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/usr/lib/pkgconfig/openscenegraph-osgSim.pc is in libopenscenegraph-dev 3.0.1-4.

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# pkg-config source file

prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir=${prefix}/include

Name: openscenegraph-osgSim
Description: Simulator utility library for Openscenegraph
Version: 3.0.1
Requires: openscenegraph-osgText openscenegraph-osgDB openscenegraph-osgUtil openscenegraph-osg openthreads
Conflicts:
Libs: -L${libdir} -losgSim
Cflags: -I${includedir}