r - How do I change the polygon fill color and border color for

I have SpatialPolygons or SpatialPolygonsDataFrames which I'd like to plot. How do I change the color using the three plotting systems in R (base graphics, lattice graphics, and ggplot2)? Example

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Feature request #4553: Selection color/border size for polygons (with solid fill, no fill, semi-transparent fill) - QGIS Application - QGIS Issue Tracking

Feature request #4553: Selection color/border size for polygons (with solid fill, no fill, semi-transparent fill) - QGIS Application - QGIS Issue Tracking