You need to modify your program to use OSMesa - it's a "null display" driver used by Mesa for software rendering. Consider this answer for near duplicate question as a starter:
https://stackoverflow.com/a/8442800/2702398
For a full example, you can check out the examples in the Mesa distribution itself, such as this: http://cgit.freedesktop.org/mesa/demos/tree/src/osdemos/osdemo.c
Update
It appears that VirtualGL (http://www.virtualgl.org) supports remote rendering of OpenGL/GLX protocol and serves rendered pixmaps to the client over VNC (whereupon, VNC head can be trivially made virtual).