diff --git a/cmake/DARTCoreConfig.cmake.in b/cmake/DARTCoreConfig.cmake.in
index 4e37dffc51354..fcd6b8002ace2 100644
--- a/cmake/DARTCoreConfig.cmake.in
+++ b/cmake/DARTCoreConfig.cmake.in
@@ -13,6 +13,10 @@ set(DARTCore_INCLUDE_DIRS
   "@Eigen_INCLUDE_DIRS@"
 )
 
+if(HAVE_BULLET_COLLISION)
+  set(DARTCore_INCLUDE_DIRS ${DARTCore_INCLUDE_DIRS} "@BULLET_INCLUDE_DIRS@")
+endif()
+
 set(DARTCore_LIBRARY_DIRS "@CMAKE_INSTALL_PREFIX@/lib" "@Boost_LIBRARY_DIRS@")
 
 include("${CURRENT_DIR}/DARTCoreTargets.cmake")