Regular glut doesn't work you will have to download and install the one built for openGL ES. Its been over a year since I attempted it so I can't be much help.
FreeGLUT has OpenGL ES support , but i guess it needs some
adjustment to run on the Pi with HW support.
ghans
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Is all you need to get started.
When you compile your program just link GLUT.
Gonna try more stuff with GLUT on Raspian now, this really makes so much fun.