DART 6.6 has been tested to run on macOS El Capitan (10.11), Sierra (10.12), and High Sierra (10.13) with clang (Apple LLVM version 6.0).
Getting Headers/Developer Tools
Mac OS does not ship with system headers and compiler tools by default; the easiest way to get it all is by installing Xcode through the app store.
Xcode is Apple’s full-fledged development environment for Mac/iPhone/iPad apps, but can also be used for developing in a number of standard languages (C, C++, Ruby, web languages, etc.), so it’s a great IDE to have installed anyway.
Install using Homebrew
If you want to use DART as a dependent library for your development, then installing DART using Homebrew is the most convenient way. If you found any difficulties in installing DART using Homebrew, please open an issue.
Make sure that Homebrew is healthy before you go to next steps with:
$ brew update $ brew cleanup $ brew doctor
You can find the install command in Homebrew’s website. It should look something like:
$ /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
Install DART 6
Now you can install DART with the following command:
$ brew install dartsim
Install from Source using Homebrew
First, install Homebrew by following the previous instruction.
$ brew install dartsim --only-dependencies
Build and Install DART
After this you should be able to clone the DART repository and compile it.
Clone the repository into a directory in your home folder:
$ git clone git://github.com/dartsim/dart.git
Change directory to the DART repository and checkout the latest tag of DART 6,
$ cd dart $ git checkout tags/v6.6.1
Create a build directory:
$ mkdir build $ cd build
Configure and build DART:
$ cmake .. $ make -j4
If you want to use Xcode to build DART, use cmake’s generator option:
$ cmake .. -G Xcode
You can find the list of generators you can use with
You can specify the build type [ Debug | Release | RelWithDebInfo | Profile ] as:
$ cmake .. -DCMAKE_BUILD_TYPE=Debug
The default build type is
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
$ sudo make install
If you want to uninstall DART, then:
$ sudo make uninstall