You missed the most important line in the configure output:
checking for mysql.h... no
You have the run-time package(s) for MySQL installed. You now need the development packages.
Under Debian/Ubuntu we impose these Build-Depends (and I just edited away the minimal version requirements):
Build-Depends: debhelper, cdbs, r-base-dev, libmysqlclient-dev, r-cran-dbi
The first two are Debian-packaging internal, the third is R, the fourth is MySQL and you need to map that to whatever RH/FC call it and the last one is DBI for R.