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/usr/lib/x86_64-linux-gnu/pkgconfig/Qt53DCollision.pc is in qt3d5-dev 5.5.1-4ubuntu3.

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prefix=/usr
exec_prefix=${prefix}
libdir=${prefix}/lib/x86_64-linux-gnu
includedir=${prefix}/include/x86_64-linux-gnu/qt5


Name: Qt5 3DCollision
Description: Qt 3DCollision module
Version: 5.5.1
Libs: -lQt53DCollision 
Libs.private:  -lQt53DCore -lQt5Gui -lQt5Core -lpthread -lGL  
Cflags: -I${includedir}/Qt3DCollision -I${includedir}
Requires: Qt5Core Qt5Gui Qt53DCore