Add control plugin API.

PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b

plugin/elasticity/cable.cc

@@ -277,7 +277,7 @@ void Cable::RegisterPlugin() {
   mjp_defaultPlugin(&plugin);
 
   plugin.name = "mujoco.elasticity.cable";
-  plugin.type |= mjPLUGIN_PASSIVE;
+  plugin.capabilities |= mjPLUGIN_PASSIVE;
 
   const char* attributes[] = {"twist", "bend", "flat", "vmax"};
   plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
@@ -297,10 +297,11 @@ return 0;
     delete reinterpret_cast<Cable*>(d->plugin_data[instance]);
     d->plugin_data[instance] = 0;
   };
-  plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
-    auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
-    elasticity->Compute(m, d, instance);
-  };
+  plugin.compute =
+      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
+        auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
+        elasticity->Compute(m, d, instance);
+      };
   plugin.visualize =
       +[](const mjModel* m, mjData* d, mjvScene* scn, int instance) {
         auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);

plugin/elasticity/cable.h

@@ -30,8 +30,7 @@ class Cable {
  public:
   // Creates a new Cable instance (allocated with `new`) or
   // returns null on failure.
-  static std::optional<Cable> Create(const mjModel* m, mjData* d,
-                                          int instance);
+  static std::optional<Cable> Create(const mjModel* m, mjData* d, int instance);
   Cable(Cable&&) = default;
   ~Cable() = default;
 

plugin/elasticity/solid.cc

@@ -347,7 +347,7 @@ void Solid::RegisterPlugin() {
   mjp_defaultPlugin(&plugin);
 
   plugin.name = "mujoco.elasticity.solid";
-  plugin.type |= mjPLUGIN_PASSIVE;
+  plugin.capabilities |= mjPLUGIN_PASSIVE;
 
   const char* attributes[] = {"nx", "ny", "nz", "young", "poisson", "damping"};
   plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
@@ -367,10 +367,11 @@ void Solid::RegisterPlugin() {
     delete reinterpret_cast<Solid*>(d->plugin_data[instance]);
     d->plugin_data[instance] = 0;
   };
-  plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
-    auto* elasticity = reinterpret_cast<Solid*>(d->plugin_data[instance]);
-    elasticity->Compute(m, d, instance);
-  };
+  plugin.compute =
+      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
+        auto* elasticity = reinterpret_cast<Solid*>(d->plugin_data[instance]);
+        elasticity->Compute(m, d, instance);
+      };
 
   mjp_registerPlugin(&plugin);
 }

plugin/elasticity/solid.h

@@ -33,8 +33,7 @@ struct Stencil {
 class Solid {
  public:
   // Returns a new Solid instance or nullopt on failure.
-  static std::optional<Solid> Create(const mjModel* m, mjData* d,
-                                     int instance);
+  static std::optional<Solid> Create(const mjModel* m, mjData* d, int instance);
   Solid(Solid&&) = default;
 
   Solid& operator=(Solid&& other) = default;