpp"

include/dart/integration/integration.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/integration/all.hpp> instead of <dart/integration/integration.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/integration/integration.hpp is deprecated. Use dart/integration/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/integration/integration.hpp is deprecated. Use dart/integration/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/integration/all.hpp"

include/dart/lcpsolver/Lemke.hpp

@@ -0,0 +1,54 @@
+/*
+ * 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.
+ */
+
+#ifndef DART_LCPSOLVER_LEMKE_HPP_
+#define DART_LCPSOLVER_LEMKE_HPP_
+
+#include <Eigen/Dense>
+
+namespace dart {
+namespace lcpsolver {
+
+/// \brief
+int Lemke(
+    const Eigen::MatrixXd& _M, const Eigen::VectorXd& _q, Eigen::VectorXd* _z);
+
+/// \brief
+bool validate(
+    const Eigen::MatrixXd& _M,
+    const Eigen::VectorXd& _z,
+    const Eigen::VectorXd& _q);
+
+} // namespace lcpsolver
+} // namespace dart
+
+#endif // DART_LCPSOLVER_LEMKE_HPP_