diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..7025762
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 2.8)
+project(AllC++Sim)
+
+include(CheckCXXCompilerFlag)
+include (FindPkgConfig)
+include(GNUInstallDirs)
+
+#check for depenedencies
+find_package(gazebo REQUIRED)
+find_package(Boost COMPONENTS system filesystem REQUIRED)
+
+#on windows we produce .dlls with no prefix
+if(WIN32)
+  #allows us to define constexpr and noexcept in macros
+  #since msvc 2013 doesn't support them
+  add_definitions(-D_ALLOW_KEYWORD_MACROS)
+
+  # defines things like M_PI
+  add_definitions(-D_USE_MATH_DEFINES)
+
+  # get rid of min max macros on windows
+  add_definitions(-DNOMINMAX)
+
+  add_definitions(-DWIN32_LEAN_AND_MEAN)
+
+  SET(CMAKE_FIND_LIBRARY_PREFIXES "")
+  SET(CMAKE_FIND_LIBRARY_SUFFIXES ".lib" ".dll")
+endif()
+
+if (MSVC)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFRC_SIMULATOR /MDd /Zi")
+else ()
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -std=c++1y -DFRC_SIMULATOR -Wno-unused-parameter -pthread -fPIC -fpermissive")
+endif()
+
+include_directories("build")
+add_subdirectory(simulation/gz_msgs)
+add_subdirectory(wpilibc/sim)
+add_subdirectory(simulation/frc_gazebo_plugins)