diff -urN bullet3-3.24/examples/pybullet/CMakeLists.txt.orig bullet3-3.24/examples/pybullet/CMakeLists.txt
--- bullet3-3.24/examples/pybullet/CMakeLists.txt.orig	2022-04-26 04:39:24.000000000 +0200
+++ bullet3-3.24/examples/pybullet/CMakeLists.txt	2022-06-19 14:58:25.903870500 +0200
@@ -26,6 +26,80 @@
 	
 SET(pybullet_SRCS
 	pybullet.c
+  ../ExampleBrowser/InProcessExampleBrowser.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/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+  ../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+  ../SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+  ../SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+  ../SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+  ../SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+  ../SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+  ../SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+  ../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+  ../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+  ../SharedMemory/b3PluginManager.cpp
+  ../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+  ../SharedMemory/GraphicsServerExample.cpp
+  ../SharedMemory/IKTrajectoryHelper.cpp
+  ../SharedMemory/InProcessMemory.cpp
+  ../SharedMemory/PhysicsClient.cpp
+  ../SharedMemory/PhysicsClientC_API.cpp
+  ../SharedMemory/PhysicsClientTCP.cpp
+  ../SharedMemory/PhysicsClientUDP.cpp
+  ../SharedMemory/PhysicsClientSharedMemory_C_API.cpp
+  ../SharedMemory/PhysicsClientSharedMemory.cpp
+  ../SharedMemory/PhysicsClientTCP_C_API.cpp
+  ../SharedMemory/PhysicsClientUDP_C_API.cpp
+  ../SharedMemory/PhysicsDirect.cpp
+  ../SharedMemory/PhysicsDirectC_API.cpp
+  ../SharedMemory/PhysicsServer.cpp
+  ../SharedMemory/PhysicsServerCommandProcessor.cpp
+  ../SharedMemory/PhysicsServerExample.cpp
+  ../SharedMemory/PhysicsServerExampleBullet2.cpp
+  ../SharedMemory/PhysicsServerSharedMemory.cpp
+  ../SharedMemory/RemoteGUIHelper.cpp
+  ../SharedMemory/RemoteGUIHelperTCP.cpp
+  ../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+  ../SharedMemory/Win32SharedMemory.cpp
+  ../ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
+  ../ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
+  ../ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
+  ../ThirdPartyLibs/enet/callbacks.c
+  ../ThirdPartyLibs/enet/packet.c
+  ../ThirdPartyLibs/enet/host.c
+  ../ThirdPartyLibs/enet/list.c
+  ../ThirdPartyLibs/enet/peer.c
+  ../ThirdPartyLibs/enet/protocol.c
+  ../ThirdPartyLibs/enet/win32.c
+  ../ThirdPartyLibs/stb_image/stb_image.cpp
+  ../ThirdPartyLibs/tinyxml2/tinyxml2.cpp
+  ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+  ../TinyRenderer/geometry.cpp
+  ../TinyRenderer/main.cpp
+  ../TinyRenderer/model.cpp
+  ../TinyRenderer/our_gl.cpp
+  ../TinyRenderer/tgaimage.cpp
+  ../TinyRenderer/TinyRenderer.cpp
+  ../Utils/RobotLoggingUtil.cpp
+#  ../../Extras/HACD/hacdManifoldMesh.cpp
+  ../../Extras/VHACD/src/VHACD.cpp
+  ../../Extras/VHACD/src/vhacdICHull.cpp
+  ../../Extras/VHACD/src/vhacdManifoldMesh.cpp
+  ../../Extras/VHACD/src/vhacdMesh.cpp
+  ../../Extras/VHACD/src/vhacdVolume.cpp
+  ../../Extras/VHACD/test/src/main_vhacd.cpp
 )
 
 IF(BUILD_CLSOCKET)
@@ -64,10 +138,11 @@
 SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
 
+TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} ${PYTHON_LIBRARIES})
 
 IF(WIN32)
 	IF(BUILD_ENET OR BUILD_CLSOCKET)
-		TARGET_LINK_LIBRARIES(pybullet ws2_32 )
+		TARGET_LINK_LIBRARIES(pybullet ws2_32 winmm)
 	ENDIF()
 
 	SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
@@ -77,10 +152,6 @@
   SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so" )
 ENDIF()
 
-
-
-TARGET_LINK_LIBRARIES(pybullet BulletRoboticsGUI BulletExampleBrowserLib BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
-
 IF (WIN32)
   TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})
 ELSEIF (APPLE)
@@ -88,11 +159,18 @@
 ENDIF ()
 # else Linux: dont link
 
-IF(WIN32)
+IF(MSVC)
   SET(PYTHON_SITE_PACKAGES Lib/site-packages CACHE PATH "Python install path")
 ELSE()
   SET(PYTHON_SITE_PACKAGES lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages CACHE PATH "Python install path")
 ENDIF()
 
-INSTALL(TARGETS pybullet DESTINATION ${PYTHON_SITE_PACKAGES})
-
+INSTALL(TARGETS pybullet
+  RUNTIME DESTINATION ${PYTHON_SITE_PACKAGES}
+  COMPONENT pybullet EXCLUDE_FROM_ALL
+  )
+
+INSTALL(DIRECTORY gym/
+  DESTINATION ${PYTHON_SITE_PACKAGES}
+  COMPONENT pybullet EXCLUDE_FROM_ALL
+  )
