[workspace] Build IPOPT from source on macOS

solvers/BUILD.bazel

@@ -949,7 +949,7 @@ drake_cc_optional_library(
         ":mathematical_program",
         ":mathematical_program_result",
         "//common:drake_export",
-        "@ipopt",
+        "@ipopt_internal//:ipopt",
     ],
 )
 
@@ -974,7 +974,7 @@ drake_cc_variant_library(
         ":ipopt_solver_internal",
         "//common:unused",
         "//math:autodiff",
-        "@ipopt",
+        "@ipopt_internal//:ipopt",
     ],
 )
 
@@ -1486,7 +1486,7 @@ drake_cc_googletest(
     ] + select({
         "//conditions:default": [
             ":ipopt_solver_internal",
-            "@ipopt",
+            "@ipopt_internal//:ipopt",
         ],
         "//tools:no_ipopt": [
         ],
@@ -1514,7 +1514,7 @@ drake_cc_googletest(
         "//common/test_utilities:expect_throws_message",
     ] + select({
         "//conditions:default": [
-            "@ipopt",
+            "@ipopt_internal//:ipopt",
         ],
         "//tools:no_ipopt": [
         ],
@@ -1532,7 +1532,9 @@ drake_sh_test(
     srcs = [":ipopt_solver_test"],
     args = select({
         ":osx": [
-            # SPRAL is a Linux-only feature, for now.
+            # SPRAL is the default on macOS, so ipopt_solver_test already has
+            # us covered. Only on Ubuntu (where MUMPS is the default) do we
+            # need to re-run this test.
             "--gtest_filter=-*",
         ],
         "//conditions:default": [
@@ -2069,6 +2071,7 @@ drake_cc_googletest(
         ":csdp_solver",
         ":gurobi_solver",
         ":ipopt_solver",
+        ":ipopt_solver_internal",
         ":linear_program_examples",
         ":mosek_solver",
         ":nlopt_solver",

solvers/ipopt_solver.h

@@ -46,7 +46,7 @@ struct IpoptSolverDetails {
  * using Drake's MathematicalProgram.
  *
  * The IpoptSolver is NOT threadsafe to call in parallel. This is due to Ipopt's
- * reliance on the MUMPs linear solver which is not safe to call concurrently
+ * reliance on the MUMPS linear solver which is not safe to call concurrently
  * (see https://github.com/coin-or/Ipopt/issues/733). This can be resolved by
  * enabling the SPRAL solver (see Drake issue
  * https://github.com/RobotLocomotion/drake/issues/21476).

solvers/solve.cc

@@ -93,9 +93,9 @@ std::vector<MathematicalProgramResult> SolveInParallel(
             ? *((*solver_ids)[i])
             : ChooseBestSolver(*progs[i]);
 
-    // IPOPT's MUMPs linear solver is not thread-safe. Therefore, if we are
+    // IPOPT's MUMPS linear solver is not thread-safe. Therefore, if we are
     // operating in parallel we need to skip this program.
-    // TODO(#21476) Revisit this logic after we have SPRAL available.
+    // TODO(#21476) Only force serial mode when MUMPS is used (not for SPRAL).
     if (in_parallel && solver_id == IpoptSolver::id()) {
       static const logging::Warn log_once(
           "IpoptSolver cannot currently solve programs in parallel, so will be "

solvers/test/ipopt_solver_internal_test.cc

@@ -282,8 +282,9 @@ GTEST_TEST(TestIpoptSolver, SupportedLinearSolvers) {
   const std::vector<std::string_view> actual = GetSupportedIpoptLinearSolvers();
   std::vector<std::string_view> expected;
   if (kApple) {
-    // Homebrew doesn't provide SPRAL.
-    expected.emplace_back("mumps");
+    // Homebrew doesn't provide a usable MUMPS library for us to build against,
+    // so SPRAL is the only available option.
+    expected.emplace_back("spral");
   } else {
     expected.emplace_back("mumps");
     expected.emplace_back("spral");

solvers/test/solve_in_parallel_test.cc

@@ -6,6 +6,7 @@
 #include "drake/solvers/csdp_solver.h"
 #include "drake/solvers/gurobi_solver.h"
 #include "drake/solvers/ipopt_solver.h"
+#include "drake/solvers/ipopt_solver_internal.h"
 #include "drake/solvers/mosek_solver.h"
 #include "drake/solvers/nlopt_solver.h"
 #include "drake/solvers/osqp_solver.h"
@@ -304,9 +305,15 @@ TEST_P(SolveInParallelIntegrationTest, Gurobi) {
 
 TEST_P(SolveInParallelIntegrationTest, Ipopt) {
   QuadraticProgram1 qp{CostForm::kNonSymbolic, ConstraintForm::kNonSymbolic};
-  // This linear solver is known to not be threadsafe. We want to be sure that
-  // this does not cause SolveInParallel to crash.
-  qp.prog()->SetSolverOption(IpoptSolver::id(), "linear_solver", "mumps");
+  // The MUMPS linear solver is known to not be threadsafe. We want to be sure
+  // that this does not cause SolveInParallel to crash. However, some platforms
+  // don't have MUMPS available, so we need to check before setting it.
+  for (const auto& linear_solver : internal::GetSupportedIpoptLinearSolvers()) {
+    if (linear_solver == "mumps") {
+      qp.prog()->SetSolverOption(IpoptSolver::id(), "linear_solver", "mumps");
+      break;
+    }
+  }
   for (const auto& result : Run(IpoptSolver::id(), *qp.prog())) {
     qp.CheckSolution(result);
   }

tools/install/libdrake/BUILD.bazel

@@ -149,26 +149,6 @@ install(
     ],
 )
 
-# Depend on IPOPT's shared library iff IPOPT is enabled and we're on a platform
-# that uses the host OS shared library.
-selects.config_setting_group(
-    name = "ipopt_not_shared",
-    match_any = [
-        "//tools:no_ipopt",
-        "//tools/cc_toolchain:linux",
-    ],
-)
-
-cc_library(
-    name = "ipopt_deps",
-    deps = selects.with_or({
-        "//conditions:default": [
-            "@ipopt",
-        ],
-        ":ipopt_not_shared": [],
-    }),
-)
-
 # Depend on Gurobi's shared library iff Gurobi is enabled.
 cc_library(
     name = "gurobi_deps",
@@ -238,7 +218,6 @@ cc_library(
     name = "libdrake_runtime_so_deps",
     deps = [
         ":gurobi_deps",
-        ":ipopt_deps",
         ":mosek_deps",
         ":usd_deps",
         ":x11_deps",

tools/wheel/image/dependencies/projects.cmake

@@ -27,23 +27,3 @@ if(NOT APPLE)
   set(lapack_md5 "d70fc27a8bdebe00481c97c728184f09")
   list(APPEND ALL_PROJECTS lapack)
 endif()
-
-# ipopt (requires mumps)
-if(APPLE_ARM64)
-    set(mumps_version 5.4.1)  # Latest available in Ubuntu.
-    set(mumps_url
-        "http://archive.ubuntu.com/ubuntu/pool/universe/m/mumps/mumps_${mumps_version}.orig.tar.gz"
-        "http://mumps.enseeiht.fr/MUMPS_${mumps_version}.tar.gz"
-    )
-    set(mumps_md5 "93be789bf9c6c341a78c16038da3241b")
-    set(mumps_dlname "mumps-${mumps_version}.tar.gz")
-    list(APPEND ALL_PROJECTS mumps)
-
-    # This must match the version in tools/workspace/ipopt_internal_fromsource.
-    # The matching is automatically enforced by a linter script.
-    set(ipopt_version 3.14.16)
-    set(ipopt_url "https://github.com/coin-or/Ipopt/archive/refs/tags/releases/${ipopt_version}.tar.gz")
-    set(ipopt_md5 "f94822be08b1f6e109261f305799b0ae")
-    set(ipopt_dlname "ipopt-${ipopt_version}.tar.gz")
-    list(APPEND ALL_PROJECTS ipopt)
-endif()

tools/workspace/BUILD.bazel

@@ -50,7 +50,7 @@ drake_py_binary(
         "@fcl_internal//:__subpackages__",
         "@gz_math_internal//:__subpackages__",
         "@gz_utils_internal//:__subpackages__",
-        "@ipopt_internal_fromsource//:__subpackages__",
+        "@ipopt_internal//:__subpackages__",
         "@msgpack_internal//:__subpackages__",
         "@nlopt_internal//:__subpackages__",
         "@qhull_internal//:__subpackages__",
@@ -115,7 +115,7 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "gklib_internal",
     "gz_math_internal",
     "gz_utils_internal",
-    "ipopt",
+    "ipopt_internal",
     "lcm",
     "libpng_internal",
     "libtiff_internal",

tools/workspace/clp_internal/package.BUILD.bazel

@@ -47,8 +47,6 @@ _SRCS = glob(
         # We treat COIN_HAS_AMD, COIN_HAS_CHOLMOD, and COIN_HAS_GLPK as OFF.
         "**/ClpCholeskyUfl*",
         # We treat COIN_HAS_MUMPS as OFF.
-        # TODO(jwnimmer-tri) We can probably enable this. I've left it off for
-        # now only out of inertia -- Ubuntu builds CLP without MUMPS.
         "**/ClpCholeskyMumps*",
         # We treat COIN_HAS_WSMP as OFF.
         "**/ClpCholeskyWssmp*",
@@ -95,15 +93,13 @@ _AUTOCONF_UNDEFINES = [
     "HAVE_DLFCN_H",
     "HAVE_IEEEFP_H",
     "HAVE_MEMORY_H",
-    # TODO(jwnimmer-tri) We can probably enable this. I've left it off for now
-    # only out of inertia -- Ubuntu builds CLP without MUMPS.
-    "COIN_HAS_MUMPS",
     # Optional dependencies that we don't use.
     "CLP_HAS_ABC",
     "COIN_HAS_AMD",
     "COIN_HAS_ASL",
     "COIN_HAS_CHOLMOD",
     "COIN_HAS_GLPK",
+    "COIN_HAS_MUMPS",
     "COIN_HAS_NETLIB",
     "COIN_HAS_OSI",
     "COIN_HAS_OSITESTS",

tools/workspace/default.bzl

@@ -38,8 +38,7 @@ load("//tools/workspace/gz_math_internal:repository.bzl", "gz_math_internal_repo
 load("//tools/workspace/gz_utils_internal:repository.bzl", "gz_utils_internal_repository")  # noqa
 load("//tools/workspace/highway_internal:repository.bzl", "highway_internal_repository")  # noqa
 load("//tools/workspace/ipopt:repository.bzl", "ipopt_repository")
-load("//tools/workspace/ipopt_internal_fromsource:repository.bzl", "ipopt_internal_fromsource_repository")  # noqa
-load("//tools/workspace/ipopt_internal_pkgconfig:repository.bzl", "ipopt_internal_pkgconfig_repository")  # noqa
+load("//tools/workspace/ipopt_internal:repository.bzl", "ipopt_internal_repository")  # noqa
 load("//tools/workspace/lapack:repository.bzl", "lapack_repository")
 load("//tools/workspace/lcm:repository.bzl", "lcm_repository")
 load("//tools/workspace/libblas:repository.bzl", "libblas_repository")
@@ -225,11 +224,10 @@ def add_default_repositories(
     if "highway_internal" not in excludes:
         highway_internal_repository(name = "highway_internal", mirrors = mirrors)  # noqa
     if "ipopt" not in excludes:
+        # Deprecated 2025-05-01.
         ipopt_repository(name = "ipopt")
-    if "ipopt_internal_fromsource" not in excludes:
-        ipopt_internal_fromsource_repository(name = "ipopt_internal_fromsource", mirrors = mirrors)  # noqa
-    if "ipopt_internal_pkgconfig" not in excludes:
-        ipopt_internal_pkgconfig_repository(name = "ipopt_internal_pkgconfig")
+    if "ipopt_internal" not in excludes:
+        ipopt_internal_repository(name = "ipopt_internal", mirrors = mirrors)  # noqa
     if "lapack" not in excludes:
         lapack_repository(name = "lapack")
     if "lcm" not in excludes:

tools/workspace/ipopt/package.BUILD.bazel

@@ -0,0 +1,13 @@
+# -*- bazel -*-
+
+load("@drake//tools/skylark:cc.bzl", "cc_library")
+
+package(default_visibility = ["//visibility:public"])
+
+_MESSAGE = "DRAKE DEPRECATED: The @ipopt repository alias is no longer available, and there is no replacement. If you still something related to IPOPT, you may wish to copy the repository rule from a prior Drake release into your project. The deprecated code will be removed from Drake on or after 2025-05-01."  # noqa
+
+cc_library(
+    name = "ipopt",
+    deps = ["@ipopt_internal//:ipopt"],
+    deprecation = _MESSAGE,
+)