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CMakeLists.txt: Improve pkg-config generating on Windows
Use the target properties of ZLIB::ZLIB to get the library names for the pkg-config files that we generate, and unify things with other builds. We need to use the IMPORT_LOCATION[_$<CONFIG>] for ZLib since it does not define IMPORT_IMPLIB[_$<CONFIG>] even on Windows DLL builds, and assume that the $<CONFIG> we use above is RELEASE for both MinSizeRel and RelWithDebInfo builds. Sadly, this pkg-config generating will not work currently with the Visual Studio project generators, since CMAKE_BUILD_TYPE is usually not defined in such builds.
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