arm-2link: simulator (pay attention to this)

lib: windows graphics stuff (ignore for now)

useful: useful stuff (ignore for now)

The graphics stuff (drawstuff) in useful is compiled for 32bit.

If you want 64bit see README.txt in those directories.

The graphics stuff using OpenGL. On Linux, you may need to install
X11 and OpenGL development files.
You may have to install some packages along the lines of
Free86-OpenGL-devel-xxx,
X11-OpenGL-devel-xxx,
Mesa-libGL-devel-xxx,
libgl1-mesa-dev,
libgl1-mesa-dev,
libx11-dev,
and/or libglu1-mesa-dev.
Check out http://www.mesa3d.org/
Something like
sudo apt-get update
sudo apt-get install libgl1-mesa-dev libx11-dev libglu1-mesa-dev
or
sudo apt-get update
sudo apt-get install libglu1-mesa-dev freeglut3-dev mesa-common-dev
should install all the headers