rpm -qa | grep glut //see if its installed.
if not, get the latest cersion of glut from http://rpmfind.net
and then as root rpm -Uvh Glut-*.rpm
if glut IS installed, (according to rpm -qa | grep glut)
find / | grep libglut.so
then create a link to it in the place that torcs looks for it...
ln -s [where libglut.so.# is] [ where torcs thinks glut should be, reported by that error message u got]