Add control plugin API.

PiperOrigin-RevId: 493311715 Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
2022-12-06 08:23:07 -08:00
parent 60fbb77b2a
commit e4f1d584ad
14 changed files with 70 additions and 41 deletions
@@ -1454,7 +1454,7 @@ void mj_passive(const mjModel* m, mjData* d) {
      if (!plugin) {
        mju_error_i("invalid plugin slot: %d", slot);
      }
-      if (plugin->type & mjPLUGIN_PASSIVE) {
+      if (plugin->capabilities & mjPLUGIN_PASSIVE) {
        if (!plugin->compute) {
          mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
        }