+/*
+* Getters and Setters
+*/
+
+SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
+ // Transform that one to the horizontal local coordinate system.
+ SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
+
+ // and postrotate the orientation of the AIModel wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
+
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth fiexed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
+
+ // Add the position offset of the AIModel to gain the earth centered position
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+
+ return cartPos + off;
+}
+
+SGVec3d FGAIBase::getCartPos() const {
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+ return cartPos;
+}
+
+bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
+ const SGMaterial** material) const {
+ return globals->get_scenery()->get_elevation_m(pos, elev, material,
+ model.get());
+}
+
+double FGAIBase::_getCartPosX() const {
+ SGVec3d cartPos = getCartPos();
+ return cartPos.x();
+}
+
+double FGAIBase::_getCartPosY() const {
+ SGVec3d cartPos = getCartPos();
+ return cartPos.y();
+}
+
+double FGAIBase::_getCartPosZ() const {
+ SGVec3d cartPos = getCartPos();
+ return cartPos.z();
+}
+
+void FGAIBase::_setLongitude( double longitude ) {
+ pos.setLongitudeDeg(longitude);
+}
+
+void FGAIBase::_setLatitude ( double latitude ) {
+ pos.setLatitudeDeg(latitude);
+}
+
+void FGAIBase::_setUserPos(){
+ userpos.setLatitudeDeg(manager->get_user_latitude());
+ userpos.setLongitudeDeg(manager->get_user_longitude());
+ userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
+}
+
+void FGAIBase::_setSubID( int s ) {
+ _subID = s;
+}
+
+double FGAIBase::_getLongitude() const {
+ return pos.getLongitudeDeg();
+}
+
+double FGAIBase::_getLatitude() const {
+ return pos.getLatitudeDeg();
+}
+
+double FGAIBase::_getElevationFt () const {
+ return pos.getElevationFt();
+}
+
+double FGAIBase::_getRdot() const {
+ return rdot;
+}
+
+double FGAIBase::_getVS_fps() const {
+ return vs*60.0;
+}
+
+double FGAIBase::_get_speed_east_fps() const {
+ return speed_east_deg_sec * ft_per_deg_lon;
+}
+
+double FGAIBase::_get_speed_north_fps() const {
+ return speed_north_deg_sec * ft_per_deg_lat;
+}
+
+void FGAIBase::_setVS_fps( double _vs ) {
+ vs = _vs/60.0;
+}
+
+double FGAIBase::_getAltitude() const {
+ return altitude_ft;
+}
+
+bool FGAIBase::_getServiceable() const {
+ return serviceable;
+}
+
+SGPropertyNode* FGAIBase::_getProps() const {
+ return props;
+}
+
+void FGAIBase::_setAltitude( double _alt ) {
+ setAltitude( _alt );
+}
+
+bool FGAIBase::_isNight() {
+ return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
+}
+
+bool FGAIBase::_getCollisionData() {
+ return _collision_reported;
+}
+
+bool FGAIBase::_getImpactData() {
+ return _impact_reported;
+}
+
+double FGAIBase::_getImpactLat() const {
+ return _impact_lat;
+}
+
+double FGAIBase::_getImpactLon() const {
+ return _impact_lon;
+}
+
+double FGAIBase::_getImpactElevFt() const {
+ return _impact_elev * SG_METER_TO_FEET;
+}
+
+double FGAIBase::_getImpactPitch() const {
+ return _impact_pitch;
+}
+
+double FGAIBase::_getImpactRoll() const {
+ return _impact_roll;
+}
+
+double FGAIBase::_getImpactHdg() const {
+ return _impact_hdg;
+}
+
+double FGAIBase::_getImpactSpeed() const {
+ return _impact_speed;
+}
+
+int FGAIBase::getID() const {
+ return _refID;
+}
+
+int FGAIBase::_getSubID() const {
+ return _subID;
+}
+
+double FGAIBase::_getSpeed() const {
+ return speed;
+}
+
+double FGAIBase::_getRoll() const {
+ return roll;
+}
+
+double FGAIBase::_getPitch() const {
+ return pitch;
+}
+
+double FGAIBase::_getHeading() const {
+ return hdg;
+}
+
+double FGAIBase::_getXOffset() const {
+ return _x_offset;
+}
+
+double FGAIBase::_getYOffset() const {
+ return _y_offset;
+}
+
+double FGAIBase::_getZOffset() const {
+ return _z_offset;
+}
+
+const char* FGAIBase::_getPath() const {
+ return model_path.c_str();
+}
+
+const char* FGAIBase::_getSMPath() const {
+ return _path.c_str();
+}
+
+const char* FGAIBase::_getName() const {
+ return _name.c_str();
+}
+
+const char* FGAIBase::_getCallsign() const {
+ return _callsign.c_str();
+}
+
+const char* FGAIBase::_getSubmodel() const {
+ return _submodel.c_str();
+}
+
+void FGAIBase::CalculateMach() {
+ // Calculate rho at altitude, using standard atmosphere
+ // For the temperature T and the pressure p,
+ double altitude = altitude_ft;
+
+ if (altitude < 36152) { // curve fits for the troposphere
+ T = 59 - 0.00356 * altitude;
+ p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
+ } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
+ T = -70;
+ p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
+ } else { // upper stratosphere
+ T = -205.05 + (0.00164 * altitude);
+ p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
+ }
+
+ rho = p / (1718 * (T + 459.7));
+
+ // calculate the speed of sound at altitude
+ // a = sqrt ( g * R * (T + 459.7))
+ // where:
+ // a = speed of sound [ft/s]
+ // g = specific heat ratio, which is usually equal to 1.4
+ // R = specific gas constant, which equals 1716 ft-lb/slug/R
+ a = sqrt ( 1.4 * 1716 * (T + 459.7));
+
+ // calculate Mach number
+ Mach = speed/a;
+
+ // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
+}
+
+int FGAIBase::_newAIModelID() {
+ static int id = 0;
+
+ if (!++id)
+ id++; // id = 0 is not allowed.
+
+ return id;