From af30f7414596026b8f62a09685ea11d0d7c60c78 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Mon, 10 Aug 2020 18:01:58 -0700
Subject: [PATCH] [Gazebo9] More enhancement for Windows build (#2789)

---
 cmake/GazeboUtils.cmake        |  6 +++++-
 gazebo/common/Material.cc      |  4 ++++
 gazebo/common/ModelDatabase.cc | 19 ++++++++++++++-----
 3 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/cmake/GazeboUtils.cmake b/cmake/GazeboUtils.cmake
index 9a0582dcdc..5e952b1c76 100644
--- a/cmake/GazeboUtils.cmake
+++ b/cmake/GazeboUtils.cmake
@@ -131,7 +131,11 @@ endmacro()
 #################################################
 macro (gz_install_library _name)
   set_target_properties(${_name} PROPERTIES SOVERSION ${GAZEBO_MAJOR_VERSION} VERSION ${GAZEBO_VERSION_FULL})
-  install (TARGETS ${_name} DESTINATION ${LIB_INSTALL_DIR} COMPONENT shlib)
+  install (TARGETS ${_name}
+    ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
+    LIBRARY DESTINATION ${LIB_INSTALL_DIR}
+    RUNTIME DESTINATION ${BIN_INSTALL_DIR}
+    COMPONENT shlib)
 endmacro ()
 
 #################################################
diff --git a/gazebo/common/Material.cc b/gazebo/common/Material.cc
index 32363716f4..66d7cb961e 100644
--- a/gazebo/common/Material.cc
+++ b/gazebo/common/Material.cc
@@ -98,6 +98,10 @@ void Material::SetTextureImage(const std::string &_tex,
       }
     }
   }
+
+  // normalize the path
+  this->texImage = boost::filesystem::path(this->texImage)
+    .make_preferred().string();
 }
 
 //////////////////////////////////////////////////
diff --git a/gazebo/common/ModelDatabase.cc b/gazebo/common/ModelDatabase.cc
index 660d156eda..003e74fe98 100644
--- a/gazebo/common/ModelDatabase.cc
+++ b/gazebo/common/ModelDatabase.cc
@@ -503,19 +503,28 @@ std::string ModelDatabase::GetModelPath(const std::string &_uri,
         continue;
       }
 
+      std::string outputPath = getenv("HOME");
+      outputPath += "/.gazebo/models";
+
 #ifndef _WIN32
       TAR *tar;
       tar_open(&tar, const_cast<char*>(tarfilename.c_str()),
           nullptr, O_RDONLY, 0644, TAR_GNU);
 
-      std::string outputPath = getenv("HOME");
-      outputPath += "/.gazebo/models";
-
       tar_extract_all(tar, const_cast<char*>(outputPath.c_str()));
+#else
+      // Tar now is a built-in tool since Windows 10 build 17063.
+      std::string cmdline = "tar xzf \"";
+      cmdline += tarfilename + "\" -C \"";
+      cmdline += outputPath + "\"";
+      auto ret = system(cmdline.c_str());
+      if (ret != 0)
+      {
+        gzerr << "tar extract ret = " << ret << ", cmdline = " << cmdline << std::endl;
+      }
+#endif
       path = outputPath + "/" + modelName;
-
       ModelDatabase::DownloadDependencies(path);
-#endif
     }
 
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