  In this paper, we improve upon the discontinuous Galerkin (DG) method for
Hamilton-Jacobi (HJ) equation with convex Hamiltonians in (Y. Cheng and C.-W.
Shu, J. Comput. Phys. 223:398-415,2007) and develop a new DG method for
directly solving the general HJ equations. The new method avoids the
reconstruction of the solution across elements by utilizing the Roe speed at
the cell interface. Besides, we propose an entropy fix by adding penalty terms
proportional to the jump of the normal derivative of the numerical solution.
The particular form of the entropy fix was inspired by the Harten and Hyman's
entropy fix (A. Harten and J. M. Hyman. J. Comput. Phys. 50(2):235-269, 1983)
for Roe scheme for the conservation laws. The resulting scheme is compact,
simple to implement even on unstructured meshes, and is demonstrated to work
for nonconvex Hamiltonians. Benchmark numerical experiments in one dimension
and two dimensions are provided to validate the performance of the method.
