sudo apt  install cmake-curses-gui 
cd ~/Downloads
git clone https://github.com/bulletphysics/bullet3.git
cd bullet3
ccmake .

then configure, generate

make

then wait for it to build and then

sudo make install

Old

Things I tried that didn’t work at fixing my Mesa errors (it was anaconda the whole time!)

sudo apt install mesa-utils
sudo apt install --reinstall libgl1-mesa-dri

sudo apt install libopengl-dev libglx-dev libglfw3-dev
sudo apt install freeglut3-dev libglw1-mesa-dev
sudo apt install libglm-dev

sudo apt install --reinstall libglw1-mesa libglw1-mesa-dev