Install DART using pkg

pkg install dartsim

Install DART from Source

Install Dependencies

cd /usr/ports/misc/dartsim && pkg install -A $(make missing) && make install clean

Build and Install DART

  1. Clone the repository into a directory in your home folder:

    git clone git://
  2. Change directory to the DART repository and checkout the latest tag of DART 6, e.g., v6.8.2:

    cd dart
    git checkout tags/v6.8.2
  3. Create a build directory:

    mkdir build
    cd build
  4. Configure and build DART:

    cmake ..
    make -j4
  • Build Options

    • DART tests, tutorials, examples

      If you want to build the tests, tutorials, or examples, run follows:

      make -j4 tests
      make -j4 tutorials
      make -j4 examples

      Once you successfully build the tests, you can run all the tests at once as:

      make -j4 test  # or cmake -j4

      or run a particular test as:

      ./unittests/<category_name>/<test_name>  # e.g., ./unittests/unit/test_Uri

      Also, you can run tutorials and examples as:

      ./bin/<executable_name>  # e.g., ./bin/rigidCubes
  • Build Type

    You can specify the build type [ Debug | Release | RelWithDebInfo | Profile ] as:

    cmake .. -DCMAKE_BUILD_TYPE=Debug

    The default build type is Release.

  1. Install DART:

    sudo make install

    If you want to uninstall DART, then:

    sudo make uninstall