libGL.so is sufficient. You only need one or the other.
Probably makepanda needs to be modified to put /usr/X11R6/lib on the -L path when you are compiling on Mandrake. In the meantime, you can cheese this out by linking the critical files into /usr/lib. Do the following command as root:
ln -s /usr/X11R6/lib/libGL*.so /usr/libDavid