diff --git a/tesseract_common/CMakeLists.txt b/tesseract_common/CMakeLists.txt
index b2e61c964da..8636d8c68ac 100644
--- a/tesseract_common/CMakeLists.txt
+++ b/tesseract_common/CMakeLists.txt
@@ -12,13 +12,22 @@ endif()
 include(cmake/tesseract_macros.cmake)
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")
 
-find_package(
-  Boost REQUIRED
-  COMPONENTS system
-             filesystem
-             serialization
-             stacktrace_noop
-  OPTIONAL_COMPONENTS stacktrace_backtrace stacktrace_basic)
+if(NOT APPLE)
+  find_package(
+    Boost REQUIRED
+    COMPONENTS system
+               filesystem
+               serialization
+               stacktrace_noop
+    OPTIONAL_COMPONENTS stacktrace_backtrace stacktrace_basic)
+else()
+  find_package(
+    Boost REQUIRED
+    COMPONENTS system
+               filesystem
+               serialization
+               stacktrace_noop)
+endif()
 find_package(Eigen3 REQUIRED)
 find_package(TinyXML2 REQUIRED)
 find_package(yaml-cpp REQUIRED)
diff --git a/tesseract_common/cmake/tesseract_macros.cmake b/tesseract_common/cmake/tesseract_macros.cmake
index ee929e8af8e..2ab99b1ec6a 100644
--- a/tesseract_common/cmake/tesseract_macros.cmake
+++ b/tesseract_common/cmake/tesseract_macros.cmake
@@ -167,29 +167,6 @@ macro(find_bullet)
       WARNING "Bullet does not appear to be build with double precision, current definitions: ${BULLET_DEFINITIONS}")
   endif()
 
-  # Some Bullet installations (vcpkg) use absolute paths instead of relative to BULLET_ROOT_DIR in the CMake vars
-  set(BULLET_INCLUDE_DIRS_ABS "")
-  set(BULLET_LIBRARY_DIRS_ABS "")
-  if(NOT IS_ABSOLUTE "${BULLET_INCLUDE_DIR}")
-    foreach(dir IN LISTS BULLET_INCLUDE_DIRS)
-      list(APPEND BULLET_INCLUDE_DIRS_ABS "${BULLET_ROOT_DIR}/${dir}")
-    endforeach()
-    foreach(dir IN LISTS BULLET_LIBRARY_DIRS)
-      list(APPEND BULLET_LIBRARY_DIRS_ABS "${BULLET_ROOT_DIR}/${dir}")
-    endforeach()
-  else()
-    set(BULLET_INCLUDE_DIRS_ABS ${BULLET_INCLUDE_DIRS})
-    set(BULLET_LIBRARY_DIRS_ABS ${BULLET_LIBRARY_DIRS})
-  endif()
-
-  set(BULLET_LIBRARIES_ABS "")
-  foreach(BULLET_LIB IN LISTS BULLET_LIBRARIES)
-    find_library(BULLET_LIB_ABS_${BULLET_LIB} ${BULLET_LIB} PATHS ${BULLET_LIBRARY_DIRS_ABS} NO_DEFAULT_PATH REQUIRED)
-    list(APPEND BULLET_LIBRARIES_ABS "${BULLET_LIB_ABS_${BULLET_LIB}}")
-    message(STATUS "BULLET_LIB=${BULLET_LIB} BULLET_LIB_ABS=${BULLET_LIB_ABS_${BULLET_LIB}}")
-  endforeach()
-  message(STATUS "BULLET_LIBRARIES_ABS=${BULLET_LIBRARIES_ABS}")
-
   set(BULLET_DEFINITIONS_STRIPED "")
   foreach(DEF ${BULLET_DEFINITIONS})
     string(STRIP ${DEF} DEF)
@@ -207,16 +184,56 @@ macro(find_bullet)
     endif()
   endforeach()
 
-  if(NOT TARGET Bullet3::Bullet)
-    add_library(Bullet3::Bullet INTERFACE IMPORTED)
-    set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS_ABS}")
-    set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES_ABS}")
-    set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_COMPILE_DEFINITIONS "${BULLET_DEFINITIONS_STRIPED}")
-  endif()
+  if(TARGET Bullet3Common)
+    if(NOT TARGET Bullet3::Bullet)
+      add_library(Bullet3::Bullet INTERFACE IMPORTED)
+      if(NOT WIN32)
+        set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_LINK_LIBRARIES
+                                                         "BulletCollision;Bullet3Geometry;Bullet3Common;LinearMath")
+      else()
+        set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_LINK_LIBRARIES
+                                                         "BulletCollision;Bullet3Common;LinearMath")
+      endif()
 
-  find_library(HACD_LIBRARY HACD HINTS ${BULLET_LIBRARY_DIRS_ABS})
-  if(NOT HACD_LIBRARY)
-    message(
-      WARNING "HACD not found! Convex decomposition library will not be built. Install libbullet-extras-dev on Linux.")
+      set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_COMPILE_DEFINITIONS "${BULLET_DEFINITIONS_STRIPED}")
+    endif()
+  else()
+
+    # Some Bullet installations (vcpkg) use absolute paths instead of relative to BULLET_ROOT_DIR in the CMake vars
+    set(BULLET_INCLUDE_DIRS_ABS "")
+    set(BULLET_LIBRARY_DIRS_ABS "")
+    if(NOT IS_ABSOLUTE "${BULLET_INCLUDE_DIR}")
+      foreach(dir IN LISTS BULLET_INCLUDE_DIRS)
+        list(APPEND BULLET_INCLUDE_DIRS_ABS "${BULLET_ROOT_DIR}/${dir}")
+      endforeach()
+      foreach(dir IN LISTS BULLET_LIBRARY_DIRS)
+        list(APPEND BULLET_LIBRARY_DIRS_ABS "${BULLET_ROOT_DIR}/${dir}")
+      endforeach()
+    else()
+      set(BULLET_INCLUDE_DIRS_ABS ${BULLET_INCLUDE_DIRS})
+      set(BULLET_LIBRARY_DIRS_ABS ${BULLET_LIBRARY_DIRS})
+    endif()
+
+    set(BULLET_LIBRARIES_ABS "")
+    foreach(BULLET_LIB IN LISTS BULLET_LIBRARIES)
+      find_library(BULLET_LIB_ABS_${BULLET_LIB} ${BULLET_LIB} PATHS ${BULLET_LIBRARY_DIRS_ABS} NO_DEFAULT_PATH REQUIRED)
+      list(APPEND BULLET_LIBRARIES_ABS "${BULLET_LIB_ABS_${BULLET_LIB}}")
+      message(STATUS "BULLET_LIB=${BULLET_LIB} BULLET_LIB_ABS=${BULLET_LIB_ABS_${BULLET_LIB}}")
+    endforeach()
+    message(STATUS "BULLET_LIBRARIES_ABS=${BULLET_LIBRARIES_ABS}")
+
+    if(NOT TARGET Bullet3::Bullet)
+      add_library(Bullet3::Bullet INTERFACE IMPORTED)
+      set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS_ABS}")
+      set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES_ABS}")
+      set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_COMPILE_DEFINITIONS "${BULLET_DEFINITIONS_STRIPED}")
+    endif()
+
+    find_library(HACD_LIBRARY HACD HINTS ${BULLET_LIBRARY_DIRS_ABS})
+    if(NOT HACD_LIBRARY)
+      message(
+        WARNING "HACD not found! Convex decomposition library will not be built. Install libbullet-extras-dev on Linux."
+      )
+    endif()
   endif()
 endmacro()