“…However, due to the high resolution of ENO methods, characteristic decomposition on every point of the interpolation stencil becomes prohibitive when moving to three-dimensional simulations, especially for relativistic flows where Jacobian matrices are more complex than in the Eulerian case. The same kind of problem has to be faced in magnetohydrodynamics (MHD, see Londrillo & Del Zanna 2000, from now on LD), because of the increasing number of variables, equations and eigenmodes. The worst possible case is obviously that of relativistic MHD, for which only second Following the scheme proposed in LD, in the present series of two papers a shock-capturing scheme that avoids the expensive characteristic decomposition, still retaining nonoscillatory properties, will be suggested, first for ideal relativistic hydrodynamics (RHD, in this paper) and then for ideal relativistic magnetohydrodynamics (RMHD, in the next paper of the series).…”