RigidBody/potentialEnergy.mo

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Documentation: RigidBody.potentialEnergy

within RigidBody;
function potentialEnergy "Uniform-gravity potential energy with world z upward"
  input RigidBody.State state;
  input RigidBody.Parameters parameters;
  output Real energy;
algorithm
  energy := parameters.mass * parameters.gravity * state.worldPosition[3];
end potentialEnergy;