diff --git a/CMakeLists.txt b/CMakeLists.txt
index c75132bb51821..5f5b1861340f7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -123,6 +123,13 @@ if(HAVE_BULLET_COLLISION)
 endif()
 include_directories("${CMAKE_BINARY_DIR}")
 
+set(DART_INCLUDE_DIRS
+    "${CMAKE_INSTALL_PREFIX}/include"
+    "${EIGEN3_INCLUDE_DIRS}")
+if(HAVE_BULLET_COLLISION)
+  list(APPEND DART_INCLUDE_DIRS "${BULLET_INCLUDE_DIRS}")
+endif()
+
 #===============================================================================
 # Check for non-case-sensitive filesystems
 #===============================================================================
diff --git a/cmake/DARTConfig.cmake.in b/cmake/DARTConfig.cmake.in
index 20b1298de7c42..55745082188fd 100644
--- a/cmake/DARTConfig.cmake.in
+++ b/cmake/DARTConfig.cmake.in
@@ -9,10 +9,7 @@
 #===============================================================================
 # DART_INCLUDE_DIRS
 #===============================================================================
-set(DART_INCLUDE_DIRS
-    "@CMAKE_INSTALL_PREFIX@/include"
-    "@EIGEN3_INCLUDE_DIRS@"
-    "@BULLET_INCLUDE_DIRS@")
+set(DART_INCLUDE_DIRS "@DART_INCLUDE_DIRS@")
 
 #===============================================================================
 # DART_LIBRARIES