Backporting of #630 and #697 for 5.1 #696
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The fix from #361 doesn't work if bullet package was found by `find_package`. If bullet is not found, `BULLET_INCLUDE_DIRS` will be set to `BULLET_INCLUDE_DIRS-NOT-FOUND` rather than blank as we assumed in #361. Instead, we set DART_INCLUDE_DIRS in the top CMakeList.txt depending on the condition of that bullet has found, and then use it in DART[Core]Config.cmake.in.
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This PR includes two patches of #630 and 697 for DART 5.1
This change is