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This work contains the process of having implemented DART (Dynamic Animation and Robotics Toolkit), an open source physics engine, usually used mainly for robotics, into MABE (Modular Agent-Based Evolution platform), a tool to evolve and analyze digital brains, using C++. This added much desired complexity to the system which allows the Hintze Lab to further research evolution and added new ways in which they can do so. Furthermore, the resulting software package was used to run a series of experiments in this work, which will then be analyzed and compared.