I had edited the wiki page but immediately reverted the changes back due to my concerns.
However if the Retropie repo is compatible with your project than I would recommend it (it provides both sixad and sixpair, has more streamlined installation and is supported by retropie)
Installation steps;
(For ubuntu);
sudo apt install libusb-dev libbluetooth-dev libdbus-1-dev
git clone https://github.com/RetroPie/sixad.git
cd sixad
make
sudo make install