Build Environments

Supported Platforms

DART 6.8 has been tested to run on High Sierra (10.13) and Mojave (10.14).

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.

Clean up

Make sure that Homebrew is healthy before you go to next steps with:

$ brew update
$ brew cleanup
$ brew doctor

Install Homebrew

You can find the install command in Homebrew’s website. It should look something like:

$ /usr/bin/ruby -e "$(curl -fsSL"

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.

Install Dependencies

$ brew install dartsim --only-dependencies

Build and Install DART

After this you should be able to clone the DART repository and compile it.

  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, 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

      • Build systems

        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 cmake --help.

      • Build types

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

        $ cmake .. -DCMAKE_BUILD_TYPE=Debug

        The default build type is Release.

      • 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
  5. Install DART:

    $ sudo make install

    If you want to uninstall DART, then:

    $ sudo make uninstall