1、安装gl和glut等

sudo apt-get install mesa-common-dev libgl1-mesa-dev libglu1-mesa-dev
sudo apt-get install freeglut3-dev
sudo apt-get install build-essential gdb subversion
sudo apt-get install automake autoconf libtool
sudo apt-get install libgtk2.0-dev libxmu-dev libxxf86vm-dev

2、demo

#include <GL/glut.h>


void init(void)
{
    glClearColor(0.0, 0.0, 0.0, 0.0);
    glMatrixMode(GL_PROJECTION);
    glOrtho(-5, 5, -5, 5, 5, 15);
    glMatrixMode(GL_MODELVIEW);
    gluLookAt(0, 0, 10, 0, 0, 0, 0, 1, 0);

    return;
}

void display(void)
{
    glClear(GL_COLOR_BUFFER_BIT);
    glColor3f(1.0, 0, 0);
    glutWireTeapot(3);
    glFlush();

    return;
}

int main(int argc, char *argv[])
{
    glutInit(&argc, argv);
    glutInitDisplayMode(GLUT_RGB | GLUT_SINGLE);
    glutInitWindowPosition(0, 0);
    glutInitWindowSize(300, 300);
    glutCreateWindow("OpenGL 3D View");
    init();
    glutDisplayFunc(display);
    glutMainLoop();

    return 0;
}

编译命令：compile cmd:gcc -o test test.c -lGL -lGLU -lglut

参考链接:
http://www.linuxidc.com/Linux/2017-03/141555.htm
http://blog.csdn.net/evenness/article/details/9150351