Here is the configure command I was issuing:

CFLAGS="-O3" CXX=gcc CXXFLAGS="-O3 -felide-constructors -fno-exceptions -fno-rtti" ./configure --prefix=/root/mariadb               --enable-assembler --with-mysqld-ldflags=-all-static

I took the above command from 'INSTALL-SOURCE' section 2.3

-----------

I tried with your suggestion, still getting some different error:

             ./configure  --prefix=/root/mariadb --with-readline

make error:

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if g++ -DMYSQL_CLIENT_NO_THREADS -DDEFAULT_MYSQL_HOME='"/root/mariadb"' -DMYSQL_DATADIR='"/root/mariadb/var"' -I. -I. -I../include -I../include -I../include -I../regex     -g -O2   -fno-implicit-templates -fno-exceptions -fno-rtti -DHAVE_RWLOCK_T -MT completion_hash.o -MD -MP -MF ".deps/completion_hash.Tpo" -c -o completion_hash.o completion_hash.cc; \
        then mv -f ".deps/completion_hash.Tpo" ".deps/completion_hash.Po"; else rm -f ".deps/completion_hash.Tpo"; exit 1; fi
/bin/bash ../libtool --tag=CXX --mode=link g++  -g -O2   -fno-implicit-templates -fno-exceptions -fno-rtti -DHAVE_RWLOCK_T   -o mysql  mysql.o readline.o sql_string.o completion_hash.o ../cmd-line-utils/readline/libreadline.a -lcurses -lpthread -lthread ../libmysql/libmysqlclient.la  -lposix4 -lsocket -lnsl -lm   -lz  -lrt 
g++ -g -O2 -fno-implicit-templates -fno-exceptions -fno-rtti -DHAVE_RWLOCK_T -o .libs/mysql mysql.o readline.o sql_string.o completion_hash.o  ../cmd-line-utils/readline/libreadline.a -lcurses -lpthread -lthread ../libmysql/.libs/libmysqlclient.so -ldl -lposix4 -lsocket -lnsl -lm -lz -lrt -Wl,--rpath -Wl,/root/mariadb/lib/mysql
../libmysql/.libs/libmysqlclient.so: undefined reference to `yayaSSL_CleanUp'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaX509_get_issuer_name'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_get_fd'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_connect'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_set_tmp_dh'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_shutdown'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaBN_bin2bn'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_new'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_read'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaERR_get_error_line_data'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_get_error'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaDH_free'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_SESSION_set_timeout'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_clear'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaERR_error_string'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaERR_print_errors_fp'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_use_PrivateKey_file'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaX509_free'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_get_peer_certificate'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaTLSv1_server_method'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaTLSv1_client_method'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_use_certificate_file'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_set_session_id_context'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_load_error_strings'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_check_private_key'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaOpenSSL_add_all_algorithms'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_sess_set_cache_size'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_get_cipher_name'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaDH_new'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_set_quiet_shutdown'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaX509_get_subject_name'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_write'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_get_shared_ciphers'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_free'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaX509_NAME_oneline'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_new'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_accept'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_pending'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_library_init'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_set_cipher_list'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_set_verify'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_free'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_set_fd'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_get_session'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_set_default_verify_paths'
../libmysql/.libs/libmysqlclient.so: undefined reference to `yaSSL_CTX_load_verify_locations'
collect2: ld returned 1 exit status
gmake[2]: *** [mysql] Error 1
gmake[2]: Leaving directory `/root/mariadb-5.3.5-ga/client'
gmake[1]: *** [all] Error 2
gmake[1]: Leaving directory `/root/mariadb-5.3.5-ga/client'
gmake: *** [all-recursive] Error 1

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