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Document engine plugins.

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Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.

PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
This commit is contained in:
Yuval Tassa
2023-04-03 07:54:41 -07:00
committed by Copybara-Service
parent ebb150fa3d
commit 01b84089dd
10 changed files with 578 additions and 61 deletions
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doc/programming/index.rst
+8 -8
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@@ -135,18 +135,18 @@ mujoco.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/muj
This is the main header file and must be included in all programs using MuJoCo. It defines all API functions and
global variables, and includes the next 5 files which provide the necessary type definitions.
mjmodel.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`__
This file defines the C structure :ref:`mjModel` which is the runtime representation of the
Defines the C structure :ref:`mjModel` which is the runtime representation of the
model being simulated. It also defines a number of primitive types and other structures needed to define mjModel.
mjdata.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__
This file defines the C structure :ref:`mjData` which is the workspace where all computations
Defines the C structure :ref:`mjData` which is the workspace where all computations
read their inputs and write their outputs. It also defines primitive types and other structures needed to define
mjData.
mjvisualize.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`__
This file defines the primitive types and structures needed by the abstract visualizer.
Defines the primitive types and structures needed by the abstract visualizer.
mjrender.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`__
This file defines the primitive types and structures needed by the OpenGL renderer.
Defines the primitive types and structures needed by the OpenGL renderer.
mjui.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__
This file defines the primitive types and structures needed by the UI framework.
Defines the primitive types and structures needed by the UI framework.
mjtnum.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
Defines MuJoCo's ``mjtNum`` floating-point type to be either ``double`` or ``float``. See :ref:`mjtNum`.
mjxmacro.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`__
@@ -156,9 +156,8 @@ mjxmacro.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/m
mjexport.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjexport.h>`__
Macros used for exporting public symbols from the MuJoCo library. This header should not be used directly by client
code.
glfw3.h
This file is optional and is not included by mujoco.h. It is the only header file needed for the GLFW library. See
code sample :ref:`simulate.cc <saSimulate>`.
mjplugin.h   `(source) <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`__
Defines data structures required by :ref:`engine plugins<exPlugin>`.
.. _inVersion:
@@ -262,3 +261,4 @@ now lazily resolved at runtime after the switch to GLAD, the "nogl" libraries ar
samples
simulation
visualization
extension