diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
index 4085b5aaeb..f89ac88333 100644
--- a/cmake/SearchForStuff.cmake
+++ b/cmake/SearchForStuff.cmake
@@ -179,7 +179,7 @@ if (PKG_CONFIG_FOUND)
   # (needed, at least, for MacOS)
 
   # Use system installation on UNIX and Apple, and internal copy on Windows
-  if (UNIX OR APPLE)
+  if (true)
     message (STATUS "Using system tinyxml.")
     set (USE_EXTERNAL_TINYXML True)
   elseif(WIN32)
@@ -225,7 +225,7 @@ if (PKG_CONFIG_FOUND)
   # (needed, at least, for MacOS)
 
   # Use system installation on UNIX and Apple, and internal copy on Windows
-  if (UNIX OR APPLE)
+  if (true)
     message (STATUS "Using system tinyxml2.")
     set (USE_EXTERNAL_TINYXML2 True)
   elseif(WIN32)
@@ -513,7 +513,7 @@ if (PKG_CONFIG_FOUND)
   endif ()
 
   if (libavutil_FOUND AND libavformat_FOUND AND libavcodec_FOUND AND
-      libswscale_FOUND)
+      libswscale_FOUND AND FFMPEG_FEATURE)
     set (HAVE_FFMPEG TRUE)
   else ()
     set (HAVE_FFMPEG FALSE)
@@ -538,7 +538,7 @@ if (PKG_CONFIG_FOUND)
   ########################################
   # Find GNU Triangulation Surface Library
   pkg_check_modules(gts gts)
-  if (gts_FOUND)
+  if (GTS_FEATURE)
     message (STATUS "Looking for GTS - found")
     set (HAVE_GTS TRUE)
   else ()
@@ -551,13 +551,14 @@ if (PKG_CONFIG_FOUND)
   # First and preferred option is to look for bullet standard pkgconfig,
   # so check it first. if it is not present, check for the OSRF
   # custom bullet2.82.pc file
-  pkg_check_modules(BULLET bullet>=2.82)
+  find_package(BULLET CONFIG 2.82)
   if (NOT BULLET_FOUND)
      pkg_check_modules(BULLET bullet2.82>=2.82)
   endif()
 
   if (BULLET_FOUND)
     set (HAVE_BULLET TRUE)
+    set(BULLET_VERSION ${BULLET_VERSION_STRING})
     add_definitions( -DLIBBULLET_VERSION=${BULLET_VERSION} )
   else()
     set (HAVE_BULLET FALSE)
@@ -572,7 +573,7 @@ if (PKG_CONFIG_FOUND)
   ########################################
   # Find libusb
   pkg_check_modules(libusb-1.0 libusb-1.0)
-  if (NOT libusb-1.0_FOUND)
+  if (NO_LIBUSB_FEATURE)
     BUILD_WARNING ("libusb-1.0 not found. USB peripherals support will be disabled.")
     set (HAVE_USB OFF CACHE BOOL "HAVE USB" FORCE)
   else()
@@ -648,7 +649,7 @@ endif ()
 ########################################
 # Find gdal
 include (FindGDAL)
-if (NOT GDAL_FOUND)
+if (NO_GDAL_FEATURE)
   message (STATUS "Looking for libgdal - not found")
   BUILD_WARNING ("GDAL not found, Digital elevation terrains support will be disabled.")
   set (HAVE_GDAL OFF CACHE BOOL "HAVE GDAL" FORCE)
@@ -718,7 +719,7 @@ endif()
 ########################################
 # Find graphviz
 include (${gazebo_cmake_dir}/FindGraphviz.cmake)
-if (NOT GRAPHVIZ_FOUND)
+if (NO_GRAPHVIZ_FEATURE)
   message (STATUS "Looking for libgraphviz-dev - not found")
   BUILD_WARNING ("Graphviz not found, Model editor's schematic view will be disabled.")
   set (HAVE_GRAPHVIZ OFF CACHE BOOL "HAVE GRAPHVIZ" FORCE)
diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
index b57a90dd76..63ce97095e 100644
--- a/cmake/gazebo-config.cmake.in
+++ b/cmake/gazebo-config.cmake.in
@@ -99,12 +99,13 @@ list(APPEND @PKG_NAME@_CFLAGS -I${GAZEBO_INSTALL_INCLUDE_DIR}/gazebo-@GAZEBO_MAJ
 
 if (GAZEBO_HAS_BULLET)
   if (PKG_CONFIG_FOUND)
-    pkg_check_modules(BULLET bullet>=2.82)
+    find_package(BULLET CONFIG 2.82)
     if (NOT BULLET_FOUND)
        pkg_check_modules(BULLET bullet2.82>=2.82)
     endif()
 
     if (BULLET_FOUND)
+      set(BULLET_VERSION ${BULLET_VERSION_STRING})
       add_definitions(-DLIBBULLET_VERSION=${BULLET_VERSION})
     else()
       message(FATAL_ERROR "Error: Bullet > 2.82 not found, please install libbullet2.82-dev.")