pybind11 how to add C++ dependencies using setup.py

(I am new to Python and Python binding) I have a C++ package which uses FCL library, and its data types. The code is working in C++, but when I try to use Pybind11 to access it in Python, it compiles without error, but when I import it in Python I get the error:

undefined symbol: _ZTVN3fcl3BoxE

Heres my setup.py

from distutils.core import setup, Extension
def get_pybind_include():
    import pybind11
    return pybind11.get_include()
import sys
extra_compile_args = ['--std=c++11','-lfcl','-libccd']
ext_modules = [Extension('Coll', ['src/Coll.cpp'],
                         library_dirs=['lib'],
                         include_dirs=['include',
                                       get_pybind_include()],

                         language='c++',
                         extra_compile_args=extra_compile_args), ]

setup(name='Coll',
      version='0.1',
      description='Python bindings for the Coll v1',
      setup_requires=['fcl'],
      ext_modules=ext_modules,
)

Seems to be problem with linking FCL library, how can I make sure its linked?