Forward port #2789: windows fixes

gazebo/common/Material.cc

@@ -93,6 +93,10 @@ void Material::SetTextureImage(const std::string &_tex,
       }
     }
   }
+
+  // normalize the path
+  this->texImage = boost::filesystem::path(this->texImage)
+    .make_preferred().string();
 }
 
 //////////////////////////////////////////////////

gazebo/common/ModelDatabase.cc

@@ -503,19 +503,29 @@ 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
     }
 
     curl_easy_cleanup(curl);

gazebo/sensors/GaussianNoiseModel.cc

@@ -219,7 +219,7 @@ double GaussianNoiseModel::GetBias() const
 //////////////////////////////////////////////////
 void GaussianNoiseModel::SampleBias()
 {
-  if(this->biasStdDev)
+  if(!math::equal(0.0, this->biasStdDev))
   {
     this->bias =
         ignition::math::Rand::DblNormal(this->biasMean, this->biasStdDev);