Document engine plugins.

Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`. PiperOrigin-RevId: 521458377 Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
2023-04-03 07:54:41 -07:00
parent ebb150fa3d
commit 01b84089dd
10 changed files with 578 additions and 61 deletions
@@ -630,6 +630,15 @@ Warmstart accelerations
    <https://en.wikipedia.org/wiki/Lyapunov_exponent>`__ when time-stepping, quickly leading to divergent trajectories
    for different warmstarts.

+.. _gePlugin:
+
+Plugin state
+^^^^^^^^^^^^
+
+  ``plugin_state``
+    ``mjData.plugin_state`` are states declared by :ref:`engine plugins<exPlugin>`. Please see the :ref:`exPluginState`
+    section for more details.
+
 .. _geIntegrationState:

 Integration state