From Tekkotsu Wiki

Mirage is a simulation environment that provides Tekkotsu (running on a workstation instead of a robot) with a virtual world.

Installing Mirage Under Ubuntu 9.10 or 10.04

1. Install hardware graphics drivers. Ubuntu installs by default with the Mesa indirect software renderer, but OGRE3D requires the hardware driver specific to the graphics board being used. If you're running on an ASUS netbook, you're fine; skip this step. But on a desktop workstation you may not be. To check whether you have the hardware graphics driver installed on your workstation or non-ASUS laptop, type:

sudo apt-get install mesa-utils
glxinfo | head

If the vendor string is "ATI' or "nVidia" then you're using the hardware driver and can skip the rest of this step. If the "server glx vendor string" is "SGI", then you're using the Mesa renderer and may need to find and install the hardware driver for your board. However, some Intel and nVidia graphics boards do work acceptably with Mesa.

To find the manufacturer and model number of your graphics board, do:

lspci | grep VGA

Try turning on the hardware graphics driver by going to System > Administration > Hardware Drivers.

If you don't have a suitable hardware graphics driver, you may be able to install one using jockey-gtk:

sudo apt-get install jockey-gtk
jockey-gtk

2. Install library packages Ogre depends on:

sudo -s
apt-get update
apt-get -y install libfreeimage-dev libxrandr-dev libgl1-mesa-dev libglu1-mesa-dev

Install packages for building various additional libraries

apt-get -y install subversion libtool automake autoconf libxaw7-dev cmake

3. Install OIS, the Object Oriented Input System. Easy way:

apt-get -y install libois-dev

Alternative method (manual install): go to the OIS web page and download the latest release. In this example the file is called ois_1.2.0.tar.gz.

  tar xzf ois_1.2.0.tar.gz
  cd ois
  ./bootstrap
  ./configure
  make -j4
  sudo make install

4. Install FreeType. Easy way:

apt-get -y install libfreetype6-dev

Alternative method (manual install): go to the FreeType project download page and click on a stable release. Note: do not mistakenly select the .sig file or a freetype-doc file instead of the source tarball. The file you download should have a name like freetype-2.3.12.tar.bz2. Place it in /tmp. Then:

  cd /tmp
  tar xjf freetype-2.3.12.tar.bz2
  cd freetype-2.3.12
  ./configure
  make -j4
  sudo make install

The "make install" may print an error message about failure to remove a non-existent file. This can be ignored.

5. Install the OGRE3D rendering system version 1.7.1:

cd /opt
wget http://downloads.sourceforge.net/project/ogre/ogre/1.7/ogre_src_v1-7-1.tar.bz2
tar xjf ogre_src_v1-7-1.tar.bz2
cd ogre_src_v1-7-1
mkdir build
cd build
cmake ..
make -j4
make install

Note: You can obtain other Ogre releases by going to the OGRE Sourceforge download page (latest release) or the OGRE3D source download page and clicking on the version you want.

6. Install release 2050 (not the latest release) of the Bullet physics engine. Download it from the subversion repository and compile it by following the steps below.

cd /opt
svn checkout -r 2050 http://bullet.googlecode.com/svn/trunk/ bullet-read-only
cd bullet-read-only
cmake -DBUILD_SHARED_LIBS=ON -DBUILD_EXTRAS=OFF -DBUILD_DEMOS=OFF -DGLUT_INCLUDE_DIR=Glut -DINSTALL_LIBS=ON
make -j4
sudo make install

7. Build Mirage. First check the file /usr/local/Tekkotsu/tools/mirage/Resources/plugins.cfg and verify that PluginFolder is set to the Ogre library; by default this is /usr/local/lib/OGRE. Then:

cd /usr/local/Tekkotsu/tools/mirage
sudo make -j4

See the article on Running Mirage for how to test your Mirage installation.

Installing Mirage Under Mac OS X

Just follow the Mac instructions on the main Mirage page

Mirage WorldBuilder Tool

The Mirage WorldBuilder tool is included in the Tekkotsu/rools/mirage directory, but it depends on some Ruby packages that are not installed by default. To install these packages, do:

sudo apt-get install ruby rubygems
sudo gem install plist treetop