darkplaces-quake-sdl: command not found

Have You tried accessing the binary with the full path?

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/bin/darkplaces-quake-sdl - from package: darkplaces-quake

You may install the required package with command yum install {package}
Error in other languages:
darkplaces-quake-sdl: bevel nie gevind nie
darkplaces-quake-sdl: comandă negăsită
darkplaces-quake-sdl: comando não encontrado
darkplaces-quake-sdl: commande introuvable
darkplaces-quake-sdl: command not found
darkplaces-quake-sdl: käsku ei ole
darkplaces-quake-sdl: không tìm thấy lệnh
darkplaces-quake-sdl: komanda nerasta
darkplaces-quake-sdl: Kommando nicht gefunden.
darkplaces-quake-sdl: kommandot finns inte
darkplaces-quake-sdl: komut yok
darkplaces-quake-sdl: nie znaleziono polecenia
darkplaces-quake-sdl: níor aimsíodh an t-ordú
darkplaces-quake-sdl: no se encontró la orden
darkplaces-quake-sdl: no s'ha trobat l'ordre
darkplaces-quake-sdl: opdracht niet gevonden
darkplaces-quake-sdl: parancs nem található
darkplaces-quake-sdl: perintah tidak ditemukan
darkplaces-quake-sdl: príkaz nenájdený
darkplaces-quake-sdl: příkaz nenalezen
darkplaces-quake-sdl: команда не найдена
darkplaces-quake-sdl: командата не е открита
darkplaces-quake-sdl: 命令找不到
darkplaces-quake-sdl: コマンドが見つかりません