diff --git a/SofaGLFW/cmake/environment.cmake b/SofaGLFW/cmake/environment.cmake
index acfe42a8c9..f3c8d02e5e 100644
--- a/SofaGLFW/cmake/environment.cmake
+++ b/SofaGLFW/cmake/environment.cmake
@@ -16,16 +16,27 @@ endif()
 message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
 
 ## Set the output directories globally
-set(ARCHIVE_OUTPUT_DIRECTORY lib)
-set(RUNTIME_OUTPUT_DIRECTORY bin)
-if(WIN32)
-    set(LIBRARY_OUTPUT_DIRECTORY ${RUNTIME_OUTPUT_DIRECTORY})
-else()
-    set(LIBRARY_OUTPUT_DIRECTORY ${ARCHIVE_OUTPUT_DIRECTORY})
+
+## Set the output directories globally
+if(NOT DEFINED CMAKE_ARCHIVE_OUTPUT_DIRECTORY)
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+endif()
+
+if(NOT DEFINED CMAKE_RUNTIME_OUTPUT_DIRECTORY)
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 endif()
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${RUNTIME_OUTPUT_DIRECTORY})
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${LIBRARY_OUTPUT_DIRECTORY})
+
+if(NOT DEFINED CMAKE_LIBRARY_OUTPUT_DIRECTORY)
+    if(WIN32)
+        set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+    else()
+        set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+    endif()
+endif()
+
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} )
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} )
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY} )
 
 ## RPATH
 if(UNIX)
diff --git a/SofaImGui/CMakeLists.txt b/SofaImGui/CMakeLists.txt
index b06f5aa30c..fe7d71aa8e 100644
--- a/SofaImGui/CMakeLists.txt
+++ b/SofaImGui/CMakeLists.txt
@@ -1,9 +1,12 @@
 cmake_minimum_required(VERSION 3.12)
 project(SofaImGui LANGUAGES CXX)
 
+include(cmake/environment.cmake)
+
+
 # needed to find SofaGLFWConfig.cmake
 # if building both of them out-of-tree
-list(APPEND CMAKE_PREFIX_PATH ${CMAKE_BINARY_DIR}/lib/cmake)
+list(APPEND CMAKE_PREFIX_PATH ${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTORY}/cmake)
 
 sofa_find_package(SofaGLFW REQUIRED)
 sofa_find_package(Sofa.GL.Component.Rendering3D REQUIRED)
diff --git a/SofaImGui/cmake/environment.cmake b/SofaImGui/cmake/environment.cmake
new file mode 100644
index 0000000000..f3c8d02e5e
--- /dev/null
+++ b/SofaImGui/cmake/environment.cmake
@@ -0,0 +1,67 @@
+# CMake modules path, for our FindXXX.cmake modules
+list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake/modules)
+list(APPEND CMAKE_PREFIX_PATH ${PROJECT_BINARY_DIR})
+list(APPEND CMAKE_PREFIX_PATH ${PROJECT_BINARY_DIR}/extlibs)
+
+## Default build type
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+    set(CMAKE_BUILD_TYPE "Release")
+endif()
+
+## Force default install prefix
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+    set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install/${PROJECT_NAME}" CACHE PATH "Install path prefix, prepended onto install directories." FORCE)
+endif()
+message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
+
+## Set the output directories globally
+
+## Set the output directories globally
+if(NOT DEFINED CMAKE_ARCHIVE_OUTPUT_DIRECTORY)
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+endif()
+
+if(NOT DEFINED CMAKE_RUNTIME_OUTPUT_DIRECTORY)
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+endif()
+
+if(NOT DEFINED CMAKE_LIBRARY_OUTPUT_DIRECTORY)
+    if(WIN32)
+        set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+    else()
+        set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+    endif()
+endif()
+
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} )
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} )
+string(REGEX REPLACE "^${CMAKE_BINARY_DIR}/" "" LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY} )
+
+## RPATH
+if(UNIX)
+    # RPATH is a field in ELF binaries that is used as a hint by the system
+    # loader to find needed shared libraries.
+    #
+    # In the build directory, cmake creates binaries with absolute paths in
+    # RPATH.  And by default, it strips RPATH from installed binaries.  Here we
+    # use CMAKE_INSTALL_RPATH to set a relative RPATH.  By doing so, we avoid
+    # the need to play with LD_LIBRARY_PATH to get applications to run.
+
+    # see https://cmake.org/Wiki/CMake_RPATH_handling for $ORIGIN doc
+    set(CMAKE_INSTALL_RPATH
+        "$ORIGIN/../lib"
+        "$$ORIGIN/../lib"
+        )
+
+    if(APPLE)
+        set(CMAKE_MACOSX_RPATH ON)
+        list(APPEND CMAKE_INSTALL_RPATH
+            "@loader_path"
+            "@loader_path/../lib"
+            "@executable_path"
+            "@executable_path/../lib"
+            )
+        set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+    endif()
+endif(UNIX)