brew install cmake libpng boost protobuf gnuplot jansson ode --with-double-precision --with-libccd

For OpenSceeneGraph:

ln -s /System/Library/Frameworks/Tk.framework/Versions/8.5/Headers/X11 /usr/local/include/X11

svn co http://svn.openscenegraph.org/osg/OpenSceneGraph/tags/OpenSceneGraph-3.4.0 OpenSceneGraph
cd OpenSceneGraph
# NOTE: Apply this patch https://trac.macports.org/attachment/ticket/51223/patch-ffmpeg3.txt
mkdir -p build && cd build
cmake -DOSG_WINDOWING_SYSTEM=X11 ..
make -j4
sudo make install

Then compile Robogen:

git clone https://github.com/milanjelisavcic/robogen
cd robogen
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -G"Unix Makefiles" ../src/
make -j3