Installing rgl on Ubuntu and Mac: X11 not found
All the mentioned answers are correct; however, none is for Mac.
In my case (I am a Mac user), I solved the problem by installing XQuartz and restarting R.
Error in loading rgl package with Mac OS X
I was having this problem with rgl 0.93.996 on OSX 10.9.2, but then after reinstalling several times I saw "Installing rgl - error: X11 not found but required, configure aborted"
A quick search took me here https://stat.ethz.ch/pipermail/r-sig-mac/2012-March/009077.html
Then I was finally able to get it to work by downloading XQuartz https://www.xquartz.org So it was X11 that was the problem in my case.
Installing rgl package in R Mac OS via R-CMD-check
The solution was to set RGL_USE_NULL: true in the env: section,.. thanks to @user2554330 (Package rgl in R not loading in Mac OS)
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