diff --git a/sci-libs/dart/dart-6.10.1-r2.ebuild b/sci-libs/dart/dart-6.10.1-r2.ebuild
index a0947f03b2..d475a1738d 100644
--- a/sci-libs/dart/dart-6.10.1-r2.ebuild
+++ b/sci-libs/dart/dart-6.10.1-r2.ebuild
@@ -14,10 +14,12 @@ SRC_URI="https://github.com/dartsim/${PN}/archive/v${PV}.tar.gz -> ${P}.tar.gz"
 LICENSE="BSD-2"
 SLOT="0"
 KEYWORDS="~amd64"
-IUSE="bullet doc examples extras glut +ipopt +nlopt ode openscenegraph python test tutorials urdfdom"
+IUSE="bullet doc examples extras glut +ipopt +nlopt ode openscenegraph python test tests tutorials urdfdom"
 #TODO: pagmo
+#TODO: unbundle imgui
 RESTRICT="!test? ( test )"
 
+PATCHES=( "${FILESDIR}/${PN}-respect-ldflags.patch" )
 REQUIRED_USE="
 	python? ( ${PYTHON_REQUIRED_USE} )
 
@@ -28,7 +30,6 @@ RDEPEND="
 	app-arch/lz4
 	>=dev-cpp/eigen-3.0.5
 	dev-libs/boost
-	dev-libs/tinyxml
 	dev-libs/tinyxml2
 	>=sci-libs/libccd-2.0
 	>=media-libs/assimp-3.0.0
@@ -76,10 +77,10 @@ src_configure() {
 
 src_compile() {
 	cmake_src_compile
-	use examples && cmake_src_compile examples
-#	use python && cmake_src_compile dartpy
-#	use test && cmake_src_compile tests
-#	use tutorials && cmake_src_compile tutorials
+	use examples && cmake_build examples
+	use python && cmake_build dartpy # no work to do ...
+	use test && cmake_build tests
+	use tutorials && cmake_build tutorials
 }
 
 src_install() {
diff --git a/sci-libs/dart/files/dart-respect-ldflags.patch b/sci-libs/dart/files/dart-respect-ldflags.patch
new file mode 100644
index 0000000000..0fa4397cda
--- /dev/null
+++ b/sci-libs/dart/files/dart-respect-ldflags.patch
@@ -0,0 +1,11 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -220,7 +220,7 @@
+   endif()
+   set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
+   set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
+-  set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--no-undefined")
++  set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--no-undefined")
+ 
+   # Enforce to colorize compilation output
+   if(${DART_FORCE_COLORED_OUTPUT})
diff --git a/sci-libs/dart/metadata.xml b/sci-libs/dart/metadata.xml
index 98e5267443..486eef0826 100644
--- a/sci-libs/dart/metadata.xml
+++ b/sci-libs/dart/metadata.xml
@@ -17,6 +17,7 @@
 		<flag name="nlopt">NLopt Optimization Support</flag>
 		<flag name="ode">ODE Collision Detector Support</flag>
 		<flag name="openscenegraph">OpenSceneGraph GUI and examples</flag>
+		<flag name="tests">Build the tests</flag>
 		<flag name="tutorials">Build the tutorials</flag>
 		<flag name="urdfdom">URDF parser</flag>
 	</use>