Add Signed Distance Field to collision geometries.

PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9

test/fixture.h

@@ -66,27 +66,18 @@ const std::string SaveAndReadXml(const mjModel* model);
 std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
                                  mjtNum ctrlnoise = 0.01);
 
-// Installs elasticity plugins
-// TODO(quaglino): load all plugins with a macro
+// Installs all plugins
 class PluginTest : public MujocoTest {
  public:
   // load plugin library
   PluginTest() : MujocoTest() {
-    #if defined(_WIN32) || defined(__CYGWIN__)
-      mj_loadPluginLibrary((
-        std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
-        std::string("\\elasticity.dll")).c_str());
-    #else
-      #if defined(__APPLE__)
-        mj_loadPluginLibrary((
-          std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
-          std::string("/libelasticity.dylib")).c_str());
-      #else
-        mj_loadPluginLibrary((
-          std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
-          std::string("/libelasticity.so")).c_str());
-      #endif
-    #endif
+    mj_loadAllPluginLibraries(
+      std::string(std::getenv("MUJOCO_PLUGIN_DIR")).c_str(), +[](const char* filename, int first, int count) {
+        std::printf("Plugins registered by library '%s':\n", filename);
+        for (int i = first; i < first + count; ++i) {
+          std::printf("    %s\n", mjp_getPluginAtSlot(i)->name);
+        }
+      });
   }
 };