diff -urN bullet3-3.24/examples/RobotSimulator/CMakeLists.txt.orig bullet3-3.24/examples/RobotSimulator/CMakeLists.txt
--- bullet3-3.24/examples/RobotSimulator/CMakeLists.txt.orig	2022-04-26 04:39:24.000000000 +0200
+++ bullet3-3.24/examples/RobotSimulator/CMakeLists.txt	2022-06-19 12:43:54.233326400 +0200
@@ -16,19 +16,58 @@
 	MinitaurSetup.h
 	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
 	../SharedMemory/GraphicsServerExample.cpp
-	../SharedMemory/GraphicsClientExample.cpp
+#	../SharedMemory/GraphicsClientExample.cpp
 	../SharedMemory/RemoteGUIHelper.cpp
         ../SharedMemory/RemoteGUIHelperTCP.cpp
-	../SharedMemory/GraphicsServerExample.h
-	../SharedMemory/GraphicsClientExample.h
-	../SharedMemory/RemoteGUIHelper.h
-	../SharedMemory/GraphicsSharedMemoryCommands.h
-	../SharedMemory/GraphicsSharedMemoryPublic.h
+#	../SharedMemory/GraphicsServerExample.h
+#	../SharedMemory/GraphicsClientExample.h
+#	../SharedMemory/RemoteGUIHelper.h
+#	../SharedMemory/GraphicsSharedMemoryCommands.h
+#	../SharedMemory/GraphicsSharedMemoryPublic.h
 	../../examples/SharedMemory/PhysicsServerExample.cpp
 	../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
-	../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp		
-)	
+	../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+  ../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+  ../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+  ../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+  ../Importers/ImportObjDemo/LoadMeshFromObj.cpp
+  ../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+  ../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+  ../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+  ../Importers/ImportURDFDemo/URDF2Bullet.cpp
+  ../Importers/ImportURDFDemo/UrdfParser.cpp
+  ../Importers/ImportURDFDemo/urdfStringSplit.cpp
+  ../MultiThreading/b3Win32ThreadSupport.cpp
+  ../MultiThreading/b3ThreadSupportInterface.cpp
+  ../SharedMemory/b3PluginManager.cpp
+  ../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+  ../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+  ../SharedMemory/IKTrajectoryHelper.cpp
+  ../SharedMemory/InProcessMemory.cpp
+  ../SharedMemory/PhysicsClientSharedMemory.cpp
+  ../SharedMemory/PhysicsServerSharedMemory.cpp
+  ../SharedMemory/PhysicsServerCommandProcessor.cpp
+  ../SharedMemory/PhysicsClient.cpp
+  ../SharedMemory/PhysicsServer.cpp
+  ../SharedMemory/PhysicsDirect.cpp
+  ../SharedMemory/Win32SharedMemory.cpp
+  ../ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
+  ../ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
+  ../ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
+  ../ThirdPartyLibs/stb_image/stb_image.cpp
+  ../ThirdPartyLibs/tinyxml2/tinyxml2.cpp
+  ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+  ../Utils/RobotLoggingUtil.cpp
+)
+
 
+ADD_EXECUTABLE(App_RobotSimulator  ${RobotSimulator_SRCS})
+
+SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES DEBUG_POSTFIX "_d")
+SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES COMPILE_DEFINITIONS "B3_USE_ROBOTSIM_GUI")
+
+TARGET_LINK_LIBRARIES(App_RobotSimulator BulletRobotics BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common)
 
 
 IF(BUILD_CLSOCKET)
@@ -43,7 +82,7 @@
 			${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
 	)
 	ADD_DEFINITIONS(-DGLEW_STATIC)
-	LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
+	TARGET_LINK_LIBRARIES(App_RobotSimulator ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
 ELSE(WIN32)
 	IF(APPLE)
 		find_library(COCOA NAMES Cocoa)
@@ -64,15 +103,6 @@
 ENDIF(WIN32)
 
 
-ADD_EXECUTABLE(App_RobotSimulator  ${RobotSimulator_SRCS})
-
-SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES VERSION ${BULLET_VERSION})
-SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES DEBUG_POSTFIX "_d")
-SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES COMPILE_DEFINITIONS "B3_USE_ROBOTSIM_GUI")
-
-
-TARGET_LINK_LIBRARIES(App_RobotSimulator BulletRobotics BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common)
-
 IF(WIN32)
 	IF(BUILD_ENET OR BUILD_CLSOCKET)
 		TARGET_LINK_LIBRARIES(App_RobotSimulator ws2_32 Winmm)
@@ -94,6 +124,9 @@
 	RobotSimulatorMain.cpp
 	MinitaurSetup.cpp
 	MinitaurSetup.h
+  ../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+  ../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+  ../Utils/b3Clock.cpp
 )
 
 ADD_EXECUTABLE(App_RobotSimulator_NoGUI  ${RobotSimulator_NoGUI_SRCS})
@@ -131,6 +164,8 @@
 
 SET(App_HelloBulletRobotics_SRCS
         HelloBulletRobotics.cpp
+  ../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+  ../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
 )
 
 ADD_EXECUTABLE(App_HelloBulletRobotics  ${App_HelloBulletRobotics_SRCS})
