diff --git a/CMakeLists.txt b/CMakeLists.txt
index e34b07e..56ed5e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -87,7 +87,7 @@ add_subdirectory(src/xml)
 add_subdirectory(src/render)
 add_subdirectory(src/ui)
 
-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS)
+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS)
 if(MUJOCO_ENABLE_AVX_INTRINSICS)
   target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
 endif()
@@ -110,9 +110,9 @@ target_link_libraries(
   mujoco
   PRIVATE ccd
           lodepng
-          qhullstatic_r
-          tinyobjloader
-          tinyxml2
+          Qhull::qhull_r
+          tinyobjloader::tinyobjloader
+          tinyxml2::tinyxml2
 )
 
 set_target_properties(
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 9c12ef7..af09f8a 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -79,7 +79,7 @@ set(BUILD_SHARED_LIBS
     CACHE INTERNAL "Build SHARED libraries"
 )
 
-if(NOT TARGET lodepng)
+if(0)
   FetchContent_Declare(
     lodepng
     GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
@@ -99,35 +99,57 @@ if(NOT TARGET lodepng)
   endif()
 endif()
 
+findorfetch(
+  USE_SYSTEM_PACKAGE
+  ON
+  PACKAGE_NAME
+  lodepng
+  LIBRARY_NAME
+  lodepng
+  GIT_REPO
+  https://github.com/lvandeve/lodepng.git
+  GIT_TAG
+  ${MUJOCO_DEP_VERSION_lodepng}
+  TARGETS
+  lodepng
+  EXCLUDE_FROM_ALL
+)
+
 set(QHULL_ENABLE_TESTING OFF)
 
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ON
   PACKAGE_NAME
-  qhull
+  Qhull
   LIBRARY_NAME
-  qhull
+  Qhull
   GIT_REPO
   https://github.com/qhull/qhull.git
   GIT_TAG
   ${MUJOCO_DEP_VERSION_qhull}
   TARGETS
-  qhull
+  Qhull
   EXCLUDE_FROM_ALL
 )
 # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
 # Add it to the target.
+if(0)
 target_include_directories(
   qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
 )
 target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
+
+include_directories(
+  ${Qhull_DIR}/../../include/libqhull_r
+)
 
 set(tinyxml2_BUILD_TESTING OFF)
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ON
   PACKAGE_NAME
   tinyxml2
   LIBRARY_NAME
@@ -140,12 +162,14 @@ findorfetch(
   tinyxml2
   EXCLUDE_FROM_ALL
 )
+if(0)
 target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
 
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ON
   PACKAGE_NAME
   tinyobjloader
   LIBRARY_NAME
@@ -163,7 +187,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
 set(CCD_HIDE_ALL_SYMBOLS ON)
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ON
   PACKAGE_NAME
   ccd
   LIBRARY_NAME
@@ -176,11 +200,14 @@ findorfetch(
   ccd
   EXCLUDE_FROM_ALL
 )
+if(0)
 target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
 
 # libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
 # TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
+if(0)
 if(WIN32)
   if(MSVC)
     # C4005 is the MSVC equivalent of -Wmacro-redefined.
@@ -189,6 +216,7 @@ if(WIN32)
     target_compile_options(ccd PRIVATE -Wno-macro-redefined)
   endif()
 endif()
+endif()
 
 if(MUJOCO_BUILD_TESTS)
   set(ABSL_PROPAGATE_CXX_STD ON)
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index fa539c2..8b3b239 100644
--- a/simulate/cmake/SimulateDependencies.cmake
+++ b/simulate/cmake/SimulateDependencies.cmake
@@ -86,7 +86,7 @@ findorfetch(
   GIT_TAG
   ${MUJOCO_DEP_VERSION_glfw3}
   TARGETS
-  glfw
+  glfw3
   EXCLUDE_FROM_ALL
 )
 
@@ -98,7 +98,7 @@ if(MUJOCO_EXTRAS_STATIC_GLFW)
   unset(BUILD_SHARED_LIBS_OLD)
 endif()
 
-if(NOT SIMULATE_STANDALONE)
+if(0)
   target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
   target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 endif()