This is a very insightful article on Raspberry Pi OpenGL driver development. Unfortunately, due to the advent of the Raspberry Pi 4 and its incompatible VidCore VI GPU, development effort has shifted away from VidCore IV.
20200624/DuckDuckGo raspberry pi v3d mesa
20200624/https://noise.getoto.net/2019/10/11/vc4-and-v3d-opengl-drivers-for-raspberry-pi-an-update/
But, the point of my original search I wanted to bring up. The name of the Mesa 3D driver is VC4 for early Raspberry Pi computers and V3D for Raspberry Pi 4. Remember that. And remember, unfortunately, you cannot run both OpenCL and OpenGL at the same time on the older Raspberry Pi computers. Yep… so if you want software that lets you use both at once, you have to use Raspberry Pi 4, simply because software for the alternative path hasn’t been developed and it looks like there might not be enough momentum to develop it.
In the meantime, you must use OpenGL ES 3.1 compute shaders on Raspberry Pi 4, Vulkan is still in development and a few months out.