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/usr/lib/pkgconfig/cal3d.pc is in libcal3d12-dev 0.11.0-4.1ubuntu1.

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

Name: cal3d
Description: The character animation library
Version: 0.11.0
Requires: 
Libs: -L${libdir} -lcal3d
Cflags: -I${includedir}