--- CMakeLists.txt.orig	2026-06-18 22:26:24 UTC
+++ CMakeLists.txt
@@ -789,13 +789,6 @@ if(OPENSIM_WITH_CASADI)
     # Copy CasADi into our installation.
     OpenSimCopyDependencyDLLsForWin(DEP_NAME casadi
             DEP_BIN_DIR "${CASADI_BIN_DIR}")
-    if(OPENSIM_COPY_DEPENDENCIES AND NOT WIN32)
-        # OpenSimCopyDependencyDLLsForWin() only copies DLLs for Windows, but 
-        # we still need the CasADi shared libraries on other platforms.
-        install(DIRECTORY "${CASADI_CMAKE_DIR}/../../../"
-            DESTINATION "${CMAKE_INSTALL_PREFIX}/${OPENSIM_INSTALL_CASADIDIR}"
-                USE_SOURCE_PERMISSIONS)
-    endif()
 endif()
 
 # IPOPT
@@ -837,23 +830,6 @@ 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)
-
-            file(GLOB gfortran "${gcc_libdir}/../../../x86_64-linux-gnu/libgfortran*.so*")
-            file(GLOB quadmath "${gcc_libdir}/../../../x86_64-linux-gnu/libquadmath*.so*")
-
-            install(FILES
-                ${IPOPT_LIBDIR}/libipopt.so.3.14.16
-                ${IPOPT_LIBDIR}/libipopt.so.3
-                ${IPOPT_LIBDIR}/libipopt.so
-                ${IPOPT_LIBDIR}/libcoinmumps.so.3.0.5
-                ${IPOPT_LIBDIR}/libcoinmumps.so.3
-                ${IPOPT_LIBDIR}/libcoinmumps.so
-                ${IPOPT_LIBDIR}/libmetis.so
-                ${gfortran}
-                ${quadmath}
-                DESTINATION ${CMAKE_INSTALL_LIBDIR})
         endif()
         if(BUILD_PYTHON_WRAPPING AND OPENSIM_PYTHON_STANDALONE)
             OpenSimInstallDependencyLibraries(ipopt "${IPOPT_LIBDIR}"
@@ -908,40 +884,6 @@ if(${OPENSIM_COPY_DEPENDENCIES})
         # folders; we would prefer to only copy to the former, but
         # SimbodyTargets-*.cmake expect dlls in sdk/Simbody/bin. In the future,
         # we can edit the *.cmake files to no longer expect these DLLs.
-    else()
-        # We would have liked to use install(DIRECTORY) on UNIX, but the
-        # dependencies may be installed in system-wide locations and we don't
-        # want to copy extraneous files/directories; install(DIRECTORY) creates
-        # a directory in DESTINATION for *every* directory in DIRECTORY, even
-        # if we do not want to copy any files from some of the directories in
-        # DIRECTORY.
-
-        # include
-        file(RELATIVE_PATH install_simbodyincludedir
-            "${Simbody_ROOT_DIR}" "${Simbody_INCLUDE_DIR}")
-        install(DIRECTORY "${Simbody_INCLUDE_DIR}/"
-                DESTINATION "${OPENSIM_INSTALL_SIMBODYDIR}/${install_simbodyincludedir}")
-    
-        # lib (and cmake, pkgconfig)
-        file(RELATIVE_PATH install_simbodylibdir 
-            "${Simbody_ROOT_DIR}/" "${Simbody_LIB_DIR}/")
-        file(GLOB_RECURSE simbody_desired_lib_files
-            RELATIVE "${Simbody_LIB_DIR}"
-            "${Simbody_LIB_DIR}/*SimTK*" "${Simbody_LIB_DIR}/*Simbody*.cmake"
-            "${Simbody_LIB_DIR}/*SampleCMakeLists.txt*")
-        foreach(simbody_lib_file ${simbody_desired_lib_files})
-            get_filename_component(subdir "${simbody_lib_file}" DIRECTORY)
-            install(FILES "${Simbody_LIB_DIR}/${simbody_lib_file}"
-                DESTINATION "${OPENSIM_INSTALL_SIMBODYDIR}/${install_simbodylibdir}/${subdir}")
-        endforeach()
-    
-        # simbody-visualizer
-        file(RELATIVE_PATH install_simbodyvizdir 
-            "${Simbody_ROOT_DIR}" "${Simbody_VIZ_DIR}")
-        install(DIRECTORY "${Simbody_VIZ_DIR}/"
-                DESTINATION "${OPENSIM_INSTALL_SIMBODYDIR}/${install_simbodyvizdir}"
-                USE_SOURCE_PERMISSIONS
-                FILES_MATCHING PATTERN "*simbody-visualizer*")
     endif()
 
     # EZC3D
@@ -953,10 +895,6 @@ if(${OPENSIM_COPY_DEPENDENCIES})
                 DESTINATION "${CMAKE_INSTALL_LIBDIR}")
     endif()
 
-    # spdlog
-    # ------
-    install(DIRECTORY "${spdlog_DIR}/../../../"
-            DESTINATION "${OPENSIM_INSTALL_SPDLOGDIR}")
 endif()
 
 if(BUILD_PYTHON_WRAPPING AND OPENSIM_PYTHON_STANDALONE)
@@ -976,8 +914,10 @@ endif(WIN32)
 
 
 ## The following are required to uses Dart and the Cdash dashboard per Jesse
-enable_testing()
-include(CTest)
+if (DO_TESTING)
+    enable_testing()
+    include(CTest)
+endif()
 
 # Sets the number of concurrent jobs that testing can use.
 if(MSVC OR XCODE)
@@ -1044,7 +984,9 @@ add_subdirectory(cmake)
 add_subdirectory(Bindings)
 
 add_subdirectory(cmake)
-add_subdirectory(doc)
+if (INSTALL_DOCS)
+    add_subdirectory(doc)
+endif()
 
 # Print a list of the dependencies that were found, and the features the user
 # chose.