opensim-org · aymanhab · Nov 7, 2025 · Nov 10, 2025 · Nov 10, 2025 · Nov 10, 2025
diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
@@ -38,8 +38,13 @@ jobs:
         python-version: '3.11'
 
     - name: Install numpy
-      # Need numpy to use SWIG numpy typemaps.
-      run: python3 -m pip install numpy==2.0
+      #Need numpy to use SWIG numpy typemaps.
+      run: |
+        python3 -m pip install numpy==2.0
+        python3 -m pip install wheel
+        python3 -m pip install build
+        pip install --upgrade pip setuptools wheel
+        pip install delvewheel
 
     - name: Install SWIG
       run: |
@@ -68,7 +73,7 @@ jobs:
         # /W0 disables warnings.
         # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
         # TODO: CMake provides /W3, which overrides our /W0
-        cmake -E env CXXFLAGS="/W0 /MD" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON
+        cmake -E env CXXFLAGS="/W0 /MD" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON -DOPENSIM_PYTHON_STANDALONE=ON
         cmake --build . --config Release -- /maxcpucount:4
 
     - name: Configure opensim-core
@@ -79,7 +84,7 @@ jobs:
         # TODO: Can remove /WX when we use that in CMakeLists.txt.
         # Set the CXXFLAGS environment variable to turn warnings into errors.
         # Skip timing test section included by default.
-        cmake -E env CXXFLAGS="/WX /MD -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.11.9\x64
+        cmake -E env CXXFLAGS="/WX /MD -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DBUILD_PYTHON_WHEELS=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.11.9\x64
         $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
         $version = $env:match.split('=')[1]
         echo $version
@@ -106,13 +111,22 @@ jobs:
         Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
         7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"
 
-    # - name: Test Python bindings
-    #   run: |
-    #     echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
-    #     # Move to the installed location of the python package.
-    #     cd ~/opensim-core-install/sdk/python
-    #     # Run python tests.
-    #     python -m unittest discover --start-directory opensim/tests --verbose
+#    - name: Build wheel
+#      run: |
+#        cd ~/opensim-core-install/sdk/python
+#        python3 setup.py bdist_wheel
+#    - name: Upload windows wheel
+#      uses: actions/upload-artifact@v4
+#      with:
+#        name: opensim-4.5.2-cp311-cp311-win_amd64.whl
+#        path: ~/opensim-core-install/sdk/python/dist/opensim-4.5.2-cp311-cp311-win_amd64.whl
+#
+#    - name: Test Python bindings
+#      run: |
+#        cd ~/opensim-core-install/sdk/python
+#        pip install dist/opensim-4.5.2-cp311-cp311-win_amd64.whl
+#        # Run the python tests, verbosely.
+#        python3 -m unittest discover --start-directory opensim/tests --verbose
 
     - name: Upload opensim-core
       uses: actions/upload-artifact@v4
@@ -267,6 +281,8 @@ jobs:
         brew install pkgconfig autoconf libtool automake wget pcre doxygen llvm
         brew reinstall gcc
         pip3 install numpy==2.0
+        pip3 install wheel
+        pip3 install build
         gfortran -v
         mkdir gfortran_version
         gfortran -v &> gfortran_version/gfortran_version.txt
@@ -309,6 +325,7 @@ jobs:
         DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
         DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
+
         printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
         cmake "${DEP_CMAKE_ARGS[@]}"
         make --jobs 4
@@ -325,6 +342,8 @@ jobs:
         OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
         OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
+        OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WHEELS=on)
+        OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
@@ -358,9 +377,21 @@ jobs:
         zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}.zip opensim-core-${{ steps.configure.outputs.version }}
         mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
 
+    - name: Build wheel
+      run: |
+        cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
+        python3 -m build --wheel
+
+    - name: Upload osx wheel
+      uses: actions/upload-artifact@v4
+      with:
+        name: opensim-4.5.2-cp311-cp311-macosx_15_0_universal2.whl
+        path: /Users/runner/work/opensim-core/opensim-core-install/sdk/python/dist/opensim-4.5.2-cp311-cp311-macosx_15_0_universal2.whl
+
     - name: Test Python bindings
       run: |
         cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
+        pip3 install /Users/runner/work/opensim-core/opensim-core-install/sdk/python/dist/opensim-4.5.2-cp311-cp311-macosx_15_0_universal2.whl
         # Run the python tests, verbosely.
         python3 -m unittest discover --start-directory opensim/tests --verbose
 
@@ -508,6 +539,8 @@ jobs:
       run: |
         pip install pip --upgrade
         pip install numpy==2.0
+        pip install build
+        pip install wheel
 
     - name: Install packages
       run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf
@@ -561,6 +594,8 @@ jobs:
         OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
         OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
+        OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WHEELS=on)
+        OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig)
         OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
@@ -597,11 +632,23 @@ jobs:
         zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ubuntu22.zip opensim-core-${{ steps.configure.outputs.version }}
         mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
 
+    - name: Build wheel
+      run: |
+        cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
+        python3 -m build --wheel
+
+    - name: Upload linux wheel
+      uses: actions/upload-artifact@v4
+      with:
+        name: opensim-4.5.2-cp311-cp311-linux_x86_64.whl
+        path: /home/runner/work/opensim-core/opensim-core-install/sdk/Python/dist/opensim-4.5.2-cp311-cp311-linux_x86_64.whl
+
     - name: Test Python bindings
       run: |
-        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
+        export LD_LIBRARY_PATH=""
         cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
-        # Run the python tests, verbosely.
+        pip install /home/runner/work/opensim-core/opensim-core-install/sdk/Python/dist/opensim-4.5.2-cp311-cp311-linux_x86_64.whl
+        # Run the python tests, verbosely
         python3 -m unittest discover --start-directory opensim/tests --verbose
 
     - name: Upload opensim-core

diff --git a/Bindings/Python/CMakeLists.txt b/Bindings/Python/CMakeLists.txt
@@ -251,7 +251,6 @@ OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_BINARY_DIR}/version.py" opensim)
 
 # Copy setup.py for each build configuration.
 OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/setup.py" ".")
-
 # __init__.py.
 OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/__init__.py" opensim)
 

diff --git a/Bindings/Python/examples/build_simple_arm_model.py b/Bindings/Python/examples/build_simple_arm_model.py
@@ -39,7 +39,7 @@
 
 # Define global model where the arm lives.
 arm = osim.Model()
-if not running_as_test: arm.setUseVisualizer(True)
+#if not running_as_test: arm.setUseVisualizer(True)
 
 # ---------------------------------------------------------------------------
 # Create two links, each with a mass of 1 kg, centre of mass at the body's

diff --git a/Bindings/Python/setup.py b/Bindings/Python/setup.py
@@ -3,6 +3,7 @@
 import os
 import sys
 from setuptools import setup
+from setuptools.dist import Distribution
 
 # This provides a list of relative paths to all the dependencies in the bin folder.
 # Only when installed locally via "python -m pip install ." in Windows
@@ -24,6 +25,10 @@
     execfile('opensim/version.py')
 else:
     exec(compile(open('opensim/version.py').read(), 'opensim/version.py', 'exec'))
+class BinaryDistribution(Distribution):
+    """Distribution which always forces a binary package with platform name"""
+    def has_ext_modules(foo):
+        return True
 
 setup(name='opensim',
       version=__version__,
@@ -35,8 +40,7 @@
       packages=['opensim'],
       # Copy the bin_files and geometry_files into the opensim package directory
       data_files=[
-            ('Lib/site-packages/opensim', bin_files), 
-            ('Lib/site-packages/opensim/Geometry', geometry_files)
+            ('opensim', bin_files)
       ],
       # The last 3 entries are for if OPENSIM_PYTHON_STANDALONE is ON.
       # The asterisk after the extension is to handle version numbers on Linux.
@@ -51,8 +55,13 @@
       classifiers=[
           'Intended Audience :: Science/Research',
           'Operating System :: OS Independent',
-          'Programming Language :: Python :: 2.7',
           'Programming Language :: Python :: 3',
           'Topic :: Scientific/Engineering :: Physics',
           ],
+          install_requires=[
+              "numpy>=2.0"
+          ],
+          distclass=BinaryDistribution
       )
+# To build the wheel, run the following command:
+#python setup.py bdist_wheel
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -37,6 +37,7 @@ performance and stability in wrapping solutions.
 - Updated required language level to C++20. (#3929)
 - Breaking: removed the `operator==` and `operator<` overloads in `ControlLinearNode` and replaced usages with the equivalent utility functions `isEqual()` and `isLessThan()`. (#4095)
 - Made various changes to support builds on Ubuntu 24.04 with GCC 13. (#4186)
+- Support building PYPI distribution python wheels on all platforms, upgrade builds to python 3.11 and numpy 2.0. (#4189)
 
 
 v4.5.2

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -500,6 +500,12 @@ set(BUILD_JAVA_WRAPPING OFF CACHE BOOL "Build Java wrapping (needed if you're bu
 
 set(BUILD_PYTHON_WRAPPING OFF CACHE BOOL "Build Python wrapping (needed if you're building the Python wrapping; requires that you have SWIG and Python installed on your machine.)")
 
+set(BUILD_PYTHON_WHEELS OFF CACHE BOOL "Build Python wrapping into a pypi package wheel")
+
+if(BUILD_PYTHON_WHEELS)
+  set(OPENSIM_PYTHON_STANDALONE ON CACHE BOOL "Enable Standalone python packaging" FORCE)
+endif()
+
 set(OPENSIM_PYTHON_VERSION 3)
 
 if(${BUILD_JAVA_WRAPPING})
@@ -564,31 +570,6 @@ if(${BUILD_PYTHON_WRAPPING})
     # OPENSIM_INSTALL_PYTHONDIR is used in OpenSimAddLibrary (in
     # OpenSimMacros.cmake).
 
-    if(APPLE AND ${OPENSIM_PYTHON_VERSION} STREQUAL "2")
-        # If you have Homebrew's Python2, then by default, PythonInterp finds
-        # Apple's Python, but PythonLibs finds Homebrew's Python, causing
-        # runtime crashes. This also occurs if one has Anaconda Python.
-        # So we use the python-config executable to get the
-        # correct library and include directory.
-        # https://github.com/Homebrew/legacy-homebrew/issues/25118
-        execute_process(COMMAND "${Python3_EXECUTABLE}-config" --prefix
-                    OUTPUT_VARIABLE python_prefix
-                    OUTPUT_STRIP_TRAILING_WHITESPACE)
-        string(CONCAT pyinc_desc
-            "Location of Python header files, to compile bindings. "
-            "Must be consistent with PYTHON_EXECUTABLE.")
-        set(PYTHON_INCLUDE_DIR
-            "${python_prefix}/include/python${python_version_majmin}/"
-            CACHE PATH "${pyinc_desc}")
-
-        string(CONCAT pylib_desc
-            "Location of Python library, to compile bindings. "
-            "Must be consistent with PYTHON_EXECUTABLE.")
-        set(PYTHON_LIBRARY
-            "${python_prefix}/lib/libpython${python_version_majmin}.dylib"
-            CACHE FILEPATH "${pylib_desc}")
-    endif()
-
     # Most users need to copy dependencies if wrapping is on. Warn user
     # if it isn't on.
     if (NOT OPENSIM_COPY_DEPENDENCIES)
@@ -830,7 +811,6 @@ endif()
 if (OPENSIM_WITH_CASADI)
     if(UNIX)
         pkg_check_modules(IPOPT REQUIRED ipopt IMPORTED_TARGET)
-
         if(OPENSIM_COPY_DEPENDENCIES AND APPLE)
             # Extract actual name of the library libgfortran, gcc, quadmath to install along on OSX.
             # These show only as dependencies of libipopt, and libgcc is in same folder as libgfortran.
@@ -847,7 +827,6 @@ if (OPENSIM_WITH_CASADI)
                 "otool -L ${IPOPT_LIBDIR}/libipopt.dylib  | grep 'libquadmath' | awk '{print $1}'"
                 OUTPUT_VARIABLE libquadmath_name
                 OUTPUT_STRIP_TRAILING_WHITESPACE)
-
             install(FILES
                 ${IPOPT_LIBDIR}/libipopt.3.dylib
                 ${IPOPT_LIBDIR}/libipopt.dylib
@@ -858,7 +837,6 @@ if (OPENSIM_WITH_CASADI)
                 ${libquadmath_name}
                 ${libgcc_name}
                 DESTINATION ${CMAKE_INSTALL_LIBDIR})
-
         elseif(OPENSIM_COPY_DEPENDENCIES)
             get_filename_component(gcc_libdir "${pkgcfg_lib_IPOPT_gfortran}" DIRECTORY)
 
@@ -877,6 +855,14 @@ if (OPENSIM_WITH_CASADI)
                 ${quadmath}
                 DESTINATION ${CMAKE_INSTALL_LIBDIR})
         endif()
+        if(BUILD_PYTHON_WRAPPING AND OPENSIM_PYTHON_STANDALONE)
+            OpenSimInstallDependencyLibraries(ipopt "${IPOPT_LIBDIR}"
+                "${IPOPT_LIBDIR}" "${OPENSIM_INSTALL_PYTHONDIR}/opensim")
+            OpenSimInstallDependencyLibraries(coin "${IPOPT_LIBDIR}"
+                "${IPOPT_LIBDIR}" "${OPENSIM_INSTALL_PYTHONDIR}/opensim")
+            OpenSimInstallDependencyLibraries(metis "${IPOPT_LIBDIR}"
+                "${IPOPT_LIBDIR}" "${OPENSIM_INSTALL_PYTHONDIR}/opensim")
+        endif()
     else()
         set(Ipopt_ROOT_DIR ${OPENSIM_DEPENDENCIES_DIR}/ipopt)
         message("Ipopt_ROOT_DIR ${Ipopt_ROOT_DIR}")
@@ -1061,3 +1047,8 @@ add_subdirectory(doc)
 # Print a list of the dependencies that were found, and the features the user
 # chose.
 feature_summary(WHAT ALL)
+
+if (BUILD_PYTHON_WHEELS)
+install(CODE "set(OPENSIM_INSTALL_PYTHONDIR \"${OPENSIM_INSTALL_PYTHONDIR}\")")
+install (SCRIPT "${CMAKE_SOURCE_DIR}/buildWheel.cmake")
+endif()
diff --git a/OpenSim/Moco/CMakeLists.txt b/OpenSim/Moco/CMakeLists.txt
@@ -1,6 +1,5 @@
 
 
-# TODO: Use OpenSimAddLibrary() macro.
 set(MOCO_SOURCES
         osimMoco.h
         osimMocoDLL.h
@@ -138,8 +137,13 @@ if(OPENSIM_WITH_CASADI)
             )
 endif()
 
-add_library(osimMoco SHARED ${MOCO_SOURCES})
-target_link_libraries(osimMoco PUBLIC osimTools)
+OpenSimAddLibrary(
+    KIT Moco
+    AUTHORS "Chris_Dembia-Nick_Bianco"
+    LINKLIBS PUBLIC osimTools
+    SOURCES ${MOCO_SOURCES}
+    )
+
 if (OPENSIM_WITH_CASADI)
     target_link_libraries(osimMoco PRIVATE casadi)
 endif()
@@ -148,11 +152,6 @@ target_include_directories(osimMoco INTERFACE
         $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 
-set_target_properties(osimMoco PROPERTIES
-        DEFINE_SYMBOL OSIMMOCO_EXPORTS
-        PROJECT_LABEL "osimMoco"
-        FOLDER "Libraries"
-        )
 if (OPENSIM_WITH_CASADI)
     target_compile_definitions(osimMoco PUBLIC OPENSIM_WITH_CASADI)
 endif ()
@@ -166,7 +165,7 @@ target_compile_definitions(osimMoco PRIVATE
 OpenSimAddInstallRPATHSelf(TARGET osimMoco LOADER)
 OpenSimAddInstallRPATHSimbody(TARGET osimMoco LOADER
         FROM "${CMAKE_INSTALL_LIBDIR}")
-install(TARGETS osimMoco EXPORT OpenSimTargets
+install(TARGETS EXPORT OpenSimTargets
         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
         RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})

diff --git a/buildWheel.cmake b/buildWheel.cmake
@@ -0,0 +1,27 @@
+if (WIN32)
+    file(GLOB OPENSIM_ALL_LIBS "${CMAKE_INSTALL_PREFIX}/bin/*.dll")
+    set(DESTINATION_DIR ${CMAKE_INSTALL_PREFIX}/sdk/Python/opensim)
+    foreach(FILE ${OPENSIM_ALL_LIBS})
+        file(COPY ${FILE} DESTINATION ${DESTINATION_DIR})
+    endforeach()
+elseif(APPLE)
+    file(GLOB OPENSIM_ALL_LIBS "${CMAKE_INSTALL_PREFIX}/lib/*.dylib" 
+                                "${CMAKE_INSTALL_PREFIX}/lib/*.a"
+                                "${CMAKE_INSTALL_PREFIX}/sdk/lib/*.dylib" 
+                                "${CMAKE_INSTALL_PREFIX}/sdk/lib/*.a")
+    set(DESTINATION_DIR ${CMAKE_INSTALL_PREFIX}/${OPENSIM_INSTALL_PYTHONDIR}/opensim)
+    foreach(FILE ${OPENSIM_ALL_LIBS})
+        file(COPY ${FILE} DESTINATION ${DESTINATION_DIR})
+    endforeach()
+else()
+    file(GLOB OPENSIM_ALL_LIBS "${CMAKE_INSTALL_PREFIX}/sdk/lib/*.so*" "${CMAKE_INSTALL_PREFIX}/lib/*.so*")
+    set(DESTINATION_DIR ${CMAKE_INSTALL_PREFIX}/${OPENSIM_INSTALL_PYTHONDIR}/opensim)
+    foreach(FILE ${OPENSIM_ALL_LIBS})
+        file(COPY ${FILE} DESTINATION ${DESTINATION_DIR})
+    endforeach()
+    # add $ORIGIN to rpath as layout has changed
+    file(GLOB SIMTK_LIBS "${CMAKE_INSTALL_PREFIX}/${OPENSIM_INSTALL_PYTHONDIR}/opensim/libSimTK*.so*")
+    foreach(slib ${SIMTK_LIBS})
+        execute_process(COMMAND bash "-c" "patchelf --force-rpath --set-rpath '$ORIGIN' '${slib}'")
+    endforeach()
+endif()
diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt
@@ -46,7 +46,7 @@ install(FILES OpenSimMacros.cmake
 
 install(EXPORT OpenSimTargets DESTINATION "${OPENSIM_INSTALL_CMAKEDIR}")
 
-if(UNIX AND OPENSIM_COPY_DEPENDENCIES AND (NOT (DEFINED OPENSIM_WITH_CASADI AND NOT ${OPENSIM_WITH_CASADI})))
+if(UNIX AND OPENSIM_COPY_DEPENDENCIES AND OPENSIM_WITH_CASADI)
     # Temporary hack to package dependencies on Macs.
     # TODO if we're building a standalone binary distribution, we should
     # use superbuild to build the dependencies.