Here is how to wrap foo.c's foo() function and link libprefoo.so. Adapted from Inline:C-Cookbook.

package First;
use Inline C => Config => LIBS => ' -lprefoo ';
use Inline C;    # (Added)

foo_wrapper();

_DATA_
_C_
#include <foo/prefoo.h>

#include "foo.c"

void foo_wrapper {
    foo();
}
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You really only need a wrapper if the desired perl syntax differs from that of the C call.

After Compline,
Zaxo