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GH-15040: [C++] Improve pkg-config support for ARROW_BUILD_SHARED=OFF
If `ARROW_BUILD_SHARED=OFF` is specified, `pkg-config --cflags --libs arrow` doesn't work. Because `pkg-config --cflags --libs arrow` misses build options for static linking. Users need to specify `pkg-config --cflags --libs --static arrow` for static linking even when `ARROW_BUILD_SHARED=OFF` is specified. This change adds support for `pkg-config --cflags --libs arrow` with `ARROW_BUILD_SHARED=OFF`. The command outputs build options for linking against `libarrow.a`. But these build options don't use static linking for dependencies. On the other hand, `pkg-config --cflags --libs --static arrow` still use static linking for all libraries including Apache Arrow C++ and its dependencies. With this change, Apache Arrow R doesn't need to use `pkg-config --static`. Because `pkg-config --cflags --libs arrow` works for both of `libarrow.so` and `libarrow.a`.
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