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diff --git a/CMakeLists.txt b/CMakeLists.txt
index fc52494..9bc2db3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,7 +64,7 @@ string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\3"
set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
-set(DART_PKG_EXTERNAL_DEPS "assimp, ccd, eigen3, fcl, octomap")
+set(DART_PKG_EXTERNAL_DEPS "assimp, eigen3, fcl, octomap")
#===============================================================================
# Build options
diff --git a/cmake/DARTFindBullet.cmake b/cmake/DARTFindBullet.cmake
index c2d3e63..fbcdd4d 100644
--- a/cmake/DARTFindBullet.cmake
+++ b/cmake/DARTFindBullet.cmake
@@ -9,7 +9,7 @@
# Bullet. Force MODULE mode to use the FindBullet.cmake file distributed with
# CMake. Otherwise, we may end up using the BulletConfig.cmake file distributed
# with Bullet, which uses relative paths and may break transitive dependencies.
-find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)
+find_package(BULLET COMPONENTS LinearMath BulletCollision QUIET NAMES Bullet)
if((BULLET_FOUND OR Bullet_FOUND) AND NOT TARGET Bullet)
add_library(Bullet INTERFACE IMPORTED)
diff --git a/cmake/Findassimp.cmake b/cmake/Findassimp.cmake
index b5c1c66..099a3b4 100644
--- a/cmake/Findassimp.cmake
+++ b/cmake/Findassimp.cmake
@@ -25,7 +25,7 @@ find_path(ASSIMP_INCLUDE_DIRS assimp/scene.h
PATHS "${CMAKE_INSTALL_PREFIX}/include")
# Libraries
-if(MSVC)
+if(1)
find_package(assimp QUIET CONFIG)
if(TARGET assimp::assimp)
set(ASSIMP_LIBRARIES "assimp::assimp")
diff --git a/cmake/Findfcl.cmake b/cmake/Findfcl.cmake
index 7be9d61..d082d4d 100644
--- a/cmake/Findfcl.cmake
+++ b/cmake/Findfcl.cmake
@@ -27,7 +27,7 @@ find_path(FCL_INCLUDE_DIRS
PATHS "${CMAKE_INSTALL_PREFIX}/include")
# Libraries
-if(MSVC)
+if(1)
find_package(fcl QUIET CONFIG)
if(TARGET fcl)
set(FCL_LIBRARIES fcl)
diff --git a/cmake/Findtinyxml2.cmake b/cmake/Findtinyxml2.cmake
index 0552a8e..c731624 100644
--- a/cmake/Findtinyxml2.cmake
+++ b/cmake/Findtinyxml2.cmake
@@ -29,8 +29,8 @@ find_path(TINYXML2_INCLUDE_DIRS
PATHS "${CMAKE_INSTALL_PREFIX}/include")
# Libraries
-if(MSVC)
- set(TINYXML2_LIBRARIES "tinyxml2$<$<CONFIG:Debug>:d>")
+if(1)
+ set(TINYXML2_LIBRARIES tinyxml2::tinyxml2)
else()
find_library(TINYXML2_LIBRARIES
NAMES tinyxml2
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