Models describing relativistic particles, where Lagrangian densities depend linearly on both the curvature and the torsion of the trajectories, are revisited in D = 3 Lorentzian spacetimes with constant curvature. The moduli spaces of trajectories are completely and explicitly determined. Trajectories are Lancret curves including ordinary helices. To get the geometric integration of the solutions, we design algorithms that essentially involve the Lancret program as well as the notions of scrolls and Hopf tubes. The most interesting and consistent models appear in anti-de Sitter spaces, where the Hopf mappings, both the standard and the Lorentzian ones, play an important role. The moduli subspaces of closed solitons in anti-de Sitter settings are also obtained. Our main tool is the isoperimetric inequality in the hyperbolic plane. The mass spectra of these models are also obtained. The main characteristic of the anti-de Sitter space comes from the presence of real gravity, which becomes essential to find some system with only massive states. This fact, on one hand, has no equivalent in flat spaces, where spectra necessarily present tachyonic sectors and, on the other hand, solves an early stated problem.