diff --git a/Extras/InverseDynamics/CMakeLists.txt b/Extras/InverseDynamics/CMakeLists.txt
index 893bc1a60..d0b3e4f77 100644
--- a/Extras/InverseDynamics/CMakeLists.txt
+++ b/Extras/InverseDynamics/CMakeLists.txt
@@ -20,7 +20,7 @@ SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES VERSION ${BULLET_VER
 SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES SOVERSION ${BULLET_VERSION})
 
 IF (BUILD_SHARED_LIBS)
-        TARGET_LINK_LIBRARIES(BulletInverseDynamicsUtils LinearMath)
+        TARGET_LINK_LIBRARIES(BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath)
 ENDIF (BUILD_SHARED_LIBS)
 
 IF (INSTALL_EXTRA_LIBS)
diff --git a/src/BulletInverseDynamics/CMakeLists.txt b/src/BulletInverseDynamics/CMakeLists.txt
index d2617ea89..f680449ac 100644
--- a/src/BulletInverseDynamics/CMakeLists.txt
+++ b/src/BulletInverseDynamics/CMakeLists.txt
@@ -33,7 +33,7 @@ ADD_LIBRARY(BulletInverseDynamics ${BulletInverseDynamics_SRCS} ${BulletInverseD
 SET_TARGET_PROPERTIES(BulletInverseDynamics PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(BulletInverseDynamics PROPERTIES SOVERSION ${BULLET_VERSION})
 IF (BUILD_SHARED_LIBS)
-  TARGET_LINK_LIBRARIES(BulletInverseDynamics LinearMath)
+  TARGET_LINK_LIBRARIES(BulletInverseDynamics Bullet3Common LinearMath)
 ENDIF (BUILD_SHARED_LIBS)