If I run swift build with the flag -Xcc -I/usr/include/pixman-1, the package builds successfully.
I'm unsure whether this is an issue with my configuration, or if this is a bug with the package manager.
Please let me know if I can provide any more information that would be helpful.
SwiftPM does not actually use the pkg-config command line tool, instead it uses its own pkg-config parser. That means it may have trouble locating your .pc files, most commonly on Apple platforms.
I'm building on Linux. It seems that SwiftPM is able to locate the .pc files because it will throw an error if the pkgConfig string is invalid, e.g. if I change it to wlroot instead of wlroots.