You could try something like Xvfb, which is in theory designed for your situation. However, freeglut may be looking for more advanced features, so you may need a real X-server (and one with Open-GL support). If that's the case then try one of the two below instead.

If you have a system that can function as an X-Windows display server (that your non-X server can reach) you could try setting your DISPLAY to that server. For example:

display-server> echo $DISPLAY
localhost:10.0
display-server> xhost + <code_compiling_server_name_or_ip_address>

code-compiling-server> export DISPLAY=display-server:10.0
code-compiling-server> /usr/X11R6/bin/xclock  # Test if it works.

display-server> xhost -   ## Do this after you are done compiling and 
+testing ##
[download]

Or for X11 Forwarding with SSH (safer/more secure):

1. On the display server make sure "ForwardX11Trusted" is set to "yes" in /etc/ssh/ssh_config.
2. On the code compiling server make sure "X11Forwarding" is set to "yes" in /etc/ssh/sshd_config.
   • You may need to do this on the display server as well (been a long time since I had to set this up and that was on Solaris system).
3. SSH from the display server server to the code compiling server.
   • If things are setup correctly you should have a DISPLAY environment variable automatically set for you on the code compiling server.
   • Test it by running /usr/X11R6/bin/xclock.

Note: if you manually set the DISPLAY on the code compiling server then it will not be tunneled and you will lose the security advantage of using SSH. And you may need to do the xhost + stuff like in the first example (because that's pretty much the method X11 will be using).