Add LiveInputs so nozzles and Futurism afterburners follow cursor aim

- Cursor aim reverses below the nose and eases off in stalls, with pitch and yaw signs learned from the measured responses
- Cursor aim takes over at low speed and flies the surfaces directly while taxiing
- Nozzles and Futurism vectored afterburners follow the live flight inputs instead of the raw keys
- Warframes vertical surfaces and Futurism vectored afterburners are animated from their real deflection

build.gradle

@@ -84,6 +84,10 @@ dependencies {
     compileOnly fg.deobf("blank:WariumVS:1.1.7")
     compileOnly fg.deobf("blank:futurism:0.0.4")
 
+    // GeckoLib 4.8.4, which Warium VS animates its control surfaces with (optional dependency, remapped, the surface animation mixin
+    // only applies when it and Warium VS are present)
+    compileOnly fg.deobf("maven.modrinth:geckolib:aC5KMoNg")
+
     // AzureLib 3.2.7 for the animated block models (optional dependency, the common jar uses obfuscated names, so it is remapped)
     compileOnly fg.deobf("mod.azure.azurelib:azurelib-common-${minecraft_version}:${azurelib_version}")
 }

gradle.properties

@@ -12,7 +12,7 @@ mapping_version=2023.09.03-1.20.1
 mod_id=improved_aerodynamics
 mod_name=VS: Improved Aerodynamics
 mod_license=MIT
-mod_version=0.4.0
+mod_version=0.4.3
 azurelib_version=3.2.7
 mod_group_id=dev.lumareth.improvedaerodynamics
 mod_authors=Lumareth

src/main/java/dev/lumareth/improvedAerodynamics/Config.java

@@ -123,12 +123,31 @@ public final class Config {
             .comment("Improved flight model: multiplier for the extra lift the vortices make at high angles of attack")
             .defineInRange("vortexLiftStrength", 1.0D, 0.0D, 3.0D);
 
-    public static final ForgeConfigSpec.DoubleValue TRIM_AUTHORITY = BUILDER
-            .comment("Auto trim: largest pitch input (fraction of full deflection) the trim may hold")
-            .defineInRange("trimAuthority", 0.5D, 0.0D, 1.0D);
+    public static final ForgeConfigSpec.DoubleValue FBW_AUTHORITY = BUILDER
+            .comment("Flight computer (auto trim): largest total pitch input, as a fraction of full deflection, the computer may use.",
+                    "A craft with strongly relaxed stability needs close to 1")
+            .defineInRange("flightComputerAuthority", 1.0D, 0.0D, 1.0D);
+
+    public static final ForgeConfigSpec.DoubleValue FBW_RATE_GAIN = BUILDER
+            .comment("Flight computer: how hard it corrects a pitch rate that differs from the command, in rad/s² of angular",
+                    "acceleration per rad/s of error. Higher holds the nose tighter, too high makes slow surfaces oscillate")
+            .defineInRange("flightComputerRateGain", 8.0D, 0.5D, 40.0D);
+
+    public static final ForgeConfigSpec.DoubleValue FBW_INTEGRAL_GAIN = BUILDER
+            .comment("Flight computer: integral gain that removes the steady error left by the torque model")
+            .defineInRange("flightComputerIntegralGain", 4.0D, 0.0D, 40.0D);
+
+    public static final ForgeConfigSpec.DoubleValue FBW_STICK_RATE_DEGREES = BUILDER
+            .comment("Flight computer: pitch rate in degrees per second the pilot commands with full pitch input")
+            .defineInRange("flightComputerStickRateDegrees", 40.0D, 5.0D, 120.0D);
+
+    public static final ForgeConfigSpec.DoubleValue FBW_ACTUATOR_RATE = BUILDER
+            .comment("Flight computer: fastest the computer moves the pitch surfaces, in fraction of full deflection per second.",
+                    "Unstable craft need it high enough to catch a divergence, 4 or more")
+            .defineInRange("flightComputerActuatorRate", 6.0D, 0.5D, 50.0D);
 
     public static final ForgeConfigSpec.DoubleValue TRIM_MIN_SPEED = BUILDER
-            .comment("Auto trim: below this airspeed (blocks per second) the trim holds its current value")
+            .comment("Flight computer (auto trim): below this airspeed (blocks per second) the computer holds its current output")
             .defineInRange("trimMinSpeed", 10.0D, 0.0D, 100.0D);
 
     public static final ForgeConfigSpec.DoubleValue FLAP_TAKEOFF_DEGREES = BUILDER
@@ -185,6 +204,52 @@ public final class Config {
             .comment("The nozzle gives off light while its afterburner is lit")
             .define("lightEnabled", true);
 
+    static {
+        BUILDER.pop();
+        BUILDER.comment("Cursor aim: the mouse moves a cursor on screen, a virtual pilot flies the control node's craft by it").push("cursor_aim");
+    }
+
+    public static final ForgeConfigSpec.BooleanValue CURSOR_AIM_ENABLED = BUILDER.comment("Whether pilots may use cursor aim on this server")
+                .define("enabled", true);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_FULL_DEFLECTION_DEGREES = BUILDER.comment("Angle of the cursor from the gun reticle at which the virtual pilot turns as hard as it can: the maximum bank",
+                        "sideways, the full pitch rate up or down. Closer than that it turns more gently, so the reticle settles onto",
+                        "the cursor. How fast the craft can turn is worked out from the craft itself")
+                .defineInRange("fullDeflectionDegrees", 30.0, 5.0, 90.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_DEADZONE_DEGREES = BUILDER.comment("Radius around the gun reticle in degrees inside which the pilot stops steering towards the cursor. The reticle",
+                        "then settles this far from the cursor. Outside it the command grows from zero, there is no jump at the edge")
+                .defineInRange("deadzoneDegrees", 0.0, 0.0, 15.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_MAX_ROLL_RATE_DEGREES = BUILDER.comment("Fastest roll in degrees per second the pilot asks for when it rolls to a bank angle")
+                .defineInRange("maxRollRateDegrees", 150.0, 10.0, 720.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_MAX_BANK_DEGREES = BUILDER.comment("Bank angle the pilot rolls to when the cursor is at full sideways deflection, at most. Craft whose wings",
+                        "cannot hold that bank in a level turn get less")
+                .defineInRange("maxBankDegrees", 70.0, 10.0, 90.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_BANK_GAIN = BUILDER.comment("Roll rate in rad/s per radian of bank angle error, how eagerly the pilot rolls to the wanted bank and levels the wings")
+                .defineInRange("bankGain", 3.0, 0.2, 20.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_RATE_GAIN = BUILDER.comment("How hard the pilot corrects its turn rate, in angular acceleration per rad/s of rate error. Lower is smoother,",
+                        "higher follows the cursor tighter and can start to oscillate")
+                .defineInRange("rateGain", 5.0, 0.5, 40.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_PUSH_FACTOR = BUILDER.comment("A cursor below the gun reticle pushes the nose down. This is how much of the pull rate that may be, since",
+                        "negative g is harder on the craft and the pilot")
+                .defineInRange("pushFactor", 0.4, 0.0, 1.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_REVERSE_TURN_DEGREES = BUILDER.comment("How far below the nose (wings level) the cursor has to be before the pilot rolls over and pulls towards it",
+                        "instead of pushing the nose down. Less than that is flown with the elevators alone, like for a landing")
+                .defineInRange("reverseTurnDegrees", 40.0, 10.0, 135.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_STALLED_PITCH_FACTOR = BUILDER.comment("Multiplier for the pitch rate the pilot asks for while the wings are stalled, so it does not keep pulling")
+                .defineInRange("stalledPitchFactor", 0.3, 0.0, 1.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_MIN_SPEED = BUILDER.comment("Below this speed in blocks per second the pilot does not fly the craft: the cursor moves the elevators and",
+                        "rudder directly instead, so they follow it while taxiing and rotating for takeoff")
+                .defineInRange("minSpeed", 15.0, 0.0, 200.0);
+
     static {
         BUILDER.pop();
     }
@@ -201,6 +266,45 @@ public final class Config {
             .comment("Vectored afterburner nozzle: afterburner ignition and heavy afterburner sound")
             .define("soundEnabled", true);
 
+    public static final ForgeConfigSpec.BooleanValue ANIMATE_SURFACES = CLIENT_BUILDER
+            .comment("Control surfaces and flaps visibly deflect by as much as the flight physics deflects them, instead of Warium's",
+                    "fixed 20 degree steps. Needs physicsRateAerodynamics on the server")
+            .define("animateControlSurfaces", true);
+
+    static {
+        CLIENT_BUILDER.comment("Cursor aim, client side").push("cursor_aim");
+    }
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_LOOK_AHEAD = CLIENT_BUILDER.comment("How strongly the camera looks into the direction of the turn. 0 never moves it, 1 (100%) turns it quickly",
+                        "to look where the cursor points. In between it follows more slowly")
+                .defineInRange("lookAhead", 0.0, 0.0, 1.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_MOUSE_SENSITIVITY = CLIENT_BUILDER.comment("Multiplier for how far the mouse moves the cursor (or the camera while the free look key is held)")
+                .defineInRange("mouseSensitivity", 1.0, 0.05, 10.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_SPRING_BACK_SECONDS = CLIENT_BUILDER.comment("The cursor drifts to the gun reticle with this time constant in seconds, which ends the turn by itself.",
+                        "0, the default, keeps it where you put it in the world, so the craft turns until the reticle is on it")
+                .defineInRange("springBackSeconds", 0.0, 0.0, 10.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_MAX_ANGLE_DEGREES = CLIENT_BUILDER.comment("Furthest the cursor can go from the gun reticle, 135 is a 270 degree cone")
+                .defineInRange("maxCursorAngleDegrees", 135.0, 10.0, 180.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_ZOOM_STEP = CLIENT_BUILDER.comment("Blocks the camera moves per mouse wheel notch")
+                .defineInRange("zoomStep", 2.0, 0.1, 20.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_ZOOM_MAX = CLIENT_BUILDER.comment("Furthest the camera can be pulled back from its normal distance, in blocks")
+                .defineInRange("zoomMax", 80.0, 0.0, 500.0);
+
+    public static final ForgeConfigSpec.DoubleValue CURSOR_AIM_MARKER_SIZE = CLIENT_BUILDER.comment("Radius of the cursor ring on screen")
+                .defineInRange("markerSize", 0.04, 0.01, 0.3);
+
+    public static final ForgeConfigSpec.BooleanValue CURSOR_AIM_SHOW_RETICLE = CLIENT_BUILDER.comment("Draw a small cross where the gun reticle points, the zero of the cursor, so you can see it when the camera looks away")
+                .define("showReticle", true);
+
+    static {
+        CLIENT_BUILDER.pop();
+    }
+
     static final ForgeConfigSpec CLIENT_SPEC = CLIENT_BUILDER.build();
 
     private Config() {

src/main/java/dev/lumareth/improvedAerodynamics/ConfigCommands.java

@@ -7,6 +7,7 @@ import com.mojang.brigadier.arguments.StringArgumentType;
 import com.mojang.brigadier.builder.LiteralArgumentBuilder;
 import com.mojang.brigadier.tree.LiteralCommandNode;
 import dev.lumareth.improvedAerodynamics.exhaust.NozzleCommands;
+import dev.lumareth.improvedAerodynamics.flight.ControlMode;
 import net.minecraft.commands.CommandSourceStack;
 import net.minecraft.commands.Commands;
 import net.minecraft.commands.SharedSuggestionProvider;
@@ -21,7 +22,8 @@ import java.util.List;
 /**
  * /improvedaerodynamics (or /aero) to read and change the most important server config values in game.
  * {@code /aero} lists them, {@code /aero <option>} shows one, {@code /aero <option> <value>} sets and saves it.
- * Needs operator rights, except for the owner of a singleplayer world, who may use them without cheats.
+ * The config options need operator rights, except for the owner of a singleplayer world, who may use them without cheats.
+ * {@code /aero controls keyboard|cursor_aim} is open to every player and picks how they fly.
  * All of them are read live, so changes apply immediately.
  */
 public final class ConfigCommands {
@@ -48,7 +50,11 @@ public final class ConfigCommands {
             new Option<>("vortex_lift", Config.VORTEX_LIFT, BoolArgumentType.bool(), Boolean.class),
             new Option<>("vortex_stall_bonus", Config.VORTEX_STALL_BONUS, DoubleArgumentType.doubleArg(), Double.class),
             new Option<>("vortex_lift_strength", Config.VORTEX_LIFT_STRENGTH, DoubleArgumentType.doubleArg(), Double.class),
-            new Option<>("trim_authority", Config.TRIM_AUTHORITY, DoubleArgumentType.doubleArg(), Double.class),
+            new Option<>("flight_computer_authority", Config.FBW_AUTHORITY, DoubleArgumentType.doubleArg(), Double.class),
+            new Option<>("flight_computer_rate_gain", Config.FBW_RATE_GAIN, DoubleArgumentType.doubleArg(), Double.class),
+            new Option<>("flight_computer_integral_gain", Config.FBW_INTEGRAL_GAIN, DoubleArgumentType.doubleArg(), Double.class),
+            new Option<>("flight_computer_stick_rate_degrees", Config.FBW_STICK_RATE_DEGREES, DoubleArgumentType.doubleArg(), Double.class),
+            new Option<>("flight_computer_actuator_rate", Config.FBW_ACTUATOR_RATE, DoubleArgumentType.doubleArg(), Double.class),
             new Option<>("trim_min_speed", Config.TRIM_MIN_SPEED, DoubleArgumentType.doubleArg(), Double.class),
             new Option<>("air_placeholder", Config.ENABLE_AIR_PLACEHOLDER, BoolArgumentType.bool(), Boolean.class),
             new Option<>("nozzle_max_deflection", Config.NOZZLE_MAX_DEFLECTION, DoubleArgumentType.doubleArg(), Double.class),
@@ -78,21 +84,47 @@ public final class ConfigCommands {
 
     @SubscribeEvent
     public static void onRegisterCommands(RegisterCommandsEvent event) {
+        // The root is open to everybody for /aero controls, the config options check for rights themselves
         LiteralArgumentBuilder<CommandSourceStack> root = Commands.literal("improvedaerodynamics")
-                .requires(ConfigCommands::mayUse)
-                .executes(context -> list(context.getSource()));
+                .executes(context -> mayUse(context.getSource()) ? list(context.getSource()) : denied(context.getSource()));
         for (Option<?> option : OPTIONS) {
-            root.then(optionNode(option));
+            root.then(optionNode(option).requires(ConfigCommands::mayUse));
         }
-        root.then(SeedgenCommands.node());
-        root.then(NozzleCommands.node());
+        root.then(SeedgenCommands.node().requires(ConfigCommands::mayUse));
+        root.then(NozzleCommands.node().requires(ConfigCommands::mayUse));
+        root.then(controlsNode());
         LiteralCommandNode<CommandSourceStack> node = event.getDispatcher().register(root);
         event.getDispatcher().register(Commands.literal("aero")
-                .requires(ConfigCommands::mayUse)
-                .executes(context -> list(context.getSource()))
+                .executes(context -> mayUse(context.getSource()) ? list(context.getSource()) : denied(context.getSource()))
                 .redirect(node));
     }
 
+    private static int denied(CommandSourceStack source) {
+        source.sendFailure(Component.literal("Use /aero controls keyboard or /aero controls cursor_aim"));
+        return 0;
+    }
+
+    /** /aero controls [keyboard|cursor_aim], for every player (permission level 0). */
+    private static LiteralArgumentBuilder<CommandSourceStack> controlsNode() {
+        return Commands.literal("controls")
+                .requires(source -> source.getEntity() instanceof ServerPlayer)
+                .executes(context -> {
+                    ServerPlayer player = context.getSource().getPlayerOrException();
+                    boolean cursorAim = ControlMode.isCursorAim(player);
+                    context.getSource().sendSuccess(() -> Component.literal("Controls: " + (cursorAim ? "cursor_aim" : "keyboard")), false);
+                    return 1;
+                })
+                .then(Commands.literal("keyboard").executes(context -> setControls(context.getSource(), false)))
+                .then(Commands.literal("cursor_aim").executes(context -> setControls(context.getSource(), true)));
+    }
+
+    private static int setControls(CommandSourceStack source, boolean cursorAim) throws com.mojang.brigadier.exceptions.CommandSyntaxException {
+        ServerPlayer player = source.getPlayerOrException();
+        ControlMode.set(player, cursorAim);
+        source.sendSuccess(() -> Component.literal("Controls set to " + (cursorAim ? "cursor_aim" : "keyboard")), false);
+        return 1;
+    }
+
     private static <T> LiteralArgumentBuilder<CommandSourceStack> optionNode(Option<T> option) {
         return Commands.literal(option.name())
                 .executes(context -> {

src/main/java/dev/lumareth/improvedAerodynamics/ImprovedAerodynamics.java

@@ -1,6 +1,7 @@
 package dev.lumareth.improvedAerodynamics;
 
 import com.mojang.logging.LogUtils;
+import dev.lumareth.improvedAerodynamics.client.pipper.PipperConfig;
 import dev.lumareth.improvedAerodynamics.exhaust.ExhaustSync;
 import dev.lumareth.improvedAerodynamics.exhaust.NozzleContent;
 import dev.lumareth.improvedAerodynamics.flight.PhysicsBridge;
@@ -24,9 +25,13 @@ public class ImprovedAerodynamics {
         MinecraftForge.EVENT_BUS.register(PhysicsBridge.class);
         MinecraftForge.EVENT_BUS.register(ConfigCommands.class);
         MinecraftForge.EVENT_BUS.register(ExhaustSync.class);
+        MinecraftForge.EVENT_BUS.register(dev.lumareth.improvedAerodynamics.flight.ControlMode.class);
         MinecraftForge.EVENT_BUS.register(dev.lumareth.improvedAerodynamics.flight.FlapInteraction.class);
+        MinecraftForge.EVENT_BUS.register(dev.lumareth.improvedAerodynamics.flight.DeflectionSync.class);
         ModLoadingContext.get().registerConfig(ModConfig.Type.SERVER, Config.SPEC);
         ModLoadingContext.get().registerConfig(ModConfig.Type.CLIENT, Config.CLIENT_SPEC);
+        // Own file name: the default one is taken by Config.CLIENT_SPEC
+        ModLoadingContext.get().registerConfig(ModConfig.Type.CLIENT, PipperConfig.SPEC, "improved_aerodynamics-pipper-client.toml");
         NozzleContent.register(FMLJavaModLoadingContext.get().getModEventBus());
         Network.register();
     }

src/main/java/dev/lumareth/improvedAerodynamics/client/aim/AimKeys.java

@@ -0,0 +1,31 @@
+package dev.lumareth.improvedAerodynamics.client.aim;
+
+import com.mojang.blaze3d.platform.InputConstants;
+import dev.lumareth.improvedAerodynamics.ImprovedAerodynamics;
+import net.minecraft.client.KeyMapping;
+import net.minecraftforge.api.distmarker.Dist;
+import net.minecraftforge.client.event.RegisterKeyMappingsEvent;
+import net.minecraftforge.client.settings.KeyConflictContext;
+import net.minecraftforge.eventbus.api.SubscribeEvent;
+import net.minecraftforge.fml.common.Mod;
+import org.lwjgl.glfw.GLFW;
+
+/** Keys of cursor aim, which is switched on with /aero controls cursor_aim. The free look key is not shift: in a seat, shift gets the player out of it. */
+public final class AimKeys {
+    public static final KeyMapping FREE_LOOK = new KeyMapping("key.improved_aerodynamics.cursor_aim_free_look",
+            KeyConflictContext.IN_GAME, InputConstants.Type.KEYSYM, GLFW.GLFW_KEY_LEFT_ALT, "key.categories.improved_aerodynamics");
+
+    private AimKeys() {
+    }
+
+    @Mod.EventBusSubscriber(modid = ImprovedAerodynamics.MOD_ID, value = Dist.CLIENT, bus = Mod.EventBusSubscriber.Bus.MOD)
+    public static final class Registration {
+        private Registration() {
+        }
+
+        @SubscribeEvent
+        public static void onRegisterKeyMappings(RegisterKeyMappingsEvent event) {
+            event.register(FREE_LOOK);
+        }
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/aim/AimSeat.java

@@ -0,0 +1,15 @@
+package dev.lumareth.improvedAerodynamics.client.aim;
+
+import net.mcreator.valkyrienwarium.entity.SeatEntityEntity;
+import net.minecraft.world.entity.Entity;
+
+/** Everything that touches Warium VS classes, so nothing else loads them when Warium is missing. */
+final class AimSeat {
+    private AimSeat() {
+    }
+
+    static Entity seatOf(Entity rider) {
+        Entity root = rider.getRootVehicle();
+        return root instanceof SeatEntityEntity ? root : null;
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/aim/CursorAimClient.java

@@ -0,0 +1,545 @@
+package dev.lumareth.improvedAerodynamics.client.aim;
+
+import dev.lumareth.improvedAerodynamics.Config;
+import com.mojang.blaze3d.systems.RenderSystem;
+import com.mojang.blaze3d.vertex.BufferBuilder;
+import com.mojang.blaze3d.vertex.BufferUploader;
+import com.mojang.blaze3d.vertex.DefaultVertexFormat;
+import com.mojang.blaze3d.vertex.Tesselator;
+import com.mojang.blaze3d.vertex.VertexFormat;
+import dev.lumareth.improvedAerodynamics.ImprovedAerodynamics;
+import dev.lumareth.improvedAerodynamics.client.pipper.GunPipperRenderer;
+import dev.lumareth.improvedAerodynamics.flight.AimBasis;
+import dev.lumareth.improvedAerodynamics.network.AimPacket;
+import dev.lumareth.improvedAerodynamics.network.Network;
+import net.minecraft.client.Camera;
+import net.minecraft.client.CameraType;
+import net.minecraft.client.Minecraft;
+import net.minecraft.client.multiplayer.ClientLevel;
+import net.minecraft.client.player.LocalPlayer;
+import net.minecraft.client.renderer.GameRenderer;
+import net.minecraft.core.BlockPos;
+import net.minecraft.network.chat.Component;
+import net.minecraft.util.Mth;
+import net.minecraft.world.entity.Entity;
+import net.minecraft.world.phys.Vec3;
+import net.minecraftforge.api.distmarker.Dist;
+import net.minecraftforge.client.event.InputEvent;
+import net.minecraftforge.client.event.RenderLevelStageEvent;
+import net.minecraftforge.client.event.ViewportEvent;
+import net.minecraftforge.event.TickEvent;
+import net.minecraftforge.eventbus.api.SubscribeEvent;
+import net.minecraftforge.fml.ModList;
+import net.minecraftforge.fml.common.Mod;
+import net.minecraftforge.fml.util.ObfuscationReflectionHelper;
+import org.joml.Matrix4f;
+import org.joml.primitives.AABBdc;
+import org.joml.Quaterniondc;
+import org.joml.Vector3d;
+import org.joml.Vector3f;
+import org.valkyrienskies.core.api.ships.ClientShip;
+import org.valkyrienskies.core.api.ships.Ship;
+import org.valkyrienskies.mod.common.VSGameUtilsKt;
+
+import java.lang.reflect.Method;
+
+/**
+ * Cursor aim, the client side. While it is on:
+ * <ul>
+ *   <li>the mouse moves a cursor instead of the camera. The cursor is a fixed direction in the world: the craft
+ *   turning does not drag it along, so the virtual pilot on the server steers until the gun reticle (the craft's
+ *   boresight) sits on the cursor again. It is kept at most {@code maxCursorAngleDegrees} from the reticle and, if
+ *   spring back is set, drifts back to it. Every tick it is sent to the server as an offset from the reticle;</li>
+ *   <li>the camera is a chase view, looking along the reticle, or, with look ahead, towards the cursor;</li>
+ *   <li>holding the free look key moves the camera instead of the cursor, it eases back when released;</li>
+ *   <li>the mouse wheel changes how far the camera is behind the craft.</li>
+ * </ul>
+ * The camera is driven through the rotation of the player, which for a rider of a Valkyrien Skies ship is relative to
+ * the ship, so the camera follows the ship's attitude like Valkyrien Skies does for any mounted player. Mouse
+ * movement shows up as a change of that rotation, which is taken as the movement of the cursor and put back.
+ */
+@Mod.EventBusSubscriber(modid = ImprovedAerodynamics.MOD_ID, value = Dist.CLIENT)
+public final class CursorAimClient {
+    private static final int CURSOR_COLOR = 0xFFFFE040;
+    private static final int RETICLE_COLOR = 0xFFFFFFFF;
+    private static final float MARKER_DISTANCE = 2.0F;
+    private static final double LOOK_AHEAD_RATE = 6.0;
+    private static final double FREE_LOOK_RETURN_RATE = 10.0;
+    // Blocks under the craft's bounding box that count as still on the ground, and how long it has to be off it
+    private static final double GROUND_CLEARANCE = 1.5;
+    private static final int AIRBORNE_TICKS = 20;
+
+    private static boolean active;
+    // Chosen with /aero controls, told by the server
+    private static boolean cursorAimMode;
+    // Cursor as a world direction, null until the first frame puts it on the reticle
+    private static Vector3d cursorWorld;
+    // The same cursor as components along the craft's forward (gun reticle), right and up axes, as of the last update
+    private static double cf = 1.0;
+    private static double cr;
+    private static double cu;
+    // Camera direction in ship space and the free look offset on top of it, degrees
+    private static double[] cameraDirection;
+    // Client ticks the craft has been off the ground, up to AIRBORNE_TICKS
+    private static int airborneTicks;
+    private static double offsetYaw;
+    private static double offsetPitch;
+    // Rotation the player was given last frame, to see what the mouse did since
+    private static boolean haveLast;
+    private static float lastYaw;
+    private static float lastPitch;
+    private static long lastNanos;
+    private static double zoom;
+    private static CameraType previousCamera;
+    private static Method cameraMove;
+
+    private CursorAimClient() {
+    }
+
+    // ---- Toggling and the packet to the server ----
+
+    @SubscribeEvent
+    public static void onClientTick(TickEvent.ClientTickEvent event) {
+        if (event.phase != TickEvent.Phase.END) {
+            return;
+        }
+        Minecraft minecraft = Minecraft.getInstance();
+        LocalPlayer player = minecraft.player;
+        if (!active) {
+            if (cursorAimMode && player != null && seated(player) && serverHasMod(minecraft)) {
+                activate(minecraft, player);
+            }
+            return;
+        }
+        if (!cursorAimMode) {
+            deactivate(minecraft);
+            return;
+        }
+        if (player == null || !seated(player)) {
+            deactivate(minecraft);
+            return;
+        }
+        // The craft has turned since the last frame: the cursor stays put in the world, its offset changes
+        Entity seat = AimSeat.seatOf(player);
+        AimBasis basis = minecraft.level != null ? AimBasis.of(minecraft.level, seat.blockPosition()) : null;
+        Quaterniondc rotation = basis != null ? shipRotation(minecraft.level, seat, false) : null;
+        if (rotation != null) {
+            cursorFromWorld(basis, rotation);
+        }
+        updateAirborne(minecraft.level, seat);
+        send(minecraft, true);
+    }
+
+    /**
+     * Whether the craft is off the ground, for look ahead: on the ground (and for a moment after leaving it) the camera
+     * stays behind the reticle, so pulling the nose up to take off does not swing it down under the craft.
+     */
+    private static void updateAirborne(ClientLevel level, Entity seat) {
+        Ship ship = VSGameUtilsKt.getLoadedShipManagingPos(level, BlockPos.containing(seat.getX(), seat.getY(), seat.getZ()));
+        if (ship == null || onGround(level, ship.getWorldAABB())) {
+            airborneTicks = 0;
+        } else if (airborneTicks < AIRBORNE_TICKS) {
+            airborneTicks++;
+        }
+    }
+
+    /**
+     * Whether there is solid ground right under the craft: any block with a collision shape in a layer just below the
+     * bottom of its world bounding box. The craft's own blocks are not in the world, so they never count.
+     */
+    private static boolean onGround(ClientLevel level, AABBdc box) {
+        int minX = Mth.floor(box.minX());
+        int maxX = Mth.floor(box.maxX());
+        int minZ = Mth.floor(box.minZ());
+        int maxZ = Mth.floor(box.maxZ());
+        int fromY = Mth.floor(box.minY() - GROUND_CLEARANCE);
+        int toY = Mth.floor(box.minY() + 0.5);
+        // At most about 16 x 16 columns, a big craft is sampled on a coarser grid
+        int stepX = Math.max(1, (maxX - minX) / 16);
+        int stepZ = Math.max(1, (maxZ - minZ) / 16);
+        BlockPos.MutableBlockPos pos = new BlockPos.MutableBlockPos();
+        for (int x = minX; x <= maxX; x += stepX) {
+            for (int z = minZ; z <= maxZ; z += stepZ) {
+                for (int y = fromY; y <= toY; y++) {
+                    pos.set(x, y, z);
+                    if (!level.getBlockState(pos).getCollisionShape(level, pos).isEmpty()) {
+                        return true;
+                    }
+                }
+            }
+        }
+        return false;
+    }
+
+    /** Rotation of the ship the seat is on, its render transform when drawing, null if it is not on a ship. */
+    private static Quaterniondc shipRotation(ClientLevel level, Entity seat, boolean render) {
+        Ship ship = VSGameUtilsKt.getLoadedShipManagingPos(level, BlockPos.containing(seat.getX(), seat.getY(), seat.getZ()));
+        if (ship == null) {
+            return null;
+        }
+        return render && ship instanceof ClientShip clientShip
+                ? clientShip.getRenderTransform().getShipToWorldRotation() : ship.getTransform().getShipToWorldRotation();
+    }
+
+    /** Sets the cursor's components from its world direction, putting it on the reticle the first time. */
+    private static void cursorFromWorld(AimBasis basis, Quaterniondc rotation) {
+        if (cursorWorld == null) {
+            double[] forward = basis.forward();
+            cursorWorld = rotation.transform(new Vector3d(forward[0], forward[1], forward[2]));
+        }
+        Vector3d ship = rotation.transformInverse(cursorWorld, new Vector3d());
+        double[] f = basis.forward();
+        double[] r = basis.right();
+        double[] u = basis.up();
+        cf = ship.x * f[0] + ship.y * f[1] + ship.z * f[2];
+        cr = ship.x * r[0] + ship.y * r[1] + ship.z * r[2];
+        cu = ship.x * u[0] + ship.y * u[1] + ship.z * u[2];
+        normalizeCursor();
+        limitCursor();
+    }
+
+    /** Stores the cursor's components back as its world direction. */
+    private static void cursorToWorld(AimBasis basis, Quaterniondc rotation) {
+        double[] ship = basis.toShip(cf, cr, cu);
+        cursorWorld = rotation.transform(new Vector3d(ship[0], ship[1], ship[2]));
+    }
+
+    /** Called when the server tells the client how its player flies. */
+    public static void setMode(boolean cursorAim) {
+        cursorAimMode = cursorAim;
+    }
+
+    private static boolean seated(LocalPlayer player) {
+        return ModList.get().isLoaded("valkyrien_warium") && AimSeat.seatOf(player) != null;
+    }
+
+    private static boolean serverHasMod(Minecraft minecraft) {
+        return minecraft.getConnection() != null && Network.CHANNEL.isRemotePresent(minecraft.getConnection().getConnection());
+    }
+
+    private static void activate(Minecraft minecraft, LocalPlayer player) {
+        if (!seated(player)) {
+            player.displayClientMessage(Component.translatable("message.improved_aerodynamics.cursor_aim.no_seat"), true);
+            return;
+        }
+        if (!serverHasMod(minecraft)) {
+            player.displayClientMessage(Component.translatable("message.improved_aerodynamics.cursor_aim.no_server"), true);
+            return;
+        }
+        active = true;
+        cursorWorld = null;
+        cf = 1.0;
+        cr = 0.0;
+        cu = 0.0;
+        cameraDirection = null;
+        airborneTicks = 0;
+        offsetYaw = 0.0;
+        offsetPitch = 0.0;
+        haveLast = false;
+        lastNanos = System.nanoTime();
+        previousCamera = minecraft.options.getCameraType();
+        minecraft.options.setCameraType(CameraType.THIRD_PERSON_BACK);
+        player.displayClientMessage(Component.translatable("message.improved_aerodynamics.cursor_aim.on"), true);
+    }
+
+    private static void deactivate(Minecraft minecraft) {
+        if (!active) {
+            return;
+        }
+        active = false;
+        send(minecraft, false);
+        if (previousCamera != null) {
+            minecraft.options.setCameraType(previousCamera);
+            previousCamera = null;
+        }
+        if (minecraft.player != null) {
+            minecraft.player.displayClientMessage(Component.translatable("message.improved_aerodynamics.cursor_aim.off"), true);
+        }
+    }
+
+    private static void send(Minecraft minecraft, boolean on) {
+        if (serverHasMod(minecraft)) {
+            Network.CHANNEL.sendToServer(new AimPacket(on, (float) cf, (float) cr, (float) cu));
+        }
+    }
+
+    // ---- Mouse and camera, once per frame before the world is rendered ----
+
+    @SubscribeEvent
+    public static void onRenderTick(TickEvent.RenderTickEvent event) {
+        if (!active || event.phase != TickEvent.Phase.START) {
+            return;
+        }
+        Minecraft minecraft = Minecraft.getInstance();
+        LocalPlayer player = minecraft.player;
+        ClientLevel level = minecraft.level;
+        if (player == null || level == null || !seated(player)) {
+            return;
+        }
+        Entity seat = AimSeat.seatOf(player);
+        AimBasis basis = AimBasis.of(level, seat.blockPosition());
+        Quaterniondc rotation = basis != null ? shipRotation(level, seat, true) : null;
+        if (basis == null || rotation == null) {
+            return;
+        }
+        if (minecraft.options.getCameraType() != CameraType.THIRD_PERSON_BACK) {
+            minecraft.options.setCameraType(CameraType.THIRD_PERSON_BACK);
+        }
+
+        long now = System.nanoTime();
+        double dt = Mth.clamp((now - lastNanos) / 1.0E9, 0.0, 0.1);
+        lastNanos = now;
+
+        // What the mouse did: the player's rotation moved away from what it was set to
+        double deltaYaw = 0.0;
+        double deltaPitch = 0.0;
+        if (haveLast && minecraft.screen == null) {
+            deltaYaw = Mth.wrapDegrees(player.getYRot() - lastYaw);
+            deltaPitch = player.getXRot() - lastPitch;
+            if (Math.abs(deltaYaw) > 90.0 || Math.abs(deltaPitch) > 90.0) {
+                // Not the mouse, something reset the rotation
+                deltaYaw = 0.0;
+                deltaPitch = 0.0;
+            }
+        }
+        double sensitivity = Config.CURSOR_AIM_MOUSE_SENSITIVITY.get();
+        boolean freeLook = minecraft.screen == null && AimKeys.FREE_LOOK.isDown();
+
+        cursorFromWorld(basis, rotation);
+        double spring = Config.CURSOR_AIM_SPRING_BACK_SECONDS.get();
+        if (spring > 0.0) {
+            shrinkCursor(Math.exp(-dt / spring));
+        }
+        if (freeLook) {
+            offsetYaw += deltaYaw * sensitivity;
+            offsetPitch = Mth.clamp(offsetPitch - deltaPitch * sensitivity, -89.0, 89.0);
+        } else {
+            moveCursor(Math.toRadians(deltaYaw * sensitivity), Math.toRadians(-deltaPitch * sensitivity));
+            double decay = Math.exp(-dt * FREE_LOOK_RETURN_RATE);
+            offsetYaw *= decay;
+            offsetPitch *= decay;
+        }
+        cursorToWorld(basis, rotation);
+
+        // Camera: along the reticle, or turned towards the cursor by the look ahead setting once the craft is flying
+        double lookAhead = Config.CURSOR_AIM_LOOK_AHEAD.get();
+        double[] forward = basis.forward();
+        if (cameraDirection == null || lookAhead <= 0.0) {
+            cameraDirection = forward.clone();
+        } else {
+            // On the ground it eases back behind the reticle rather than snapping there
+            double[] target = airborneTicks >= AIRBORNE_TICKS ? basis.toShip(cf, cr, cu) : forward;
+            cameraDirection = turnTowards(cameraDirection, target, 1.0 - Math.exp(-lookAhead * LOOK_AHEAD_RATE * dt));
+        }
+        double[] direction = rotate(cameraDirection, basis.up(), -Math.toRadians(offsetYaw));
+        direction = rotate(direction, rotate(basis.right(), basis.up(), -Math.toRadians(offsetYaw)), Math.toRadians(offsetPitch));
+
+        // Valkyrien Skies reads the view of a mounted player in ship space: yaw 0 looks along +Z
+        float yaw = (float) Math.toDegrees(Math.atan2(-direction[0], direction[2]));
+        float pitch = (float) Math.toDegrees(Math.atan2(-direction[1], Math.hypot(direction[0], direction[2])));
+        player.setYRot(yaw);
+        player.setXRot(pitch);
+        player.yRotO = yaw;
+        player.xRotO = pitch;
+        player.yHeadRot = yaw;
+        player.yHeadRotO = yaw;
+        lastYaw = yaw;
+        lastPitch = pitch;
+        haveLast = true;
+    }
+
+    /** Moves the cursor like a look direction: yaw towards the right, pitch up, radians. */
+    private static void moveCursor(double yaw, double pitch) {
+        double nf = cf * Math.cos(yaw) - cr * Math.sin(yaw);
+        double nr = cf * Math.sin(yaw) + cr * Math.cos(yaw);
+        cf = nf;
+        cr = nr;
+        nf = cf * Math.cos(pitch) - cu * Math.sin(pitch);
+        double nu = cf * Math.sin(pitch) + cu * Math.cos(pitch);
+        cf = nf;
+        cu = nu;
+        normalizeCursor();
+        limitCursor();
+    }
+
+    /** Brings the cursor back towards the reticle along the shortest way, keeping only this fraction of its angle. */
+    private static void shrinkCursor(double keep) {
+        double angle = Math.acos(Mth.clamp(cf, -1.0, 1.0));
+        double lateral = Math.sqrt(cr * cr + cu * cu);
+        if (angle < 1.0E-6 || lateral < 1.0E-9) {
+            cf = 1.0;
+            cr = 0.0;
+            cu = 0.0;
+            return;
+        }
+        double newAngle = angle * keep;
+        double scale = Math.sin(newAngle) / lateral;
+        cf = Math.cos(newAngle);
+        cr *= scale;
+        cu *= scale;
+    }
+
+    private static void normalizeCursor() {
+        double length = Math.sqrt(cf * cf + cr * cr + cu * cu);
+        if (!(length > 1.0E-9)) {
+            cf = 1.0;
+            cr = 0.0;
+            cu = 0.0;
+            return;
+        }
+        cf /= length;
+        cr /= length;
+        cu /= length;
+    }
+
+    private static void limitCursor() {
+        double limit = Math.toRadians(Config.CURSOR_AIM_MAX_ANGLE_DEGREES.get());
+        double angle = Math.acos(Mth.clamp(cf, -1.0, 1.0));
+        if (angle <= limit) {
+            return;
+        }
+        double lateral = Math.sqrt(cr * cr + cu * cu);
+        if (lateral < 1.0E-9) {
+            return;
+        }
+        double scale = Math.sin(limit) / lateral;
+        cf = Math.cos(limit);
+        cr *= scale;
+        cu *= scale;
+    }
+
+    // ---- Mouse wheel and camera distance ----
+
+    @SubscribeEvent
+    public static void onScroll(InputEvent.MouseScrollingEvent event) {
+        Minecraft minecraft = Minecraft.getInstance();
+        if (!active || minecraft.screen != null) {
+            return;
+        }
+        zoom = Mth.clamp(zoom - event.getScrollDelta() * Config.CURSOR_AIM_ZOOM_STEP.get(), -3.0, Config.CURSOR_AIM_ZOOM_MAX.get());
+        event.setCanceled(true);
+    }
+
+    @SubscribeEvent
+    public static void onCameraAngles(ViewportEvent.ComputeCameraAngles event) {
+        if (!active || Math.abs(zoom) < 1.0E-3) {
+            return;
+        }
+        try {
+            if (cameraMove == null) {
+                // Camera.move(double, double, double), moves along the camera's own axes
+                cameraMove = ObfuscationReflectionHelper.findMethod(Camera.class, "m_90568_", double.class, double.class, double.class);
+            }
+            cameraMove.invoke(event.getCamera(), -zoom, 0.0, 0.0);
+        } catch (ReflectiveOperationException | RuntimeException exception) {
+            ImprovedAerodynamics.LOGGER.warn("Cursor aim camera zoom is not available", exception);
+            zoom = 0.0;
+        }
+    }
+
+    // ---- Drawing the cursor ----
+
+    @SubscribeEvent
+    public static void onRenderLevel(RenderLevelStageEvent event) {
+        if (!active || event.getStage() != RenderLevelStageEvent.Stage.AFTER_PARTICLES) {
+            return;
+        }
+        Minecraft minecraft = Minecraft.getInstance();
+        ClientLevel level = minecraft.level;
+        LocalPlayer player = minecraft.player;
+        if (level == null || player == null || !seated(player)) {
+            return;
+        }
+        Entity seat = AimSeat.seatOf(player);
+        AimBasis basis = AimBasis.of(level, seat.blockPosition());
+        Quaterniondc rotation = basis != null ? shipRotation(level, seat, true) : null;
+        if (rotation == null || cursorWorld == null) {
+            return;
+        }
+        double[] forward = basis.forward();
+        Vector3d reticleWorld = rotation.transform(new Vector3d(forward[0], forward[1], forward[2]));
+
+        Camera camera = event.getCamera();
+        Matrix4f matrix = event.getPoseStack().last().pose();
+        BufferBuilder builder = Tesselator.getInstance().getBuilder();
+        RenderSystem.disableDepthTest();
+        RenderSystem.enableBlend();
+        RenderSystem.defaultBlendFunc();
+        RenderSystem.disableCull();
+        RenderSystem.setShader(GameRenderer::getPositionColorShader);
+        builder.begin(VertexFormat.Mode.QUADS, DefaultVertexFormat.POSITION_COLOR);
+
+        float size = (float) (Config.CURSOR_AIM_MARKER_SIZE.get() * MARKER_DISTANCE);
+        if (Config.CURSOR_AIM_SHOW_RETICLE.get()) {
+            plus(builder, matrix, camera, reticleWorld, size * 0.35F, RETICLE_COLOR);
+        }
+        ring(builder, matrix, camera, cursorWorld, size, CURSOR_COLOR);
+        BufferUploader.drawWithShader(builder.end());
+
+        RenderSystem.enableCull();
+        RenderSystem.enableDepthTest();
+        RenderSystem.disableBlend();
+    }
+
+    private static Vector3f screenPoint(Camera camera, Vector3d direction) {
+        Vector3f center = new Vector3f((float) direction.x, (float) direction.y, (float) direction.z);
+        if (center.lengthSquared() < 1.0E-9F) {
+            return null;
+        }
+        return center.normalize().mul(MARKER_DISTANCE);
+    }
+
+    private static void ring(BufferBuilder builder, Matrix4f matrix, Camera camera, Vector3d direction, float radius, int color) {
+        Vector3f center = screenPoint(camera, direction);
+        if (center == null) {
+            return;
+        }
+        Vector3f left = new Vector3f(camera.getLeftVector());
+        Vector3f up = new Vector3f(camera.getUpVector());
+        float thickness = radius * 0.12F;
+        GunPipperRenderer.ring(builder, matrix, center, left, up, radius, thickness, color);
+        GunPipperRenderer.quad(builder, matrix, center, left, up, thickness * 1.4F, thickness * 1.4F, color);
+    }
+
+    private static void plus(BufferBuilder builder, Matrix4f matrix, Camera camera, Vector3d direction, float arm, int color) {
+        Vector3f center = screenPoint(camera, direction);
+        if (center == null) {
+            return;
+        }
+        Vector3f left = new Vector3f(camera.getLeftVector());
+        Vector3f up = new Vector3f(camera.getUpVector());
+        float thickness = arm * 0.14F;
+        GunPipperRenderer.quad(builder, matrix, center, left, up, arm, thickness, color);
+        GunPipperRenderer.quad(builder, matrix, center, left, up, thickness, arm, color);
+    }
+
+    // ---- Vector helpers on arrays of three ----
+
+    /** Rotates v about the unit axis by an angle in radians (Rodrigues). */
+    private static double[] rotate(double[] v, double[] axis, double angle) {
+        double c = Math.cos(angle);
+        double s = Math.sin(angle);
+        double dot = v[0] * axis[0] + v[1] * axis[1] + v[2] * axis[2];
+        double cx = axis[1] * v[2] - axis[2] * v[1];
+        double cy = axis[2] * v[0] - axis[0] * v[2];
+        double cz = axis[0] * v[1] - axis[1] * v[0];
+        return new double[]{
+                v[0] * c + cx * s + axis[0] * dot * (1.0 - c),
+                v[1] * c + cy * s + axis[1] * dot * (1.0 - c),
+                v[2] * c + cz * s + axis[2] * dot * (1.0 - c)};
+    }
+
+    /** Turns unit vector a towards unit vector b by a fraction of the angle between them. */
+    private static double[] turnTowards(double[] a, double[] b, double fraction) {
+        double dot = Mth.clamp(a[0] * b[0] + a[1] * b[1] + a[2] * b[2], -1.0, 1.0);
+        double cx = a[1] * b[2] - a[2] * b[1];
+        double cy = a[2] * b[0] - a[0] * b[2];
+        double cz = a[0] * b[1] - a[1] * b[0];
+        double sin = Math.sqrt(cx * cx + cy * cy + cz * cz);
+        if (sin < 1.0E-9) {
+            return dot > 0.0 ? b.clone() : a.clone();
+        }
+        double[] axis = {cx / sin, cy / sin, cz / sin};
+        return rotate(a, axis, Math.acos(dot) * fraction);
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/animation/SurfaceAnimation.java

@@ -0,0 +1,138 @@
+package dev.lumareth.improvedAerodynamics.client.animation;
+
+import dev.lumareth.improvedAerodynamics.Config;
+import it.unimi.dsi.fastutil.longs.Long2ObjectOpenHashMap;
+import net.minecraft.world.level.block.entity.BlockEntity;
+import net.minecraftforge.api.distmarker.Dist;
+import net.minecraftforge.client.event.ClientPlayerNetworkEvent;
+import net.minecraftforge.eventbus.api.SubscribeEvent;
+import net.minecraftforge.fml.common.Mod;
+import software.bernie.geckolib.core.animatable.model.CoreGeoBone;
+import software.bernie.geckolib.model.GeoModel;
+
+/**
+ * Client side of the control surface animation. The server tells the clients how far each control surface is deflected
+ * (see {@code DeflectionSync}); this class keeps those values, eases towards them, and sets the rotation of the "Fin"
+ * bone of Warium's control surface models to them after GeckoLib has played Warium's own fixed animation.
+ * <p>
+ * Warium's animations tilt the Fin bone by 20 degrees about X for a positive input, which GeckoLib turns into a
+ * rotation of -20 degrees (it negates X and Y for rotations), and the same sign is used here, so a surface moves the
+ * way Warium's own animation moves it, only by the amount the physics uses. Warframes' vertical control surfaces are
+ * modelled differently: their Fin turns about Y, by -20 degrees in the animation file (+20 after GeckoLib) for the same
+ * input.
+ * <p>
+ * Futurism's vectored afterburner is shown the same way: its own animation only swings the Nozzle bone all the way (20
+ * degrees about X) up or down, here it follows the tilt the block actually has, which Futurism keeps in the block's
+ * synced data as "Vectorpitch" (minus a third of the input).
+ */
+@Mod.EventBusSubscriber(modid = dev.lumareth.improvedAerodynamics.ImprovedAerodynamics.MOD_ID, value = Dist.CLIENT)
+public final class SurfaceAnimation {
+    private static final String BONE = "Fin";
+    private static final String WARFRAMES_VERTICAL = "net.evo_mc.warframes.block.entity.WarframeVerticalControlSurfaceBlockEntity";
+    private static final String FUTURISM_VECTORED = "net.mcreator.futurism.block.entity.VectoredAfterburnerTileEntity";
+    private static final String NOZZLE_BONE = "Nozzle";
+    // Futurism's animation swing at full input, degrees
+    private static final float FUTURISM_FULL_DEGREES = 20.0F;
+    // A value that has not been refreshed for this long is dropped, Warium's own animation takes over again
+    private static final long STALE_NANOS = 3_000_000_000L;
+    // Time in seconds the visible deflection takes to close most of the way to the latest value
+    private static final double EASE_SECONDS = 0.07;
+
+    private static final class Entry {
+        float target;
+        float shown;
+        long updated;
+        long drawn;
+        boolean placed;
+    }
+
+    private static final Long2ObjectOpenHashMap<Entry> ENTRIES = new Long2ObjectOpenHashMap<>();
+    // Shown angle (degrees) of each Futurism vectored afterburner
+    private static final Long2ObjectOpenHashMap<Entry> VECTORED = new Long2ObjectOpenHashMap<>();
+
+    private SurfaceAnimation() {
+    }
+
+    /** New deflection of a control surface in degrees, in Warium's animation sign (positive is its "input up" tilt). */
+    public static void set(long pos, float degrees) {
+        Entry entry = ENTRIES.computeIfAbsent(pos, key -> new Entry());
+        entry.target = degrees;
+        entry.updated = System.nanoTime();
+        if (!entry.placed) {
+            // First value of a surface: show it right away, it may have been there before the player came near
+            entry.shown = degrees;
+            entry.placed = true;
+        }
+    }
+
+    public static void apply(BlockEntity blockEntity, GeoModel<?> model) {
+        if (!Config.ANIMATE_SURFACES.get()) {
+            return;
+        }
+        if (blockEntity.getClass().getName().equals(FUTURISM_VECTORED)) {
+            applyVectored(blockEntity, model);
+            return;
+        }
+        if (ENTRIES.isEmpty()) {
+            return;
+        }
+        Entry entry = ENTRIES.get(blockEntity.getBlockPos().asLong());
+        if (entry == null) {
+            return;
+        }
+        long now = System.nanoTime();
+        if (now - entry.updated > STALE_NANOS) {
+            ENTRIES.remove(blockEntity.getBlockPos().asLong());
+            return;
+        }
+        ease(entry, now);
+        CoreGeoBone bone = model.getAnimationProcessor().getBone(BONE);
+        if (bone == null) {
+            return;
+        }
+        float radians = (float) Math.toRadians(entry.shown);
+        if (blockEntity.getClass().getName().equals(WARFRAMES_VERTICAL)) {
+            bone.setRotX(0.0F);
+            bone.setRotY(radians);
+        } else {
+            bone.setRotX(-radians);
+        }
+        // Setting a rotation flags the bone as animated, and GeckoLib cleared its flags before this runs. Left set, the
+        // flag would make GeckoLib skip resetting this bone for the next block drawn with the same model (all blocks of
+        // a model share its bones), so that block would keep this block's deflection
+        bone.resetStateChanges();
+    }
+
+    /** Futurism's vectored afterburner: the Nozzle bone at the block's real tilt, Futurism's sign. */
+    private static void applyVectored(BlockEntity blockEntity, GeoModel<?> model) {
+        float input = (float) (-3.0 * blockEntity.getPersistentData().getDouble("Vectorpitch"));
+        float degrees = FUTURISM_FULL_DEGREES * Math.max(-1.0F, Math.min(1.0F, input));
+        Entry entry = VECTORED.computeIfAbsent(blockEntity.getBlockPos().asLong(), key -> new Entry());
+        entry.target = degrees;
+        if (!entry.placed) {
+            entry.shown = degrees;
+            entry.placed = true;
+        }
+        ease(entry, System.nanoTime());
+        CoreGeoBone bone = model.getAnimationProcessor().getBone(NOZZLE_BONE);
+        if (bone != null) {
+            bone.setRotX((float) -Math.toRadians(entry.shown));
+            bone.resetStateChanges();
+        }
+    }
+
+    /** Moves the shown value towards the target. The same block can be drawn more than once a frame (shadows, other passes), the easing steps once per frame. */
+    private static void ease(Entry entry, long now) {
+        if (entry.drawn != 0L && now != entry.drawn) {
+            double dt = (now - entry.drawn) / 1.0E9;
+            entry.shown += (entry.target - entry.shown) * (float) (1.0 - Math.exp(-dt / EASE_SECONDS));
+        }
+        entry.drawn = now;
+    }
+
+    @SubscribeEvent
+    public static void onLoggingOut(ClientPlayerNetworkEvent.LoggingOut event) {
+        ENTRIES.clear();
+        VECTORED.clear();
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/pipper/Ballistics.java

@@ -0,0 +1,147 @@
+package dev.lumareth.improvedAerodynamics.client.pipper;
+
+/**
+ * Flight of a Warium shell, which is a vanilla arrow: every tick it moves by its velocity, the velocity is then scaled
+ * by the drag and gravity is subtracted. That is linear in the launch velocity, so the position after n ticks is
+ * <pre>M + D(n) * v0 - (0, G(n), 0)</pre>
+ * with D(n) the sum of the drag factors and G(n) the drop gravity causes on its own. Both are tabulated once, which
+ * makes both the impact point and the lead solution cheap enough to run every frame.
+ * <p>
+ * Plain doubles and no Minecraft classes, so it can be tested on its own. Units are blocks and ticks.
+ */
+public final class Ballistics {
+    public static final int MAX_TICKS = 400;
+
+    private final double[] d = new double[MAX_TICKS + 1];
+    private final double[] g = new double[MAX_TICKS + 1];
+
+    public Ballistics(double drag, double gravity) {
+        double y = 0.0;
+        double vy = 0.0;
+        double sum = 0.0;
+        double factor = 1.0;
+        for (int n = 1; n <= MAX_TICKS; n++) {
+            y += vy;
+            vy = vy * drag - gravity;
+            sum += factor;
+            factor *= drag;
+            d[n] = sum;
+            g[n] = -y;
+        }
+    }
+
+    /** Sum of the drag factors after n ticks, n may be fractional. */
+    public double d(double n) {
+        return interpolate(d, n);
+    }
+
+    /** Drop in blocks after n ticks, n may be fractional. */
+    public double g(double n) {
+        return interpolate(g, n);
+    }
+
+    private static double interpolate(double[] table, double n) {
+        if (n <= 0.0) {
+            return 0.0;
+        }
+        if (n >= MAX_TICKS) {
+            return table[MAX_TICKS];
+        }
+        int i = (int) n;
+        double f = n - i;
+        return table[i] + (table[i + 1] - table[i]) * f;
+    }
+
+    /** Height of the terrain a shell would hit at a column. */
+    public interface Ground {
+        double heightAt(double x, double z);
+    }
+
+    /**
+     * Where a shell fired from the muzzle with the given world velocity (blocks per tick, already including the
+     * speed of the shooter if shells inherit it) comes down. Returns the impact point as {x, y, z} or null if it
+     * stays in the air for the whole table.
+     */
+    public double[] impact(double mx, double my, double mz, double vx, double vy, double vz, Ground ground) {
+        double px = mx;
+        double py = my;
+        double pz = mz;
+        for (int n = 1; n <= MAX_TICKS; n++) {
+            double nx = mx + d[n] * vx;
+            double ny = my + d[n] * vy - g[n];
+            double nz = mz + d[n] * vz;
+            double floor = ground.heightAt(nx, nz);
+            if (ny <= floor) {
+                // Linear crossing inside this step
+                double before = py - ground.heightAt(px, pz);
+                double after = ny - floor;
+                double f = before - after > 1.0E-9 ? Math.min(1.0, Math.max(0.0, before / (before - after))) : 1.0;
+                return new double[] {px + (nx - px) * f, py + (ny - py) * f, pz + (nz - pz) * f};
+            }
+            px = nx;
+            py = ny;
+            pz = nz;
+        }
+        return null;
+    }
+
+    /** Result of {@link #lead}: aim direction, time of flight in ticks and the range to the target's current position. */
+    public record Lead(double dirX, double dirY, double dirZ, double ticks, double range) {
+    }
+
+    /**
+     * Aim direction that makes a shell meet a moving target.
+     *
+     * @param speed  muzzle speed in blocks per tick
+     * @param t*     target position now
+     * @param tv*    target velocity in blocks per tick
+     * @param sv*    velocity the shell inherits from the shooter in blocks per tick, zero if it does not
+     * @return the solution or null if the shell cannot reach the target within the table
+     */
+    public Lead lead(double mx, double my, double mz, double speed, double tx, double ty, double tz,
+                     double tvx, double tvy, double tvz, double svx, double svy, double svz) {
+        double range = Math.sqrt(sq(tx - mx) + sq(ty - my) + sq(tz - mz));
+        double previousN = 0.0;
+        for (int n = 1; n <= MAX_TICKS; n++) {
+            double f = miss(n, mx, my, mz, speed, tx, ty, tz, tvx, tvy, tvz, svx, svy, svz);
+            if (f <= 0.0) {
+                double lo = previousN;
+                double hi = n;
+                for (int i = 0; i < 30; i++) {
+                    double mid = 0.5 * (lo + hi);
+                    if (miss(mid, mx, my, mz, speed, tx, ty, tz, tvx, tvy, tvz, svx, svy, svz) > 0.0) {
+                        lo = mid;
+                    } else {
+                        hi = mid;
+                    }
+                }
+                double t = 0.5 * (lo + hi);
+                double dn = d(t);
+                double rx = tx + tvx * t - mx - dn * svx;
+                double ry = ty + tvy * t - my - dn * svy + g(t);
+                double rz = tz + tvz * t - mz - dn * svz;
+                double length = Math.sqrt(rx * rx + ry * ry + rz * rz);
+                if (length < 1.0E-6) {
+                    return null;
+                }
+                return new Lead(rx / length, ry / length, rz / length, t, range);
+            }
+            previousN = n;
+        }
+        return null;
+    }
+
+    /** Distance the shell can still cover short of where the target will be, positive means it has not got there yet. */
+    private double miss(double n, double mx, double my, double mz, double speed, double tx, double ty, double tz,
+                        double tvx, double tvy, double tvz, double svx, double svy, double svz) {
+        double dn = d(n);
+        double rx = tx + tvx * n - mx - dn * svx;
+        double ry = ty + tvy * n - my - dn * svy + g(n);
+        double rz = tz + tvz * n - mz - dn * svz;
+        return Math.sqrt(rx * rx + ry * ry + rz * rz) - speed * dn;
+    }
+
+    private static double sq(double v) {
+        return v * v;
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/pipper/GunFinder.java

@@ -0,0 +1,155 @@
+package dev.lumareth.improvedAerodynamics.client.pipper;
+
+import net.minecraft.client.multiplayer.ClientLevel;
+import net.minecraft.core.BlockPos;
+import net.minecraft.core.Direction;
+import net.minecraft.core.registries.Registries;
+import net.minecraft.resources.ResourceLocation;
+import net.minecraft.tags.TagKey;
+import net.minecraft.world.level.block.Block;
+import net.minecraft.world.level.block.entity.BlockEntity;
+import net.minecraft.world.level.block.state.BlockState;
+import net.minecraft.world.level.block.state.properties.DirectionProperty;
+import net.minecraft.world.level.block.state.properties.Property;
+import net.minecraft.world.level.chunk.ChunkAccess;
+import net.minecraft.world.level.chunk.ChunkStatus;
+import net.minecraft.world.level.chunk.LevelChunkSection;
+import net.minecraftforge.fml.ModList;
+import net.minecraftforge.registries.ForgeRegistries;
+import org.joml.primitives.AABBic;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Finds the light autocannon of a ship and works out what it will shoot, the same way Warium's LACFireScript does:
+ * barrel count, muzzle, aim direction and muzzle speed.
+ */
+final class GunFinder {
+    private static final ResourceLocation LIGHT_AUTOCANNON = new ResourceLocation("crusty_chunks", "light_autocannon");
+    private static final TagKey<Block> BARREL = TagKey.create(Registries.BLOCK, new ResourceLocation("crusty_chunks", "acbarrel"));
+    private static final TagKey<Block> PASSTHROUGH = TagKey.create(Registries.BLOCK, new ResourceLocation("crusty_chunks", "barrelpassthrough"));
+    private static final int RESCAN_TICKS = 100;
+    private static final int MAX_GUNS = 16;
+
+    /** Muzzle and direction in ship space and the speed of the shell in blocks per tick. */
+    record Shot(double mx, double my, double mz, double dx, double dy, double dz, double speed) {
+    }
+
+    private long shipId = Long.MIN_VALUE;
+    private long lastScan = Long.MIN_VALUE;
+    private final List<BlockPos> guns = new ArrayList<>();
+
+    /** The gun closest to the seat, or null if the ship has none loaded. */
+    Shot find(ClientLevel level, long shipId, AABBic aabb, BlockPos seat) {
+        if (shipId != this.shipId || level.getGameTime() - lastScan >= RESCAN_TICKS || level.getGameTime() < lastScan) {
+            this.shipId = shipId;
+            lastScan = level.getGameTime();
+            scan(level, aabb);
+        }
+        BlockPos best = null;
+        double bestDistance = Double.MAX_VALUE;
+        for (BlockPos pos : guns) {
+            double distance = pos.distSqr(seat);
+            if (distance < bestDistance) {
+                bestDistance = distance;
+                best = pos;
+            }
+        }
+        return best == null ? null : shotOf(level, best);
+    }
+
+    private void scan(ClientLevel level, AABBic aabb) {
+        guns.clear();
+        Block gun = ForgeRegistries.BLOCKS.getValue(LIGHT_AUTOCANNON);
+        if (gun == null || aabb == null) {
+            return;
+        }
+        BlockPos.MutableBlockPos pos = new BlockPos.MutableBlockPos();
+        for (int cx = aabb.minX() >> 4; cx <= aabb.maxX() >> 4; cx++) {
+            for (int cz = aabb.minZ() >> 4; cz <= aabb.maxZ() >> 4; cz++) {
+                ChunkAccess chunk = level.getChunk(cx, cz, ChunkStatus.FULL, false);
+                if (chunk == null) {
+                    continue;
+                }
+                LevelChunkSection[] sections = chunk.getSections();
+                for (int i = 0; i < sections.length; i++) {
+                    LevelChunkSection section = sections[i];
+                    if (section.hasOnlyAir() || !section.maybeHas(state -> state.is(gun))) {
+                        continue;
+                    }
+                    int baseY = level.getSectionYFromSectionIndex(i) << 4;
+                    for (int x = 0; x < 16; x++) {
+                        for (int y = 0; y < 16; y++) {
+                            for (int z = 0; z < 16; z++) {
+                                if (section.getBlockState(x, y, z).is(gun) && guns.size() < MAX_GUNS) {
+                                    guns.add(pos.set((cx << 4) + x, baseY + y, (cz << 4) + z).immutable());
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    private static Shot shotOf(ClientLevel level, BlockPos gun) {
+        BlockState state = level.getBlockState(gun);
+        Property<?> property = state.getBlock().getStateDefinition().getProperty("facing");
+        if (!(property instanceof DirectionProperty facingProperty)) {
+            return null;
+        }
+        Direction facing = state.getValue(facingProperty);
+        int fx = facing.getStepX();
+        int fy = facing.getStepY();
+        int fz = facing.getStepZ();
+
+        // Barrels, counted like Warium does: up to five more behind the first one
+        double barrels = 1.0;
+        for (int i = 0; i < 5 && level.getBlockState(gun.offset(fx * (int) (1 + barrels), fy * (int) (1 + barrels), fz * (int) (1 + barrels))).is(BARREL); i++) {
+            barrels++;
+        }
+        // Muzzle: past the barrels, skipping through blocks the shell passes
+        double position = barrels;
+        for (int i = 0; i < 10; i++) {
+            BlockState at = level.getBlockState(gun.offset(fx * (int) (1 + position), fy * (int) (1 + position), fz * (int) (1 + position)));
+            if ((!at.isAir() && !at.canOcclude()) || at.is(PASSTHROUGH)) {
+                position++;
+            } else {
+                break;
+            }
+        }
+        double mx = gun.getX() + fx * (1.5 + position) + 0.5;
+        double my = gun.getY() + fy * (1.5 + position) + 0.5;
+        double mz = gun.getZ() + fz * (1.5 + position) + 0.5;
+
+        // Aim, from the tags of the gun itself
+        double aimX = 0.0;
+        double aimY = 0.0;
+        double aimZ = 0.0;
+        BlockEntity entity = level.getBlockEntity(gun);
+        double gx = entity == null ? 0.0 : entity.getPersistentData().getDouble("X");
+        double gz = entity == null ? 0.0 : entity.getPersistentData().getDouble("Z");
+        double gpitch = entity == null ? 0.0 : entity.getPersistentData().getDouble("Pitch");
+        if (1.0 > Math.abs(fx - gx) || 1.0 > Math.abs(fz - gz)) {
+            aimY = gpitch;
+            aimX = gx + fx;
+            aimZ = gz + fz;
+        }
+        if (aimX * aimZ == 0.0) {
+            aimX = fx;
+            aimZ = fz;
+        }
+        double length = Math.sqrt(aimX * aimX + aimY * aimY + aimZ * aimZ);
+        if (length < 1.0E-6) {
+            return null;
+        }
+
+        double speed = PipperConfig.MUZZLE_SPEED_OVERRIDE.get();
+        if (speed <= 0.0) {
+            double multiplier = ModList.get().isLoaded("ritchiesprojectilelib") ? 2.0 : 1.0;
+            speed = (5.0 + barrels / 1.5) * multiplier;
+        }
+        return new Shot(mx, my, mz, aimX / length, aimY / length, aimZ / length, speed);
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/pipper/GunPipperRenderer.java

@@ -0,0 +1,251 @@
+package dev.lumareth.improvedAerodynamics.client.pipper;
+
+import com.mojang.blaze3d.systems.RenderSystem;
+import com.mojang.blaze3d.vertex.BufferBuilder;
+import com.mojang.blaze3d.vertex.BufferUploader;
+import com.mojang.blaze3d.vertex.DefaultVertexFormat;
+import com.mojang.blaze3d.vertex.Tesselator;
+import com.mojang.blaze3d.vertex.VertexFormat;
+import dev.lumareth.improvedAerodynamics.ImprovedAerodynamics;
+import net.minecraft.client.Camera;
+import net.minecraft.client.Minecraft;
+import net.minecraft.client.multiplayer.ClientLevel;
+import net.minecraft.client.renderer.GameRenderer;
+import net.minecraft.core.BlockPos;
+import net.minecraft.util.Mth;
+import net.minecraft.world.entity.Entity;
+import net.minecraft.world.level.block.entity.BlockEntity;
+import net.minecraft.world.level.levelgen.Heightmap;
+import net.minecraft.world.phys.Vec3;
+import net.minecraftforge.api.distmarker.Dist;
+import net.minecraftforge.client.event.RenderLevelStageEvent;
+import net.minecraftforge.eventbus.api.SubscribeEvent;
+import net.minecraftforge.fml.ModList;
+import net.minecraftforge.fml.common.Mod;
+import org.joml.Matrix4f;
+import org.joml.Vector3d;
+import org.joml.Vector3f;
+import org.valkyrienskies.core.api.ships.ClientShip;
+import org.valkyrienskies.core.api.ships.Ship;
+import org.valkyrienskies.mod.common.VSGameUtilsKt;
+
+/**
+ * Draws two markers for the first light autocannon of the aircraft you sit in:
+ * an orange ring where its shells come down on the ground, and, for the radar target selected on the seat, a green
+ * ring you put on the target to hit it (the lead pipper): green from the radar, cyan while following the ship itself,
+ * yellow while only extrapolating a lost contact. Both come from the same ballistics Warium's shells follow.
+ */
+@Mod.EventBusSubscriber(modid = ImprovedAerodynamics.MOD_ID, value = Dist.CLIENT)
+public final class GunPipperRenderer {
+    private static final int IMPACT_COLOR = 0xFFFF9020;
+    private static final int LEAD_COLOR = 0xFF40FF60;
+    private static final int VISUAL_COLOR = 0xFF40E8FF;
+    private static final int COAST_COLOR = 0xFFFFE040;
+    private static final float DISTANCE = 2.0F;
+
+    private static final GunFinder FINDER = new GunFinder();
+    private static final TargetTrack TRACK = new TargetTrack();
+    private static Ballistics ballistics;
+    private static double ballisticsDrag = Double.NaN;
+    private static double ballisticsGravity = Double.NaN;
+
+    private GunPipperRenderer() {
+    }
+
+    @SubscribeEvent
+    public static void onRenderLevel(RenderLevelStageEvent event) {
+        if (event.getStage() != RenderLevelStageEvent.Stage.AFTER_PARTICLES || !PipperConfig.SPEC.isLoaded()
+                || !PipperConfig.ENABLED.get() || !ModList.get().isLoaded("valkyrien_warium")) {
+            return;
+        }
+        Minecraft minecraft = Minecraft.getInstance();
+        ClientLevel level = minecraft.level;
+        if (level == null || minecraft.player == null) {
+            return;
+        }
+        Entity seat = WariumSeat.seatOf(minecraft.player);
+        if (seat == null) {
+            TRACK.reset();
+            return;
+        }
+        BlockPos seatPos = BlockPos.containing(seat.getX(), seat.getY(), seat.getZ());
+        Ship ship = VSGameUtilsKt.getLoadedShipManagingPos(level, seatPos);
+        if (ship == null) {
+            return;
+        }
+
+        GunFinder.Shot shot = FINDER.find(level, ship.getId(), ship.getShipAABB(), seatPos);
+        if (shot == null) {
+            return;
+        }
+        org.joml.Matrix4dc shipToWorld = ship instanceof ClientShip clientShip
+                ? clientShip.getRenderTransform().getShipToWorld() : ship.getShipToWorld();
+        Vector3d muzzle = shipToWorld.transformPosition(new Vector3d(shot.mx(), shot.my(), shot.mz()));
+        Vector3d direction = shipToWorld.transformDirection(new Vector3d(shot.dx(), shot.dy(), shot.dz())).normalize();
+
+        double inherit = PipperConfig.INHERIT_SHIP_VELOCITY.get() ? 1.0 / 20.0 : 0.0;
+        org.joml.Vector3dc velocity = ship.getVelocity();
+        double svx = velocity.x() * inherit;
+        double svy = velocity.y() * inherit;
+        double svz = velocity.z() * inherit;
+
+        Ballistics table = table();
+        Camera camera = event.getCamera();
+        Matrix4f matrix = event.getPoseStack().last().pose();
+
+        BufferBuilder builder = Tesselator.getInstance().getBuilder();
+        RenderSystem.disableDepthTest();
+        RenderSystem.enableBlend();
+        RenderSystem.defaultBlendFunc();
+        RenderSystem.disableCull();
+        RenderSystem.setShader(GameRenderer::getPositionColorShader);
+        builder.begin(VertexFormat.Mode.QUADS, DefaultVertexFormat.POSITION_COLOR);
+        boolean drawn = false;
+
+        if (PipperConfig.SHOW_IMPACT.get()) {
+            double[] impact = table.impact(muzzle.x, muzzle.y, muzzle.z,
+                    direction.x * shot.speed() + svx, direction.y * shot.speed() + svy, direction.z * shot.speed() + svz,
+                    (x, z) -> level.getHeight(Heightmap.Types.MOTION_BLOCKING, Mth.floor(x), Mth.floor(z)));
+            if (impact != null) {
+                drawn |= marker(builder, matrix, camera, impact[0], impact[1], impact[2], IMPACT_COLOR, false);
+            }
+        }
+
+        if (PipperConfig.SHOW_LEAD.get()) {
+            drawn |= lead(builder, matrix, camera, level, seat, seatPos, ship.getId(), table, muzzle, shot.speed(), svx, svy, svz);
+        } else {
+            TRACK.reset();
+        }
+
+        if (drawn) {
+            BufferUploader.drawWithShader(builder.end());
+        } else {
+            builder.end().release();
+        }
+        RenderSystem.enableCull();
+        RenderSystem.enableDepthTest();
+        RenderSystem.disableBlend();
+    }
+
+    private static boolean lead(BufferBuilder builder, Matrix4f matrix, Camera camera, ClientLevel level, Entity seat, BlockPos seatPos,
+                                long ownShipId, Ballistics table, Vector3d muzzle, double speed, double svx, double svy, double svz) {
+        int selected = WariumSeat.selectedTarget(seat);
+        double[] radar = selected > 0 ? radarPosition(level, seatPos, selected) : null;
+        TargetTrack.Fix fix = TRACK.resolve(level, ownShipId, selected, radar, level.getGameTime(),
+                PipperConfig.VISUAL_TRACK.get(), PipperConfig.COAST_SECONDS.get());
+        if (fix == null) {
+            return false;
+        }
+        Ballistics.Lead lead = table.lead(muzzle.x, muzzle.y, muzzle.z, speed, fix.x(), fix.y(), fix.z(),
+                fix.vx(), fix.vy(), fix.vz(), svx, svy, svz);
+        if (lead == null) {
+            return false;
+        }
+        int color = switch (fix.source()) {
+            case RADAR -> LEAD_COLOR;
+            case VISUAL -> VISUAL_COLOR;
+            case COAST -> COAST_COLOR;
+        };
+        return marker(builder, matrix, camera,
+                muzzle.x + lead.dirX() * lead.range(), muzzle.y + lead.dirY() * lead.range(), muzzle.z + lead.dirZ() * lead.range(),
+                color, true);
+    }
+
+    /** Position the node reports for a target index, or null if it reports none. */
+    private static double[] radarPosition(ClientLevel level, BlockPos seatPos, int selected) {
+        BlockEntity seatEntity = level.getBlockEntity(seatPos);
+        if (seatEntity == null) {
+            return null;
+        }
+        var seatData = seatEntity.getPersistentData();
+        BlockEntity node = level.getBlockEntity(BlockPos.containing(seatData.getDouble("ControlX"), seatData.getDouble("ControlY"), seatData.getDouble("ControlZ")));
+        if (node == null) {
+            return null;
+        }
+        var data = node.getPersistentData();
+        // Warium builds these keys from a double, so they read TargetX1.0, TargetY1.0 and so on
+        double tx = data.getDouble("TargetX" + (double) selected);
+        double ty = data.getDouble("TargetY" + (double) selected);
+        double tz = data.getDouble("TargetZ" + (double) selected);
+        if (tx == 0.0 && ty == 0.0 && tz == 0.0) {
+            return null;
+        }
+        return new double[] {tx, ty, tz};
+    }
+
+    private static Ballistics table() {
+        double drag = PipperConfig.DRAG.get();
+        double gravity = PipperConfig.GRAVITY.get();
+        if (ballistics == null || drag != ballisticsDrag || gravity != ballisticsGravity) {
+            ballistics = new Ballistics(drag, gravity);
+            ballisticsDrag = drag;
+            ballisticsGravity = gravity;
+        }
+        return ballistics;
+    }
+
+    /** A ring on the screen in the direction of a world point, with ticks on it for the lead pipper. */
+    private static boolean marker(BufferBuilder builder, Matrix4f matrix, Camera camera, double x, double y, double z, int color, boolean ticks) {
+        Vec3 cameraPosition = camera.getPosition();
+        Vector3f toPoint = new Vector3f((float) (x - cameraPosition.x), (float) (y - cameraPosition.y), (float) (z - cameraPosition.z));
+        if (toPoint.lengthSquared() < 1.0E-6F) {
+            return false;
+        }
+        toPoint.normalize();
+        if (toPoint.dot(camera.getLookVector()) <= 0.05F) {
+            return false;
+        }
+        Vector3f center = new Vector3f(toPoint).mul(DISTANCE);
+        Vector3f left = new Vector3f(camera.getLeftVector());
+        Vector3f up = new Vector3f(camera.getUpVector());
+        float radius = (float) (PipperConfig.MARKER_SIZE.get() * DISTANCE);
+        float thickness = radius * 0.12F;
+
+        ring(builder, matrix, center, left, up, radius, thickness, color);
+        quad(builder, matrix, center, left, up, thickness * 1.6F, thickness * 1.6F, color);
+        if (ticks) {
+            for (int i = 0; i < 4; i++) {
+                double angle = i * Math.PI / 2.0;
+                float cx = (float) Math.cos(angle);
+                float cy = (float) Math.sin(angle);
+                Vector3f tickCenter = new Vector3f(center)
+                        .fma(cx * radius * 1.45F, left).fma(cy * radius * 1.45F, up);
+                float halfX = Math.abs(cx) > 0.5F ? radius * 0.35F : thickness;
+                float halfY = Math.abs(cy) > 0.5F ? radius * 0.35F : thickness;
+                quad(builder, matrix, tickCenter, left, up, halfX, halfY, color);
+            }
+        }
+        return true;
+    }
+
+    public static void ring(BufferBuilder builder, Matrix4f matrix, Vector3f center, Vector3f left, Vector3f up, float radius, float thickness, int color) {
+        final int segments = 32;
+        float inner = radius - thickness;
+        float outer = radius + thickness;
+        for (int i = 0; i < segments; i++) {
+            double a0 = i * 2.0 * Math.PI / segments;
+            double a1 = (i + 1) * 2.0 * Math.PI / segments;
+            vertex(builder, matrix, center, left, up, (float) Math.cos(a0) * inner, (float) Math.sin(a0) * inner, color);
+            vertex(builder, matrix, center, left, up, (float) Math.cos(a0) * outer, (float) Math.sin(a0) * outer, color);
+            vertex(builder, matrix, center, left, up, (float) Math.cos(a1) * outer, (float) Math.sin(a1) * outer, color);
+            vertex(builder, matrix, center, left, up, (float) Math.cos(a1) * inner, (float) Math.sin(a1) * inner, color);
+        }
+    }
+
+    public static void quad(BufferBuilder builder, Matrix4f matrix, Vector3f center, Vector3f left, Vector3f up, float halfX, float halfY, int color) {
+        vertex(builder, matrix, center, left, up, -halfX, -halfY, color);
+        vertex(builder, matrix, center, left, up, halfX, -halfY, color);
+        vertex(builder, matrix, center, left, up, halfX, halfY, color);
+        vertex(builder, matrix, center, left, up, -halfX, halfY, color);
+    }
+
+    private static void vertex(BufferBuilder builder, Matrix4f matrix, Vector3f center, Vector3f left, Vector3f up, float a, float b, int color) {
+        // The left vector points to the left of the screen, so a positive offset along it is drawn to the left
+        float vx = center.x - left.x * a + up.x * b;
+        float vy = center.y - left.y * a + up.y * b;
+        float vz = center.z - left.z * a + up.z * b;
+        builder.vertex(matrix, vx, vy, vz)
+                .color(color >> 16 & 255, color >> 8 & 255, color & 255, color >>> 24)
+                .endVertex();
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/pipper/PipperConfig.java

@@ -0,0 +1,53 @@
+package dev.lumareth.improvedAerodynamics.client.pipper;
+
+import net.minecraftforge.common.ForgeConfigSpec;
+
+/** Client side settings of the gun pipper. Lives in improved_aerodynamics-client.toml. */
+public final class PipperConfig {
+    public static final ForgeConfigSpec SPEC;
+
+    public static final ForgeConfigSpec.BooleanValue ENABLED;
+    public static final ForgeConfigSpec.BooleanValue SHOW_IMPACT;
+    public static final ForgeConfigSpec.BooleanValue SHOW_LEAD;
+    public static final ForgeConfigSpec.BooleanValue INHERIT_SHIP_VELOCITY;
+    public static final ForgeConfigSpec.BooleanValue VISUAL_TRACK;
+    public static final ForgeConfigSpec.DoubleValue COAST_SECONDS;
+    public static final ForgeConfigSpec.DoubleValue MUZZLE_SPEED_OVERRIDE;
+    public static final ForgeConfigSpec.DoubleValue GRAVITY;
+    public static final ForgeConfigSpec.DoubleValue DRAG;
+    public static final ForgeConfigSpec.DoubleValue MARKER_SIZE;
+
+    static {
+        ForgeConfigSpec.Builder builder = new ForgeConfigSpec.Builder();
+        builder.comment("Gun pipper for Warium light autocannons, drawn while seated in a Warium seat").push("pipper");
+        ENABLED = builder.comment("Master switch")
+                .define("enabled", true);
+        SHOW_IMPACT = builder.comment("Show where the shells of the gun come down on the ground (orange ring)")
+                .define("showImpact", true);
+        SHOW_LEAD = builder.comment("Show the lead pipper for the radar target you selected (green ring)")
+                .define("showLead", true);
+        VISUAL_TRACK = builder.comment("Follow the selected target's ship itself once the radar has shown it, so the lead pipper keeps working when",
+                        "the radar loses it (notching, speed gate, ground clutter). Only while the ship is loaded, which is within render distance",
+                        "(cyan ring)")
+                .define("visualTrack", true);
+        COAST_SECONDS = builder.comment("Seconds a lost radar contact is extrapolated from its last position and velocity when its ship is not loaded",
+                        "(yellow ring), 0 turns it off")
+                .defineInRange("coastSeconds", 8.0, 0.0, 60.0);
+        INHERIT_SHIP_VELOCITY = builder.comment("Add the speed of your aircraft to the shells. Warium does not do this itself, only turn it",
+                        "on if a test shows your shells keep the speed of the jet (fire level at full speed, then hovering)")
+                .define("inheritShipVelocity", false);
+        MUZZLE_SPEED_OVERRIDE = builder.comment("Muzzle speed in blocks per tick, 0 works it out from the barrel length like Warium does")
+                .defineInRange("muzzleSpeedOverride", 0.0, 0.0, 100.0);
+        GRAVITY = builder.comment("Gravity of the shells in blocks per tick squared")
+                .defineInRange("gravity", 0.05, 0.0, 1.0);
+        DRAG = builder.comment("Speed the shells keep each tick, 0.99 is a vanilla arrow")
+                .defineInRange("drag", 0.99, 0.5, 1.0);
+        MARKER_SIZE = builder.comment("Radius of the markers on screen")
+                .defineInRange("markerSize", 0.03, 0.005, 0.2);
+        builder.pop();
+        SPEC = builder.build();
+    }
+
+    private PipperConfig() {
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/pipper/TargetTrack.java

@@ -0,0 +1,131 @@
+package dev.lumareth.improvedAerodynamics.client.pipper;
+
+import net.minecraft.client.multiplayer.ClientLevel;
+import org.joml.Vector3d;
+import org.joml.primitives.AABBdc;
+import org.valkyrienskies.core.api.ships.ClientShip;
+import org.valkyrienskies.mod.common.VSGameUtilsKt;
+
+/**
+ * The target the lead pipper aims at. The radar is only the way in: its contact is matched to the closest loaded ship
+ * and from then on that ship is followed directly, with its true position and velocity, so the pipper survives the
+ * radar losing the contact (notching, the speed gate, ground clutter). Without a loaded ship, which happens beyond
+ * render distance, the last radar position is extrapolated for a limited time.
+ * <p>
+ * The selected index is no help for this: the radar rebuilds its list, so after a loss the index can point at another
+ * contact or at an empty slot.
+ */
+final class TargetTrack {
+    /** A radar position this close to a ship is taken to be that ship. */
+    private static final double SNAP_BLOCKS = 80.0;
+    /** A fresh radar position this far from the followed ship means the player moved on to another target. */
+    private static final double REBIND_BLOCKS = 250.0;
+    private static final long NONE = Long.MIN_VALUE;
+
+    enum Source {
+        RADAR, VISUAL, COAST
+    }
+
+    /** Position in blocks, velocity in blocks per tick. */
+    record Fix(double x, double y, double z, double vx, double vy, double vz, Source source) {
+    }
+
+    private final TargetTracker radar = new TargetTracker();
+    private int index = -1;
+    private long boundId = NONE;
+
+    void reset() {
+        radar.reset();
+        index = -1;
+        boundId = NONE;
+    }
+
+    /**
+     * @param radarPosition the position the node reports for the selected index, or null if it reports none
+     */
+    Fix resolve(ClientLevel level, long ownShipId, int selected, double[] radarPosition, long tick,
+                boolean visualTrack, double coastSeconds) {
+        if (selected <= 0) {
+            reset();
+            return null;
+        }
+        if (selected != index) {
+            reset();
+            index = selected;
+        }
+        if (radarPosition != null) {
+            radar.update(selected, radarPosition[0], radarPosition[1], radarPosition[2], tick);
+        }
+
+        if (visualTrack) {
+            ClientShip bound = boundId == NONE ? null : shipById(level, boundId);
+            if (radarPosition != null && radar.age(tick) <= 1) {
+                // Fresh contact: pick the ship it belongs to, or let go of the old one if the player switched
+                if (bound == null || distance(center(bound), radarPosition) > REBIND_BLOCKS) {
+                    bound = nearest(level, ownShipId, radarPosition);
+                    boundId = bound == null ? NONE : bound.getId();
+                }
+            }
+            if (bound != null) {
+                Vector3d center = center(bound);
+                var velocity = bound.getVelocity();
+                return new Fix(center.x, center.y, center.z, velocity.x() / 20.0, velocity.y() / 20.0, velocity.z() / 20.0, Source.VISUAL);
+            }
+            boundId = NONE;
+        }
+
+        if (!radar.hasPosition()) {
+            return null;
+        }
+        long age = radar.age(tick);
+        if (age > TargetTracker.STALE_TICKS) {
+            if (coastSeconds <= 0.0 || !radar.hasVelocity() || age > coastSeconds * 20.0) {
+                return null;
+            }
+            double[] p = radar.predicted(tick);
+            return new Fix(p[0], p[1], p[2], radar.vx(), radar.vy(), radar.vz(), Source.COAST);
+        }
+        double[] p = radar.predicted(tick);
+        // A contact is only extrapolated up to the age of its last update
+        return new Fix(p[0], p[1], p[2], radar.vx(), radar.vy(), radar.vz(), Source.RADAR);
+    }
+
+    private static ClientShip shipById(ClientLevel level, long id) {
+        for (ClientShip ship : VSGameUtilsKt.getShipObjectWorld(level).getLoadedShips()) {
+            if (ship.getId() == id) {
+                return ship;
+            }
+        }
+        return null;
+    }
+
+    private static ClientShip nearest(ClientLevel level, long ownShipId, double[] position) {
+        ClientShip best = null;
+        double bestDistance = SNAP_BLOCKS;
+        for (ClientShip ship : VSGameUtilsKt.getShipObjectWorld(level).getLoadedShips()) {
+            if (ship.getId() == ownShipId) {
+                continue;
+            }
+            double distance = distance(center(ship), position);
+            if (distance < bestDistance) {
+                bestDistance = distance;
+                best = ship;
+            }
+        }
+        return best;
+    }
+
+    /** The same point Warium's radar reports: the center of the world bounding box. */
+    private static Vector3d center(ClientShip ship) {
+        AABBdc box = ship.getWorldAABB();
+        return box.center(new Vector3d());
+    }
+
+    private static double distance(Vector3d a, double[] b) {
+        return Math.sqrt(sq(a.x - b[0]) + sq(a.y - b[1]) + sq(a.z - b[2]));
+    }
+
+    private static double sq(double v) {
+        return v * v;
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/pipper/TargetTracker.java

@@ -0,0 +1,113 @@
+package dev.lumareth.improvedAerodynamics.client.pipper;
+
+/**
+ * Target velocity from the radar. The node only stores positions, and they change when the radar updates, which is
+ * not every tick. So the velocity is the change between two distinct positions divided by the ticks between them,
+ * smoothed. When the radar stops updating the last velocity is kept so the track can be extrapolated.
+ */
+final class TargetTracker {
+    /** Ticks without a new position after which the contact counts as lost and is only extrapolated. */
+    static final long STALE_TICKS = 40;
+    private static final double SMOOTHING = 0.5;
+    private static final double JUMP_BLOCKS_PER_TICK = 15.0;
+
+    private int index = -1;
+    private double px;
+    private double py;
+    private double pz;
+    private long sampleTick;
+    private double vx;
+    private double vy;
+    private double vz;
+    private boolean hasVelocity;
+
+    void update(int selected, double x, double y, double z, long tick) {
+        if (selected != index || tick < sampleTick) {
+            index = selected;
+            px = x;
+            py = y;
+            pz = z;
+            sampleTick = tick;
+            hasVelocity = false;
+            vx = 0.0;
+            vy = 0.0;
+            vz = 0.0;
+            return;
+        }
+        if (x != px || y != py || z != pz) {
+            long dt = Math.max(1L, tick - sampleTick);
+            double nx = (x - px) / dt;
+            double ny = (y - py) / dt;
+            double nz = (z - pz) / dt;
+            if (Math.sqrt(nx * nx + ny * ny + nz * nz) > JUMP_BLOCKS_PER_TICK) {
+                // Teleport or a different contact reusing the slot
+                hasVelocity = false;
+            } else if (hasVelocity) {
+                vx += (nx - vx) * SMOOTHING;
+                vy += (ny - vy) * SMOOTHING;
+                vz += (nz - vz) * SMOOTHING;
+            } else {
+                vx = nx;
+                vy = ny;
+                vz = nz;
+                hasVelocity = true;
+            }
+            px = x;
+            py = y;
+            pz = z;
+            sampleTick = tick;
+        }
+    }
+
+    void reset() {
+        index = -1;
+        hasVelocity = false;
+        vx = 0.0;
+        vy = 0.0;
+        vz = 0.0;
+    }
+
+    boolean hasPosition() {
+        return index >= 0;
+    }
+
+    /** Ticks since the radar last gave a new position. */
+    long age(long tick) {
+        return tick - sampleTick;
+    }
+
+    /** The last radar position moved on by the velocity over the time since. */
+    double[] predicted(long tick) {
+        long dt = Math.max(0L, tick - sampleTick);
+        return new double[] {px + vx * dt, py + vy * dt, pz + vz * dt};
+    }
+
+    double lastX() {
+        return px;
+    }
+
+    double lastY() {
+        return py;
+    }
+
+    double lastZ() {
+        return pz;
+    }
+
+    /** Velocity in blocks per tick, zero when unknown. */
+    double vx() {
+        return vx;
+    }
+
+    double vy() {
+        return vy;
+    }
+
+    double vz() {
+        return vz;
+    }
+
+    boolean hasVelocity() {
+        return hasVelocity;
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/client/pipper/WariumSeat.java

@@ -0,0 +1,20 @@
+package dev.lumareth.improvedAerodynamics.client.pipper;
+
+import net.mcreator.valkyrienwarium.entity.SeatEntityEntity;
+import net.minecraft.world.entity.Entity;
+
+/** Everything that touches Warium VS classes, so nothing else loads them when Warium is missing. */
+final class WariumSeat {
+    private WariumSeat() {
+    }
+
+    static Entity seatOf(Entity rider) {
+        Entity root = rider.getRootVehicle();
+        return root instanceof SeatEntityEntity ? root : null;
+    }
+
+    /** Index of the radar target selected on the seat, 1 based, 0 for none. */
+    static int selectedTarget(Entity seat) {
+        return seat.getEntityData().get(SeatEntityEntity.DATA_SelectedTarget);
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/exhaust/NozzleControl.java

@@ -1,5 +1,7 @@
 package dev.lumareth.improvedAerodynamics.exhaust;
 
+import dev.lumareth.improvedAerodynamics.flight.ControlAxis;
+import dev.lumareth.improvedAerodynamics.flight.LiveInputs;
 import net.minecraft.core.BlockPos;
 import net.minecraft.nbt.CompoundTag;
 import net.minecraft.resources.ResourceLocation;
@@ -13,7 +15,8 @@ import org.jetbrains.annotations.Nullable;
  * with Warium's two key configuration screen, are read. Either key can name any axis: Pitch+ means W raises the nose and
  * Pitch- means S does, Roll+ or Roll- says which roll input rolls the plane right, Yaw+ or Yaw- which yaw input yaws it
  * right. An axis no key names is off, except that a nozzle with no key at all pitches with W, and yaw follows D without
- * a key.
+ * a key. While the ship flies, the inputs are the ones the flight physics uses ({@link LiveInputs}), so the nozzles follow
+ * cursor aim and the flight computer like the control surfaces do.
  */
 final class NozzleControl {
     private static final ResourceLocation NODE_BLOCK = new ResourceLocation("valkyrien_warium", "vehicle_control_node");
@@ -43,9 +46,10 @@ final class NozzleControl {
         String key = own.getString("Key");
         String key2 = own.getString("Key2");
         boolean unset = (key.isEmpty() || key.equals("Null")) && (key2.isEmpty() || key2.equals("Null"));
-        double pitch = clamp(tag.getDouble("Pitch")) * sign(key, key2, "Pitch", unset ? 1.0 : 0.0);
-        double roll = clamp(tag.getDouble("Roll")) * sign(key, key2, "Roll", 0.0);
-        double yaw = clamp(tag.getDouble("Yaw")) * sign(key, key2, "Yaw", 1.0);
+        long nodeKey = nodePos.asLong();
+        double pitch = clamp(LiveInputs.value(nodeKey, tag, ControlAxis.PITCH)) * sign(key, key2, "Pitch", unset ? 1.0 : 0.0);
+        double roll = clamp(LiveInputs.value(nodeKey, tag, ControlAxis.ROLL)) * sign(key, key2, "Roll", 0.0);
+        double yaw = clamp(LiveInputs.value(nodeKey, tag, ControlAxis.YAW)) * sign(key, key2, "Yaw", 1.0);
         return new Inputs(node, pitch, roll, yaw, Math.max(0.0, tag.getDouble("Throttle")), tag.getBoolean(AfterburnerToggle.TAG));
     }
 

src/main/java/dev/lumareth/improvedAerodynamics/flight/AeroState.java

@@ -19,7 +19,7 @@ import java.util.concurrent.ConcurrentHashMap;
  * to; at the end of the tick that set is handed to the physics thread, which computes the forces from the ship's
  * motion in each substep until the next tick arrives.
  * <p>
- * The physics side also smooths pilot input, runs auto trim, and integrates damping implicitly so stiff damping
+ * The physics side also smooths pilot input, runs the flight computer (auto trim), and integrates damping implicitly so stiff damping
  * cannot overshoot.
  */
 public final class AeroState implements PhysicsBridge.Publishable {
@@ -27,6 +27,9 @@ public final class AeroState implements PhysicsBridge.Publishable {
     private static final double INPUT_RATE_PER_TICK = 0.2;
     private static final double VELOCITY_EPSILON = 0.05;
     private static final double ANGULAR_EPSILON = 0.005;
+    // Time constant of the smoothing of measured control rates
+    private static final double RATE_SMOOTHING_SECONDS = 0.3;
+    private static final ControlAxis[] MEASURED_AXES = {ControlAxis.PITCH, ControlAxis.YAW, ControlAxis.ROLL};
 
     private final SubstepClock clock;
 
@@ -40,7 +43,12 @@ public final class AeroState implements PhysicsBridge.Publishable {
     private Frame current;
     private boolean[] stalled = new boolean[0];
     private boolean wingStalled;
+    // Lift the wings could make at the edge of the stall in the airflow of the last substep, NaN without the improved
+    // flight model, which has no stall
+    private double maxLift = Double.NaN;
     private final Map<Long, NodeState> nodeStates = new ConcurrentHashMap<>();
+    // Every ship's node states by node position, for the control surface animation on the server thread
+    private static final Map<Long, NodeState> ALL_NODE_STATES = new ConcurrentHashMap<>();
     private final Wrench wrench = new Wrench();
     private final Wrench probe = new Wrench();
 
@@ -56,19 +64,48 @@ public final class AeroState implements PhysicsBridge.Publishable {
         double trimOutput;
         // Deflection of this node's flaps in radians, moves towards what the flap lever and airspeed allow
         double flapAngle;
+        // Wall clock time of the last physics substep that ran this node, to tell whether its ship is flying
+        volatile long updatedMillis;
+        // Total pitch input the flight computer applied last substep, pilot and trim together
+        double computerOutput;
         // Torque (ship axes) one unit of pitch input on this node's pitch surfaces makes, measured every substep
         final Vector3d pitchResponse = new Vector3d();
         final Vector3d pitchResponseBuilding = new Vector3d();
+        // The same for yaw and roll, measured while cursor aim flies the node
+        final Vector3d yawResponse = new Vector3d();
+        final Vector3d yawResponseBuilding = new Vector3d();
+        final Vector3d rollResponse = new Vector3d();
+        final Vector3d rollResponseBuilding = new Vector3d();
+        // Fastest steady pitch rate (rad/s) the pitch surfaces can hold against the craft's pitch damping, smoothed,
+        // measured while cursor aim flies the node. NaN until measured
+        double controlRate = Double.NaN;
+        // Cursor aim is rolling the craft over to reach a cursor far below the nose
+        boolean reversing;
+        // Share of the pull cursor aim keeps, eased down while the wings are stalled
+        double stallEase = 1.0;
+        // Which way pitch and yaw input turn the craft (+1 or -1 for nose up and nose right), learned from the measured
+        // responses. Until then Warium's keys: W (Pitch+) is usually nose down, D (Yaw+) nose right
+        double pitchSign = -1.0;
+        double yawSign = 1.0;
         final AutoTrim.Targets trimTargets = new AutoTrim.Targets();
         volatile double savedTrim;
 
+        Vector3d responseBuilding(ControlAxis axis) {
+            return switch (axis) {
+                case YAW -> yawResponseBuilding;
+                case ROLL -> rollResponseBuilding;
+                default -> pitchResponseBuilding;
+            };
+        }
+
         NodeState(NodeData data) {
             pitch = data.pitch();
             yaw = data.yaw();
             roll = data.roll();
             trimIntegral = data.autoTrim() ? data.storedTrim() : 0.0;
-            trimOutput = trimIntegral;
+            trimOutput = data.autoTrim() ? 0.0 : trimIntegral;
             savedTrim = trimIntegral;
+            computerOutput = pitch + trimOutput;
             flapAngle = Math.toRadians(FlapSetting.of(data.flapSetting()).degrees());
         }
     }
@@ -134,9 +171,14 @@ public final class AeroState implements PhysicsBridge.Publishable {
         double dt = clock.substepSeconds();
         boolean improved = Config.IMPROVED_FLIGHT_MODEL.get();
         Matrix3dc inertia = ship.getMomentOfInertia();
+        // Same frames and scaling as Warium applies its forces in
+        double scale = transform.getShipToWorldScaling().x();
+        double forceScale = autoScale ? scale * scale * scale : 1.0;
+        double liftAcceleration = maxLift * forceScale / ship.getMass();
 
-        updateNodes(frame, worldVelocity, transform.getPositionInWorld().y(), rotation, inertia, w, dt, improved);
+        updateNodes(frame, worldVelocity, transform.getPositionInWorld().y(), rotation, inertia, w, dt, improved, liftAcceleration);
         evaluate(frame, centerOfMass, v, w, improved, true, wrench);
+        measureControlRates(frame, centerOfMass, v, w, improved, dt);
 
         if (Config.IMPLICIT_DAMPING.get()) {
             // Implicit Euler for the damping part: scale each axis by 1 / (1 + dt * damping / inertia), using the
@@ -163,9 +205,6 @@ public final class AeroState implements PhysicsBridge.Publishable {
             }
         }
 
-        // Same frames and scaling as Warium applies its forces in
-        double scale = transform.getShipToWorldScaling().x();
-        double forceScale = autoScale ? scale * scale * scale : 1.0;
         Vector3d force = new Vector3d(wrench.force[0], wrench.force[1], wrench.force[2]).mul(forceScale);
         Vector3d forceTorque = new Vector3d(wrench.forceTorque[0], wrench.forceTorque[1], wrench.forceTorque[2]).mul(forceScale);
         if (force.isFinite() && forceTorque.isFinite()) {
@@ -192,9 +231,15 @@ public final class AeroState implements PhysicsBridge.Publishable {
         for (int i = 0; i < stalled.length; i++) {
             stalled[i] = previous.get(frame.surfaces[i].key());
         }
-        nodeStates.keySet().removeIf(key -> !frame.nodes.containsKey((long) key));
+        nodeStates.keySet().removeIf(key -> {
+            boolean gone = !frame.nodes.containsKey((long) key);
+            if (gone) {
+                ALL_NODE_STATES.remove(key);
+            }
+            return gone;
+        });
         for (NodeData node : frame.nodes.values()) {
-            nodeStates.computeIfAbsent(node.key(), key -> new NodeState(node));
+            ALL_NODE_STATES.put(node.key(), nodeStates.computeIfAbsent(node.key(), key -> new NodeState(node)));
         }
         current = frame;
     }
@@ -212,8 +257,11 @@ public final class AeroState implements PhysicsBridge.Publishable {
         double[] r = new double[3];
         if (commit) {
             wingStalled = false;
+            maxLift = improved ? 0.0 : Double.NaN;
             for (NodeState state : nodeStates.values()) {
                 state.pitchResponseBuilding.zero();
+                state.yawResponseBuilding.zero();
+                state.rollResponseBuilding.zero();
             }
         }
 
@@ -224,7 +272,7 @@ public final class AeroState implements PhysicsBridge.Publishable {
             r[2] = s.z() - centerOfMass.z();
             NodeData node = s.node() != AeroSurface.NO_NODE ? frame.nodes.get(s.node()) : null;
             NodeState state = node != null ? nodeStates.get(node.key()) : null;
-            double input = s.type().controllable ? input(s, node, state, 0.0) : 0.0;
+            double input = s.type().controllable ? input(s, node, state, ControlAxis.NONE, 0.0) : 0.0;
             double flap = s.flap() && state != null ? state.flapAngle : 0.0;
 
             if (improved) {
@@ -232,76 +280,125 @@ public final class AeroState implements PhysicsBridge.Publishable {
                 if (commit) {
                     stalled[i] = nowStalled;
                     wingStalled |= nowStalled && s.type() == SurfaceType.WING;
+                    if (s.type() == SurfaceType.WING || s.type() == SurfaceType.CONTROL_SURFACE && s.wingGroup()) {
+                        maxLift += ImprovedAero.maxLift(s, v, w, r, flap, weight, tuning);
+                    }
                 }
             } else {
                 WariumAero.evaluate(s, v, w, r, input, weight, out);
             }
 
-            // How much a little more pitch input on this node would change the torque, for auto trim
-            if (commit && node != null && node.autoTrim() && s.type().controllable && s.listensToPitch()) {
-                double delta = 0.05;
-                probe.clear();
-                double base = 0.0;
-                if (improved) {
-                    ImprovedAero.evaluate(s, v, w, r, input, flap, weight, tuning, stalled[i], probe);
-                } else {
-                    WariumAero.evaluate(s, v, w, r, input, weight, probe);
+            // How much a little more input on an axis would change the torque: pitch for auto trim, all three for
+            // cursor aim
+            if (commit && node != null && s.type().controllable) {
+                boolean aimed = CursorAimRegistry.isActive(node.key());
+                for (ControlAxis axis : MEASURED_AXES) {
+                    if (!s.listensTo(axis) || !(aimed || (axis == ControlAxis.PITCH && node.autoTrim()))) {
+                        continue;
+                    }
+                    double delta = 0.05;
+                    probe.clear();
+                    if (improved) {
+                        ImprovedAero.evaluate(s, v, w, r, input, flap, weight, tuning, stalled[i], probe);
+                    } else {
+                        WariumAero.evaluate(s, v, w, r, input, weight, probe);
+                    }
+                    double[] before = {probe.totalTorque(0), probe.totalTorque(1), probe.totalTorque(2)};
+                    probe.clear();
+                    double nudged = input(s, node, state, axis, delta);
+                    if (improved) {
+                        ImprovedAero.evaluate(s, v, w, r, nudged, flap, weight, tuning, stalled[i], probe);
+                    } else {
+                        WariumAero.evaluate(s, v, w, r, nudged, weight, probe);
+                    }
+                    state.responseBuilding(axis).add(
+                            (probe.totalTorque(0) - before[0]) / delta,
+                            (probe.totalTorque(1) - before[1]) / delta,
+                            (probe.totalTorque(2) - before[2]) / delta);
                 }
-                double[] before = {probe.totalTorque(0), probe.totalTorque(1), probe.totalTorque(2)};
-                probe.clear();
-                double nudged = input(s, node, state, delta);
-                if (improved) {
-                    ImprovedAero.evaluate(s, v, w, r, nudged, flap, weight, tuning, stalled[i], probe);
-                } else {
-                    WariumAero.evaluate(s, v, w, r, nudged, weight, probe);
-                }
-                state.pitchResponseBuilding.add(
-                        (probe.totalTorque(0) - before[0]) / delta,
-                        (probe.totalTorque(1) - before[1]) / delta,
-                        (probe.totalTorque(2) - before[2]) / delta);
             }
         }
 
         if (commit) {
             for (NodeState state : nodeStates.values()) {
                 state.pitchResponse.set(state.pitchResponseBuilding);
+                state.yawResponse.set(state.yawResponseBuilding);
+                state.rollResponse.set(state.rollResponseBuilding);
             }
         }
     }
 
+    /**
+     * For every node cursor aim flies: the steady pitch rate its pitch surfaces can hold, full deflection torque over
+     * the craft's pitch damping, both measured about the axis the pitch surfaces turn the craft about.
+     */
+    private void measureControlRates(Frame frame, Vector3dc centerOfMass, double[] v, double[] w, boolean improved, double dt) {
+        for (NodeData node : frame.nodes.values()) {
+            NodeState state = nodeStates.get(node.key());
+            if (state == null || !CursorAimRegistry.isActive(node.key())) {
+                continue;
+            }
+            double response = state.pitchResponse.length();
+            if (response < 1.0E-9) {
+                continue;
+            }
+            Vector3d axis = state.pitchResponse.div(response, new Vector3d());
+            double[] turned = {w[0] + ANGULAR_EPSILON * axis.x, w[1] + ANGULAR_EPSILON * axis.y, w[2] + ANGULAR_EPSILON * axis.z};
+            evaluate(frame, centerOfMass, v, turned, improved, false, probe);
+            double damping = 0.0;
+            for (int i = 0; i < 3; i++) {
+                damping -= (probe.totalTorque(i) - wrench.totalTorque(i)) * axis.get(i);
+            }
+            damping /= ANGULAR_EPSILON;
+            if (!(damping > 1.0E-9)) {
+                continue;
+            }
+            double rate = response / damping;
+            state.controlRate = Double.isNaN(state.controlRate) ? rate
+                    : state.controlRate + (rate - state.controlRate) * Math.min(1.0, dt / RATE_SMOOTHING_SECONDS);
+        }
+    }
+
     /** A control surface's input, combined from its two keys and clamped like Warium does. */
-    private static double input(AeroSurface s, NodeData node, NodeState state, double extraPitch) {
+    private static double input(AeroSurface s, NodeData node, NodeState state, ControlAxis nudged, double extra) {
         if (node == null || state == null) {
             return 0.0;
         }
-        double value = axisValue(s.axis1(), node, state, extraPitch) * s.multiplier1()
-                + axisValue(s.axis2(), node, state, extraPitch) * s.multiplier2();
+        double value = axisValue(s.axis1(), node, state, nudged, extra) * s.multiplier1()
+                + axisValue(s.axis2(), node, state, nudged, extra) * s.multiplier2();
         return Math.max(-1.0, Math.min(1.0, value));
     }
 
-    private static double axisValue(ControlAxis axis, NodeData node, NodeState state, double extraPitch) {
+    private static double axisValue(ControlAxis axis, NodeData node, NodeState state, ControlAxis nudged, double extra) {
+        double nudge = axis == nudged ? extra : 0.0;
         return switch (axis) {
-            case PITCH -> state.pitch + state.trimOutput + extraPitch;
-            case YAW -> state.yaw;
-            case ROLL -> state.roll;
+            case PITCH -> state.pitch + state.trimOutput + nudge;
+            case YAW -> state.yaw + nudge;
+            case ROLL -> state.roll + nudge;
             case THROTTLE -> node.throttle();
             case NONE -> 0.0;
         };
     }
 
     private void updateNodes(Frame frame, Vector3dc worldVelocity, double altitude, Quaterniondc rotation, Matrix3dc inertia,
-                             double[] w, double dt, boolean improved) {
+                             double[] w, double dt, boolean improved, double liftAcceleration) {
         double step = Config.CONTROL_SMOOTHING.get() ? INPUT_RATE_PER_TICK * clock.weight() : Double.POSITIVE_INFINITY;
+        // Torque of the last substep, in ship axes, which the flight computer separates from its own surfaces' share
+        double[] torque = {wrench.totalTorque(0), wrench.totalTorque(1), wrench.totalTorque(2)};
         for (NodeData node : frame.nodes.values()) {
             NodeState state = nodeStates.get(node.key());
             if (state == null) {
                 continue;
             }
-            state.pitch = moveTowards(state.pitch, node.pitch(), step);
-            state.yaw = moveTowards(state.yaw, node.yaw(), step);
-            state.roll = moveTowards(state.roll, node.roll(), step);
+            // Cursor aim, if the pilot has it on, supplies the inputs the pilot is not giving with the keys
+            NodeData effective = CursorPilot.apply(state, node, rotation, inertia, w, worldVelocity.length(), wingStalled,
+                    liftAcceleration, dt);
+            state.pitch = moveTowards(state.pitch, effective.pitch(), step);
+            state.yaw = moveTowards(state.yaw, effective.yaw(), step);
+            state.roll = moveTowards(state.roll, effective.roll(), step);
             updateFlaps(state, node, worldVelocity.length(), dt);
-            AutoTrim.update(state, node, worldVelocity, altitude, rotation, inertia, w, dt, improved && wingStalled);
+            state.updatedMillis = System.currentTimeMillis();
+            AutoTrim.update(state, effective, worldVelocity, altitude, rotation, inertia, w, torque, dt, improved && wingStalled);
         }
     }
 
@@ -319,6 +416,11 @@ public final class AeroState implements PhysicsBridge.Publishable {
         state.flapAngle = moveTowards(state.flapAngle, target, Math.toRadians(Config.FLAP_SLEW_DEGREES.get()) * dt);
     }
 
+    /** The physics state of a control node, null if no physics runs for it. */
+    static NodeState nodeState(long nodeKey) {
+        return ALL_NODE_STATES.get(nodeKey);
+    }
+
     static double moveTowards(double value, double target, double maxStep) {
         if (Math.abs(target - value) <= maxStep) {
             return target;

src/main/java/dev/lumareth/improvedAerodynamics/flight/AeroSurface.java

@@ -37,6 +37,10 @@ public record AeroSurface(long key, SurfaceType type, boolean slab, double x, do
     }
 
     boolean listensToPitch() {
-        return node != NO_NODE && (axis1 == ControlAxis.PITCH || axis2 == ControlAxis.PITCH);
+        return listensTo(ControlAxis.PITCH);
+    }
+
+    boolean listensTo(ControlAxis axis) {
+        return node != NO_NODE && (axis1 == axis || axis2 == axis);
     }
 }

src/main/java/dev/lumareth/improvedAerodynamics/flight/AimBasis.java

@@ -0,0 +1,101 @@
+package dev.lumareth.improvedAerodynamics.flight;
+
+import net.minecraft.core.BlockPos;
+import net.minecraft.core.Direction;
+import net.minecraft.nbt.CompoundTag;
+import net.minecraft.world.level.Level;
+import net.minecraft.world.level.block.entity.BlockEntity;
+import net.minecraft.world.level.block.state.BlockState;
+import net.minecraft.world.level.block.state.properties.DirectionProperty;
+import net.minecraft.world.level.block.state.properties.Property;
+
+/**
+ * The frame cursor aim steers in, in ship coordinates: forward is the boresight (what Warium's gun reticle points
+ * along, from the HUD block in front of the seat, else the way the seat faces), up is the ship's up axis and right
+ * completes it. Server and client both build it from the same block data, so a cursor sent as components in this
+ * frame means the same on both.
+ *
+ * @param nodePos the Vehicle Control Node the seat is linked to
+ */
+public record AimBasis(BlockPos seatPos, BlockPos nodePos, double[] forward, double[] right, double[] up) {
+
+    /**
+     * @param entityPos block position of the seat entity. Warium's control seat block is at that position or just
+     *                  below it.
+     * @return null if there is no seat block linked to a control node there
+     */
+    public static AimBasis of(Level level, BlockPos entityPos) {
+        for (BlockPos pos : new BlockPos[]{entityPos, entityPos.below()}) {
+            BlockEntity seat = level.getBlockEntity(pos);
+            if (seat == null || !seat.getPersistentData().contains("ControlX")) {
+                continue;
+            }
+            CompoundTag tag = seat.getPersistentData();
+            BlockPos nodePos = BlockPos.containing(tag.getDouble("ControlX"), tag.getDouble("ControlY"), tag.getDouble("ControlZ"));
+            return new AimBasis(pos, nodePos, null, null, null).withAxes(level, pos, nodePos);
+        }
+        return null;
+    }
+
+    private AimBasis withAxes(Level level, BlockPos seatPos, BlockPos nodePos) {
+        BlockState state = level.getBlockState(seatPos);
+        Direction facing = Direction.NORTH;
+        Property<?> property = state.getBlock().getStateDefinition().getProperty("facing");
+        if (property instanceof DirectionProperty directionProperty) {
+            facing = state.getValue(directionProperty);
+        }
+        double fx = facing.getStepX();
+        double fy = facing.getStepY();
+        double fz = facing.getStepZ();
+
+        // Warium's gun reticle: the HUD block in front of the seat holds the aim vector of its guns
+        BlockEntity hud = level.getBlockEntity(seatPos.relative(facing));
+        if (hud != null && hud.getPersistentData().contains("Pitch")) {
+            CompoundTag hudTag = hud.getPersistentData();
+            double bx = hudTag.getDouble("X") + facing.getStepX();
+            double by = hudTag.getDouble("Pitch");
+            double bz = hudTag.getDouble("Z") + facing.getStepZ();
+            if (bx * bx + by * by + bz * bz > 1.0E-6) {
+                fx = bx;
+                fy = by;
+                fz = bz;
+            }
+        }
+        double length = Math.sqrt(fx * fx + fy * fy + fz * fz);
+        if (length < 1.0E-6) {
+            fx = 0.0;
+            fy = 0.0;
+            fz = -1.0;
+            length = 1.0;
+        }
+        fx /= length;
+        fy /= length;
+        fz /= length;
+
+        // right = forward x up(0,1,0)
+        double rx = -fz;
+        double ry = 0.0;
+        double rz = fx;
+        double rl = Math.sqrt(rx * rx + rz * rz);
+        if (rl < 1.0E-6) {
+            rx = 1.0;
+            rz = 0.0;
+            rl = 1.0;
+        }
+        rx /= rl;
+        rz /= rl;
+        // up = right x forward
+        double ux = ry * fz - rz * fy;
+        double uy = rz * fx - rx * fz;
+        double uz = rx * fy - ry * fx;
+        return new AimBasis(seatPos, nodePos, new double[]{fx, fy, fz}, new double[]{rx, ry, rz}, new double[]{ux, uy, uz});
+    }
+
+    /** Ship-space direction of a cursor given by its components along forward, right and up. */
+    public double[] toShip(double cf, double cr, double cu) {
+        return new double[]{
+                forward[0] * cf + right[0] * cr + up[0] * cu,
+                forward[1] * cf + right[1] * cr + up[1] * cu,
+                forward[2] * cf + right[2] * cr + up[2] * cu};
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/flight/AutoTrim.java

@@ -7,19 +7,28 @@ import org.joml.Vector3d;
 import org.joml.Vector3dc;
 
 /**
- * Auto trim for the pitch control surfaces of one control node: while the pilot gives no pitch input it holds the
- * altitude the craft had when the pilot let go, cancelling whatever pitching moment the craft has (off-center weight,
- * thrust line, speed changes).
+ * The flight computer of one control node, switched on and off with the auto trim key. It is a fly-by-wire pitch
+ * system: the pilot's pitch input is a pitch rate command, not a surface deflection, and the computer moves the
+ * surfaces to make the craft follow it, whatever the airframe does on its own.
  * <p>
- * Three nested loops: altitude error sets a gentle climb rate, climb rate error sets a nose attitude (never more than
- * {@link #MAX_ATTITUDE} from level), attitude error sets a pitch rate, and a PI controller moves the trim to reach
- * that rate. Bounding the attitude matters: in Warium's physics the flight path follows the nose only slowly, so
- * steering the flight path directly with pitch rate keeps rotating the nose until the craft dives.
+ * Every physics substep it measures the pitching torque the craft makes with the pitch surfaces taken out
+ * ({@code external}: weight offset, thrust line, and above all the airframe's own stability or instability), and the
+ * torque one unit of pitch input makes ({@code response}). It then picks the input that makes the craft's total
+ * pitch torque equal the angular acceleration it wants, {@code rateGain * (rate command - pitch rate)} plus a small
+ * integral for what the model gets wrong. That cancels a craft that is statically unstable, or trimmed badly, as
+ * fast as the surfaces can move, so a jet built with relaxed stability can be flown like a stable one.
  * <p>
- * Attitude is measured from the ship's own up axis, so it assumes the craft is built level, as Warium craft are. The
- * trim's effect is measured every substep (torque per unit of pitch input), which gives the pitch axis and lets the
- * inner gains be expressed as angular acceleration, so the same tuning works for any craft, speed and altitude.
- * The trim holds still while the pilot pitches, when too slow, and when wings stall, so it never fights maneuvers.
+ * Without pilot input the rate command comes from three nested loops that hold the altitude the craft had when the
+ * pilot let go: altitude error sets a gentle climb rate, climb rate error sets a nose attitude (never more than
+ * {@link #MAX_ATTITUDE} from level), attitude error sets a pitch rate. Bounding the attitude matters: in Warium's
+ * physics the flight path follows the nose only slowly, so steering the flight path directly with pitch rate keeps
+ * rotating the nose until the craft dives.
+ * <p>
+ * Attitude is measured from the ship's own up axis, so it assumes the craft is built level, as Warium craft are.
+ * Torques are measured per unit of input, so the same tuning works for any craft, speed and altitude. Below the
+ * minimum speed the computer holds its output, the surfaces have no authority there anyway. Stalled wings cut the
+ * pilot's rate command and the altitude hold, so the computer only keeps the nose where it is. While cursor aim flies
+ * the node, that is in charge instead.
  */
 final class AutoTrim {
     // Climb rate (blocks/s) per block of altitude error, and its limit
@@ -32,12 +41,16 @@ final class AutoTrim {
     // Pitch rate (rad/s) per radian of attitude error, and its limit
     private static final double ATTITUDE_GAIN = 1.0;
     private static final double MAX_PITCH_RATE = 0.15;
-    // Angular acceleration per rad/s of pitch rate error, and integral gain
-    private static final double PROPORTIONAL_GAIN = 3.0;
-    private static final double INTEGRAL_GAIN = 1.5;
-    // Fastest the trim moves, in input per second
+    // Slow trim movement when the computer is switched off
     private static final double TRIM_RATE = 1.0;
     private static final double PILOT_DEADBAND = 0.01;
+    // The computer assumes the surfaces do this much of what was measured, so a response measured too high (stalled
+    // surfaces, clamped inputs) makes it command a little too much rather than too little, which stays stable
+    private static final double RESPONSE_MARGIN = 0.7;
+    // Pitch rate command while stalled, as a fraction of what the pilot asked
+    private static final double STALLED_COMMAND = 0.3;
+    // The integral may make up for this much rate error worth of acceleration
+    private static final double MAX_ERROR_FOR_INTEGRAL = 0.5;
 
     private AutoTrim() {
     }
@@ -49,57 +62,83 @@ final class AutoTrim {
     }
 
     static void update(AeroState.NodeState state, NodeData node, Vector3dc worldVelocity, double altitude,
-                       Quaterniondc rotation, Matrix3dc inertia, double[] w, double dt, boolean stalled) {
+                       Quaterniondc rotation, Matrix3dc inertia, double[] w, double[] torque, double dt, boolean stalled) {
         Targets targets = state.trimTargets;
+        boolean aimed = CursorAimRegistry.isActive(node.key());
         if (!node.autoTrim()) {
             state.trimIntegral = 0.0;
             state.trimOutput = AeroState.moveTowards(state.trimOutput, 0.0, TRIM_RATE * dt);
             state.savedTrim = 0.0;
+            state.computerOutput = state.pitch + state.trimOutput;
             targets.altitude = Double.NaN;
             targets.attitudeIntegral = 0.0;
             return;
         }
-        double authority = Config.TRIM_AUTHORITY.get();
         double response = state.pitchResponse.length();
         double speed = worldVelocity.length();
-        boolean hold = Math.abs(node.pitch()) > PILOT_DEADBAND || speed < Config.TRIM_MIN_SPEED.get() || stalled
-                || response < 1.0E-6;
-        if (hold || Double.isNaN(targets.altitude)) {
+        if (aimed || speed < Config.TRIM_MIN_SPEED.get() || response < 1.0E-6) {
+            // Cursor aim, no airflow or no pitch surfaces: the computer holds what it has
+            targets.altitude = Double.NaN;
+            targets.attitudeIntegral = 0.0;
+            state.computerOutput = state.pitch + state.trimOutput;
+            state.savedTrim = state.trimIntegral;
+            return;
+        }
+
+        // Pitch axis in ship axes, oriented so that positive rotation is what more pitch input does
+        Vector3d axis = state.pitchResponse.div(response, new Vector3d());
+        double axisInertia = axis.dot(inertia.transform(axis, new Vector3d()));
+        double pitchRate = axis.x * w[0] + axis.y * w[1] + axis.z * w[2];
+
+        // Does rotating about that axis raise the nose? Sign of the vertical part of axis x flight direction
+        Vector3d worldAxis = rotation.transform(axis, new Vector3d());
+        Vector3d direction = worldVelocity.normalize(new Vector3d());
+        double noseUp = Math.signum(worldAxis.cross(direction, new Vector3d()).y);
+        double attitude = attitude(axis, rotation);
+
+        double pilot = node.pitch();
+        boolean pilotActive = Math.abs(pilot) > PILOT_DEADBAND;
+        double rateCommand;
+        if (pilotActive || stalled || noseUp == 0.0 || Double.isNaN(attitude)) {
             // Hold whatever altitude the craft is at once the pilot lets go
             targets.altitude = altitude;
             targets.attitudeIntegral = 0.0;
-        }
-
-        double target = state.trimIntegral;
-        if (!hold) {
-            // Pitch axis in ship axes, oriented so that positive rotation is what more pitch input does
-            Vector3d axis = state.pitchResponse.div(response, new Vector3d());
-            double axisInertia = axis.dot(inertia.transform(axis, new Vector3d()));
-            double pitchRate = axis.x * w[0] + axis.y * w[1] + axis.z * w[2];
-
-            // Does rotating about that axis raise the nose? Sign of the vertical part of axis x flight direction
-            Vector3d worldAxis = rotation.transform(axis, new Vector3d());
-            Vector3d direction = worldVelocity.normalize(new Vector3d());
-            double noseUp = Math.signum(worldAxis.cross(direction, new Vector3d()).y);
-            double attitude = attitude(axis, rotation);
-            if (noseUp == 0.0 || Double.isNaN(attitude)) {
-                return;
+            rateCommand = pilotActive
+                    ? pilot * Math.toRadians(Config.FBW_STICK_RATE_DEGREES.get()) * (stalled ? STALLED_COMMAND : 1.0)
+                    : 0.0;
+        } else {
+            if (Double.isNaN(targets.altitude)) {
+                targets.altitude = altitude;
             }
-
             double climbTarget = clamp(ALTITUDE_GAIN * (targets.altitude - altitude), MAX_CLIMB_RATE);
             double climbError = climbTarget - worldVelocity.y();
             targets.attitudeIntegral = clamp(targets.attitudeIntegral + CLIMB_INTEGRAL_GAIN * climbError * dt, MAX_ATTITUDE);
             // Nose elevation wanted, turned into rotation about the axis
             double attitudeTarget = noseUp * clamp(targets.attitudeIntegral + CLIMB_GAIN * climbError, MAX_ATTITUDE);
-            double rateTarget = clamp(ATTITUDE_GAIN * (attitudeTarget - attitude), MAX_PITCH_RATE);
-
-            double error = rateTarget - pitchRate;
-            // Pitch input needed per rad/s² of angular acceleration
-            double gain = axisInertia / response;
-            state.trimIntegral = clamp(state.trimIntegral + INTEGRAL_GAIN * error * dt * gain, authority);
-            target = clamp(state.trimIntegral + PROPORTIONAL_GAIN * error * gain, authority);
+            rateCommand = clamp(ATTITUDE_GAIN * (attitudeTarget - attitude), MAX_PITCH_RATE);
         }
-        state.trimOutput = AeroState.moveTowards(state.trimOutput, target, TRIM_RATE * dt);
+
+        // Pitching torque about the axis the pitch surfaces are not making: total of the last substep minus what the
+        // input of that substep made
+        double total = axis.x * torque[0] + axis.y * torque[1] + axis.z * torque[2];
+        double external = total - response * state.computerOutput;
+
+        double authority = Config.FBW_AUTHORITY.get();
+        double rateError = rateCommand - pitchRate;
+        double acceleration = Config.FBW_RATE_GAIN.get() * rateError + state.trimIntegral;
+        double wanted = (axisInertia * acceleration - external) / (response * RESPONSE_MARGIN);
+        boolean saturated = Math.abs(wanted) > authority;
+        wanted = clamp(wanted, authority);
+        if (!saturated) {
+            // Integral of the acceleration, bounded so it cannot run away if the model is far off
+            double limit = Config.FBW_RATE_GAIN.get() * MAX_ERROR_FOR_INTEGRAL;
+            state.trimIntegral = clamp(state.trimIntegral + Config.FBW_INTEGRAL_GAIN.get() * rateError * dt, limit);
+        }
+
+        double applied = AeroState.moveTowards(state.computerOutput, wanted, Config.FBW_ACTUATOR_RATE.get() * dt);
+        state.computerOutput = applied;
+        // The surfaces get the pilot's smoothed input plus the trim, so the trim is what makes up the difference
+        state.trimOutput = applied - state.pitch;
         state.savedTrim = state.trimIntegral;
     }
 

src/main/java/dev/lumareth/improvedAerodynamics/flight/ControlMode.java

@@ -0,0 +1,45 @@
+package dev.lumareth.improvedAerodynamics.flight;
+
+import dev.lumareth.improvedAerodynamics.network.ControlModePacket;
+import dev.lumareth.improvedAerodynamics.network.Network;
+import net.minecraft.nbt.CompoundTag;
+import net.minecraft.server.level.ServerPlayer;
+import net.minecraft.world.entity.player.Player;
+import net.minecraftforge.event.entity.player.PlayerEvent;
+import net.minecraftforge.eventbus.api.SubscribeEvent;
+import net.minecraftforge.network.PacketDistributor;
+
+/**
+ * How a player flies: with the keyboard (Warium's own seat controls) or with cursor aim. Chosen per player with
+ * {@code /aero controls}, kept in the player's persistent data and told to their client, which does the rest.
+ */
+public final class ControlMode {
+    private static final String KEY = "improved_aerodynamics_cursor_aim";
+
+    private ControlMode() {
+    }
+
+    public static boolean isCursorAim(ServerPlayer player) {
+        CompoundTag persisted = player.getPersistentData().getCompound(Player.PERSISTED_NBT_TAG);
+        return persisted.getBoolean(KEY);
+    }
+
+    public static void set(ServerPlayer player, boolean cursorAim) {
+        CompoundTag data = player.getPersistentData();
+        CompoundTag persisted = data.getCompound(Player.PERSISTED_NBT_TAG);
+        persisted.putBoolean(KEY, cursorAim);
+        data.put(Player.PERSISTED_NBT_TAG, persisted);
+        sync(player);
+    }
+
+    public static void sync(ServerPlayer player) {
+        Network.CHANNEL.send(PacketDistributor.PLAYER.with(() -> player), new ControlModePacket(isCursorAim(player)));
+    }
+
+    @SubscribeEvent
+    public static void onLogin(PlayerEvent.PlayerLoggedInEvent event) {
+        if (event.getEntity() instanceof ServerPlayer player) {
+            sync(player);
+        }
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/flight/CursorAimRegistry.java

@@ -0,0 +1,44 @@
+package dev.lumareth.improvedAerodynamics.flight;
+
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * Where each control node's pilot currently holds the cursor of cursor aim. Written by the server thread when the
+ * client's packet arrives, read by the physics thread. An entry that is not refreshed for a moment (the player left
+ * the seat, lost the connection) counts as gone.
+ */
+public final class CursorAimRegistry {
+    private static final long EXPIRE_NANOS = 500_000_000L;
+    private static final ConcurrentHashMap<Long, Aim> AIMS = new ConcurrentHashMap<>();
+
+    /** Cursor as components along the basis axes (unit length), and the basis itself, in ship space. */
+    public record Aim(double cf, double cr, double cu, double[] forward, double[] right, double[] up, long nanos) {
+    }
+
+    private CursorAimRegistry() {
+    }
+
+    public static void set(long nodeKey, Aim aim) {
+        AIMS.put(nodeKey, aim);
+    }
+
+    public static void clear(long nodeKey) {
+        AIMS.remove(nodeKey);
+    }
+
+    public static Aim get(long nodeKey) {
+        Aim aim = AIMS.get(nodeKey);
+        if (aim == null) {
+            return null;
+        }
+        if (System.nanoTime() - aim.nanos() > EXPIRE_NANOS) {
+            AIMS.remove(nodeKey, aim);
+            return null;
+        }
+        return aim;
+    }
+
+    public static boolean isActive(long nodeKey) {
+        return get(nodeKey) != null;
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/flight/CursorAimServer.java

@@ -0,0 +1,35 @@
+package dev.lumareth.improvedAerodynamics.flight;
+
+import dev.lumareth.improvedAerodynamics.Config;
+import net.mcreator.valkyrienwarium.entity.SeatEntityEntity;
+import net.minecraft.server.level.ServerPlayer;
+import net.minecraft.world.entity.Entity;
+
+/** Server side of cursor aim: takes the cursor a pilot sends and hands it to the control node's virtual pilot. */
+public final class CursorAimServer {
+    private CursorAimServer() {
+    }
+
+    public static void accept(ServerPlayer player, boolean active, double cf, double cr, double cu) {
+        // Only a player who chose cursor aim may set or clear the cursor of a node
+        if (!ControlMode.isCursorAim(player)) {
+            return;
+        }
+        Entity vehicle = player.getVehicle();
+        if (!(vehicle instanceof SeatEntityEntity)) {
+            return;
+        }
+        AimBasis basis = AimBasis.of(vehicle.level(), vehicle.blockPosition());
+        if (basis == null) {
+            return;
+        }
+        long nodeKey = basis.nodePos().asLong();
+        double length = Math.sqrt(cf * cf + cr * cr + cu * cu);
+        if (!active || !Config.CURSOR_AIM_ENABLED.get() || !(length > 1.0E-6) || !Double.isFinite(length)) {
+            CursorAimRegistry.clear(nodeKey);
+            return;
+        }
+        CursorAimRegistry.set(nodeKey, new CursorAimRegistry.Aim(cf / length, cr / length, cu / length,
+                basis.forward(), basis.right(), basis.up(), System.nanoTime()));
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/flight/CursorPilot.java

@@ -0,0 +1,269 @@
+package dev.lumareth.improvedAerodynamics.flight;
+
+import dev.lumareth.improvedAerodynamics.Config;
+import org.joml.Matrix3d;
+import org.joml.Matrix3dc;
+import org.joml.Quaterniondc;
+import org.joml.Vector3d;
+
+/**
+ * The virtual pilot of cursor aim. The cursor is a direction fixed in the world, and the pilot turns the craft until
+ * the gun reticle sits on it, so the offset it gets shrinks to nothing as the turn completes:
+ * <ul>
+ *   <li>it banks towards the cursor, judged with the wings level so the bank does not hide where the cursor is: the
+ *   further the cursor is to the side, the steeper the bank. While banked it pulls as much as a level turn at that
+ *   bank needs, so the craft turns without losing height;</li>
+ *   <li>it pitches towards the cursor as seen from the cockpit, so once banked the cursor is above the nose and the
+ *   pull brings the nose round onto it;</li>
+ *   <li>a cursor far below the nose (more than {@code reverseTurnDegrees}, judged with the wings level) is not reached
+ *   by pushing: the pilot rolls until the cursor is above the canopy and pulls, a reversal or split-S. It keeps at it
+ *   until the reticle is close to the cursor, or the cursor is moved above the nose again. A cursor only a little below
+ *   the nose is reached with the elevators alone, gently, so the craft can still be flown down to a landing;</li>
+ *   <li>below {@code minSpeed} there is too little airflow to fly by: the cursor moves elevators and rudder directly;</li>
+ *   <li>close to the reticle it levels the wings and puts the reticle on the cursor with rudder and elevator, so
+ *   aiming does not rock the wings.</li>
+ * </ul>
+ * The wanted rotation is turned into stick inputs by the measured effect of each input on the craft (torque per unit
+ * of input, see {@link AeroState}), so it works for any craft however its surfaces are mixed or oriented: angular
+ * acceleration wanted times inertia, solved for the three inputs with a little regularization for axes that have no
+ * surfaces. Keys the pilot holds win over it, per axis.
+ * <p>
+ * How hard the craft can turn is worked out live, not configured: the lift its wings can make at the edge of the stall
+ * at the current speed and altitude, over its mass and speed, and the steady pitch rate its pitch surfaces can hold
+ * against its pitch damping, whichever is lower. The same lift limit caps the bank to what the craft can hold level, so
+ * a heavy bomber banks gently and turns wide while a light fighter racks into a steep, tight turn.
+ */
+final class CursorPilot {
+    private static final double FINE_START = Math.toRadians(4.0);
+    private static final double FINE_END = Math.toRadians(16.0);
+    private static final double MANUAL_OVERRIDE = 0.05;
+    // Gravity of VS
+    private static final double GRAVITY = 10.0;
+    // Share of the stall limited lift the pilot plans with, so it does not ride the stall
+    private static final double LIFT_MARGIN = 0.85;
+    // Bank the pilot rolls to at full sideways deflection even when the wings cannot hold the turn level
+    private static final double MIN_BANK = Math.toRadians(20.0);
+    // Smallest pull allowed, as a share of the turn rate, when gravity takes most of the lift
+    private static final double MIN_PULL_SHARE = 0.2;
+    // Time constant of easing the pull back in and out of a stall
+    private static final double STALL_EASE_SECONDS = 0.4;
+    // Turn rate when neither limit can be measured, like the first moments of a flight
+    private static final double FALLBACK_TURN_RATE = Math.toRadians(30.0);
+
+    private CursorPilot() {
+    }
+
+    /**
+     * @return the node with the pilot's wanted inputs in place of the keys, or the node itself if cursor aim is off
+     */
+    static NodeData apply(AeroState.NodeState state, NodeData node, Quaterniondc rotation, Matrix3dc inertia, double[] w,
+                          double speed, boolean wingStalled, double liftAcceleration, double dt) {
+        if (!Config.CURSOR_AIM_ENABLED.get()) {
+            return node;
+        }
+        CursorAimRegistry.Aim aim = CursorAimRegistry.get(node.key());
+        if (aim == null) {
+            return node;
+        }
+
+        double fullAngle = Math.toRadians(Config.CURSOR_AIM_FULL_DEFLECTION_DEGREES.get());
+        double maxRoll = Math.toRadians(Config.CURSOR_AIM_MAX_ROLL_RATE_DEGREES.get());
+        double maxBank = Math.toRadians(Config.CURSOR_AIM_MAX_BANK_DEGREES.get());
+
+        double[] f = aim.forward();
+        double[] r = aim.right();
+        double[] u = aim.up();
+        learnSigns(state, f, r, u);
+
+        // Bank of the craft: positive when the right wing is down, through upside down
+        Vector3d rightWorld = rotation.transform(new Vector3d(r[0], r[1], r[2]));
+        Vector3d upWorld = rotation.transform(new Vector3d(u[0], u[1], u[2]));
+        double bank = Math.atan2(-rightWorld.y, upWorld.y);
+
+        // Deadzone around the reticle: shrink the cursor's offset by its radius, direction kept
+        double cf = aim.cf();
+        double cr = aim.cr();
+        double cu = aim.cu();
+        double deadzone = Math.toRadians(Config.CURSOR_AIM_DEADZONE_DEGREES.get());
+        double offset = Math.acos(clamp(cf, -1.0, 1.0));
+        double across = Math.hypot(cr, cu);
+        if (deadzone > 0.0 && offset > 1.0E-9 && across > 1.0E-9) {
+            double shrunk = Math.max(0.0, offset - deadzone);
+            cf = Math.cos(shrunk);
+            cr *= Math.sin(shrunk) / across;
+            cu *= Math.sin(shrunk) / across;
+        }
+        // Cursor as angles from the reticle as seen from the cockpit: sideways (positive right) and up, through any
+        // 270 degree cone
+        double sideways = Math.atan2(cr, cf);
+        double vertical = Math.atan2(cu, Math.hypot(cf, cr));
+        // The cursor as it would be with the wings level: what the bank is chosen by
+        double levelRight = cr * Math.cos(bank) + cu * Math.sin(bank);
+        double levelUp = cu * Math.cos(bank) - cr * Math.sin(bank);
+        double levelVertical = Math.atan2(levelUp, Math.hypot(cf, levelRight));
+
+        if (speed < Config.CURSOR_AIM_MIN_SPEED.get()) {
+            // Too slow for the rate loop: the cursor moves the surfaces directly, rudder towards it (which also steers on
+            // the ground) and elevator up or down, so the controls follow the cursor while taxiing and rotating
+            state.reversing = false;
+            double pitch = clamp(state.pitchSign * saturate(vertical / fullAngle) - state.trimOutput, -1.0, 1.0);
+            double yaw = state.yawSign * saturate(sideways / fullAngle);
+            return withInputs(node, pitch, yaw, 0.0);
+        }
+
+        // What this craft can do right now. Lift: pitch rate at the highest usable lift (a = L / m, rate = a / v), and
+        // the bank whose level turn needs that load factor. Without a stall model only the control limit applies
+        double usableLift = LIFT_MARGIN * liftAcceleration;
+        double liftRate = usableLift > 0.0 ? usableLift / speed : Double.POSITIVE_INFINITY;
+        double controlRate = state.controlRate > 0.0 ? state.controlRate : Double.POSITIVE_INFINITY;
+        double maxTurn = Math.min(liftRate, controlRate);
+        if (!Double.isFinite(maxTurn)) {
+            maxTurn = FALLBACK_TURN_RATE;
+        }
+        // Fastest pull: part of the lift already holds the craft up against gravity, only the rest curves the flight
+        // path, so asking for the full lift rate in a steep bank would drag the wings into the stall
+        double maxPull = maxTurn;
+        if (Double.isFinite(liftAcceleration)) {
+            double loadFactor = usableLift / GRAVITY;
+            double levelBank = loadFactor > 1.0 ? Math.acos(1.0 / loadFactor) : 0.0;
+            maxBank = Math.max(Math.min(MIN_BANK, maxBank), Math.min(maxBank, levelBank));
+            double pullLift = (usableLift - GRAVITY * upWorld.y) / speed;
+            maxPull = clamp(Math.min(pullLift, controlRate), MIN_PULL_SHARE * maxTurn, maxTurn);
+        }
+
+        // Reversal: entered when the cursor is far below the nose, left once the reticle is close to it or the cursor
+        // is above the nose again
+        double offsetAngle = Math.acos(clamp(cf, -1.0, 1.0));
+        if (state.reversing) {
+            state.reversing = offsetAngle > FINE_END && levelVertical < 0.0;
+        } else {
+            state.reversing = levelVertical < -Math.toRadians(Config.CURSOR_AIM_REVERSE_TURN_DEGREES.get());
+        }
+
+        // Bank: roll so the cursor is above the canopy, which is where a pull takes the nose. Judged by the direction of
+        // the cursor around the nose, which stays well defined wherever the cursor is, even 90 degrees off the nose
+        // straight above or to the side; the angle of the cursor from the nose only sets how much of that bank is used,
+        // so the wings come level as the reticle closes on the cursor
+        double blend = state.reversing ? 1.0 : smoothstep(offsetAngle, FINE_START, FINE_END);
+        double bankError;
+        if (state.reversing) {
+            // All the way over, the shorter way round
+            bankError = wrap(Math.atan2(levelRight, levelUp) - bank);
+        } else {
+            // A cursor below the nose counts as if it were as far above it: only its sideways part banks the craft, and
+            // the craft is never rolled upside down for a slight descent
+            double overhead = Math.atan2(levelRight, Math.abs(levelUp));
+            double bankCommand = clamp(overhead, -maxBank, maxBank) * saturate(offsetAngle / fullAngle) * blend;
+            bankError = bankCommand - bank;
+        }
+        double rollRate = clamp(Config.CURSOR_AIM_BANK_GAIN.get() * bankError, -maxRoll, maxRoll);
+
+        // Pitch: the pull of a level turn at the current bank, the turn rate g tan(bank) / v seen about the pitch axis,
+        // plus a pull towards the cursor. Past 90 degrees of bank the level turn pull would only dive, so it is left out
+        double pitchStick = saturate(vertical / fullAngle);
+        double push = Config.CURSOR_AIM_PUSH_FACTOR.get();
+        // While rolling into a reversal the cursor is still below the nose, pushing there would only work against it
+        double pitchRate = pitchStick >= 0.0 ? maxPull * pitchStick : state.reversing ? 0.0 : maxTurn * pitchStick * push;
+        double cosBank = Math.cos(bank);
+        if (cosBank > 0.0) {
+            double sinBank = Math.sin(bank);
+            pitchRate += GRAVITY * sinBank * sinBank / (speed * Math.max(cosBank, 0.1));
+        }
+        // Stalled wings ease the pull back, and it comes back as gently once they fly again: switching it at once with
+        // the stall would make the craft buck in and out of the stall
+        double stallTarget = wingStalled ? Config.CURSOR_AIM_STALLED_PITCH_FACTOR.get() : 1.0;
+        state.stallEase += (stallTarget - state.stallEase) * Math.min(1.0, dt / STALL_EASE_SECONDS);
+        pitchRate = clamp(pitchRate, -maxTurn * push, maxPull);
+        if (pitchRate > 0.0) {
+            pitchRate *= state.stallEase;
+        }
+        // Close to the reticle the nose follows the cursor with the rudder
+        double yawRate = maxTurn * saturate(sideways / fullAngle) * (1.0 - blend);
+
+        // Wanted angular velocity in ship axes: roll about forward, pitch about right, yaw (nose right) about -up
+        Vector3d wanted = new Vector3d(
+                rollRate * f[0] + pitchRate * r[0] - yawRate * u[0],
+                rollRate * f[1] + pitchRate * r[1] - yawRate * u[1],
+                rollRate * f[2] + pitchRate * r[2] - yawRate * u[2]);
+        Vector3d error = wanted.sub(w[0], w[1], w[2]);
+        Vector3d acceleration = error.mul(Config.CURSOR_AIM_RATE_GAIN.get());
+        Vector3d torque = inertia.transform(acceleration, new Vector3d());
+
+        double[] inputs = solve(state.pitchResponse, state.yawResponse, state.rollResponse, torque);
+        if (inputs == null) {
+            return node;
+        }
+
+        double pitch = clamp(inputs[0] - state.trimOutput, -1.0, 1.0);
+        double yaw = clamp(inputs[1], -1.0, 1.0);
+        double roll = clamp(inputs[2], -1.0, 1.0);
+        return withInputs(node, pitch, yaw, roll);
+    }
+
+    /** The node with these inputs on the axes the pilot is not holding a key for. */
+    private static NodeData withInputs(NodeData node, double pitch, double yaw, double roll) {
+        return new NodeData(node.key(),
+                Math.abs(node.pitch()) > MANUAL_OVERRIDE ? node.pitch() : pitch,
+                Math.abs(node.yaw()) > MANUAL_OVERRIDE ? node.yaw() : yaw,
+                Math.abs(node.roll()) > MANUAL_OVERRIDE ? node.roll() : roll,
+                node.throttle(), node.autoTrim(), node.storedTrim(), node.flapSetting());
+    }
+
+    /**
+     * Remembers which way each input turns the craft, from the measured torque per unit of input: + nose up for pitch,
+     * nose right for yaw. Kept from the last time it was measurable, since with no airflow nothing can be measured.
+     */
+    private static void learnSigns(AeroState.NodeState state, double[] f, double[] r, double[] u) {
+        state.pitchSign = sign(state.pitchResponse, r, 1.0, state.pitchSign);
+        state.yawSign = sign(state.yawResponse, u, -1.0, state.yawSign);
+    }
+
+    private static double sign(Vector3d response, double[] axis, double direction, double previous) {
+        double length = response.length();
+        if (!(length > 1.0E-6)) {
+            return previous;
+        }
+        double along = direction * (response.x * axis[0] + response.y * axis[1] + response.z * axis[2]) / length;
+        // Only trusted while the input clearly turns the craft about that axis
+        return Math.abs(along) > 0.3 ? Math.signum(along) : previous;
+    }
+
+    /** Least squares for the three inputs whose responses add up to the torque, ridge-regularized so unused axes stay at zero. */
+    private static double[] solve(Vector3d pitch, Vector3d yaw, Vector3d roll, Vector3d torque) {
+        Matrix3d responses = new Matrix3d(pitch, yaw, roll);
+        Matrix3d transposed = responses.transpose(new Matrix3d());
+        Matrix3d normal = transposed.mul(responses, new Matrix3d());
+        double trace = normal.m00() + normal.m11() + normal.m22();
+        if (!(trace > 1.0E-9) || !Double.isFinite(trace)) {
+            return null;
+        }
+        double ridge = trace / 3.0 * 1.0E-3;
+        normal.m00(normal.m00() + ridge);
+        normal.m11(normal.m11() + ridge);
+        normal.m22(normal.m22() + ridge);
+        Vector3d right = transposed.transform(torque, new Vector3d());
+        Vector3d x = normal.invert().transform(right);
+        if (!x.isFinite()) {
+            return null;
+        }
+        return new double[]{x.x, x.y, x.z};
+    }
+
+    /** The angle brought into -pi to pi. */
+    private static double wrap(double angle) {
+        return Math.atan2(Math.sin(angle), Math.cos(angle));
+    }
+
+    private static double saturate(double value) {
+        return clamp(value, -1.0, 1.0);
+    }
+
+    private static double smoothstep(double value, double from, double to) {
+        double t = clamp((value - from) / (to - from), 0.0, 1.0);
+        return t * t * (3.0 - 2.0 * t);
+    }
+
+    private static double clamp(double value, double min, double max) {
+        return Math.max(min, Math.min(max, value));
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/flight/DeflectionSync.java

@@ -0,0 +1,145 @@
+package dev.lumareth.improvedAerodynamics.flight;
+
+import dev.lumareth.improvedAerodynamics.Config;
+import dev.lumareth.improvedAerodynamics.network.DeflectionPacket;
+import dev.lumareth.improvedAerodynamics.network.Network;
+import it.unimi.dsi.fastutil.longs.Long2LongOpenHashMap;
+import it.unimi.dsi.fastutil.longs.Long2ShortOpenHashMap;
+import it.unimi.dsi.fastutil.longs.LongArrayList;
+import it.unimi.dsi.fastutil.shorts.ShortArrayList;
+import net.minecraft.core.BlockPos;
+import net.minecraft.nbt.CompoundTag;
+import net.minecraft.resources.ResourceKey;
+import net.minecraft.server.level.ServerLevel;
+import net.minecraft.world.level.Level;
+import net.minecraft.world.level.block.entity.BlockEntity;
+import net.minecraftforge.event.TickEvent;
+import net.minecraftforge.event.server.ServerStoppedEvent;
+import net.minecraftforge.eventbus.api.SubscribeEvent;
+import net.minecraftforge.network.PacketDistributor;
+import org.joml.Vector3d;
+import org.valkyrienskies.core.api.ships.Ship;
+import org.valkyrienskies.mod.common.VSGameUtilsKt;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Tells the clients near a ship how far its control surfaces and flaps are deflected, so they can show it, see
+ * {@code SurfaceAnimation}. Every tick each Warium control surface block reports its deflection from the procedure that
+ * runs it ({@link WariumCapture#begin}); at the end of the tick what changed goes out, in one packet per ship, and
+ * everything again once a second so players who arrive later get it too.
+ * <p>
+ * The deflection is what the physics uses: the smoothed pilot input plus trim and flap angle of the surface's control
+ * node. While the ship is not flying (no physics, nothing is moving) the node's raw input and flap lever are used, and the
+ * flaps are moved towards their angle here, at the configured speed.
+ */
+public final class DeflectionSync {
+    /** Degrees of deflection the physics gives a surface at full input, see ImprovedAero.MAX_DEFLECTION. */
+    private static final double FULL_INPUT_DEGREES = 20.0;
+    private static final long RESEND_TICKS = 20;
+    private static final double RANGE = 256.0;
+
+    private record Batch(ServerLevel level, double x, double y, double z, LongArrayList positions, ShortArrayList tenths) {
+    }
+
+    private static final Map<ResourceKey<Level>, Long2ShortOpenHashMap> LAST_VALUE = new HashMap<>();
+    private static final Map<ResourceKey<Level>, Long2LongOpenHashMap> LAST_SENT = new HashMap<>();
+    // Flap angle (radians) shown while a node is not flying, and the tick it was last moved
+    private static final Map<Long, double[]> STATIC_FLAPS = new HashMap<>();
+    private static final Map<Long, Batch> BATCHES = new HashMap<>();
+
+    private DeflectionSync() {
+    }
+
+    /** Called by the procedure of every control surface block each tick, before it adds its forces. */
+    static void report(ServerLevel level, BlockPos pos, SurfaceType type) {
+        if (!type.controllable) {
+            return;
+        }
+        BlockEntity blockEntity = level.getBlockEntity(pos);
+        if (blockEntity == null) {
+            return;
+        }
+        CompoundTag tag = blockEntity.getPersistentData();
+        BlockPos nodePos = BlockPos.containing(tag.getDouble("ControlX"), tag.getDouble("ControlY"), tag.getDouble("ControlZ"));
+        BlockEntity nodeEntity = level.getBlockEntity(nodePos);
+        if (nodeEntity == null || !tag.contains("ControlX")) {
+            return;
+        }
+        long nodeKey = nodePos.asLong();
+        CompoundTag nodeTag = nodeEntity.getPersistentData();
+        AeroState.NodeState state = LiveInputs.flying(nodeKey);
+        boolean flying = state != null;
+
+        double input = axisInput(nodeKey, nodeTag, tag.getString("Key")) + axisInput(nodeKey, nodeTag, tag.getString("Key2"));
+        double degrees = FULL_INPUT_DEGREES * Math.max(-1.0, Math.min(1.0, input));
+        if (type == SurfaceType.CONTROL_SURFACE && tag.getBoolean(WariumCapture.FLAP_TAG)) {
+            degrees += Math.toDegrees(flying ? state.flapAngle : staticFlap(level, nodeKey, nodeTag));
+        }
+
+        short tenths = (short) Math.round(Math.max(-90.0, Math.min(90.0, degrees)) * 10.0);
+        ResourceKey<Level> dimension = level.dimension();
+        Long2ShortOpenHashMap lastValue = LAST_VALUE.computeIfAbsent(dimension, key -> new Long2ShortOpenHashMap());
+        Long2LongOpenHashMap lastSent = LAST_SENT.computeIfAbsent(dimension, key -> new Long2LongOpenHashMap());
+        long posKey = pos.asLong();
+        long now = level.getGameTime();
+        if (lastSent.containsKey(posKey) && lastValue.get(posKey) == tenths && now - lastSent.get(posKey) < RESEND_TICKS) {
+            return;
+        }
+        lastValue.put(posKey, tenths);
+        lastSent.put(posKey, now);
+
+        Ship ship = VSGameUtilsKt.getShipManagingPos(level, pos);
+        long shipId = ship != null ? ship.getId() : Long.MIN_VALUE;
+        Batch batch = BATCHES.get(shipId);
+        if (batch == null) {
+            Vector3d world = new Vector3d(pos.getX() + 0.5, pos.getY() + 0.5, pos.getZ() + 0.5);
+            if (ship != null) {
+                ship.getShipToWorld().transformPosition(world);
+            }
+            batch = new Batch(level, world.x, world.y, world.z, new LongArrayList(), new ShortArrayList());
+            BATCHES.put(shipId, batch);
+        }
+        batch.positions.add(posKey);
+        batch.tenths.add(tenths);
+    }
+
+    /** One key's share of a surface's input, like Warium reads "Pitch+" / "Roll-". Throttle keys do not deflect it. */
+    private static double axisInput(long nodeKey, CompoundTag nodeTag, String key) {
+        return ControlAxis.of(key) == ControlAxis.THROTTLE ? 0.0 : LiveInputs.key(nodeKey, nodeTag, key);
+    }
+
+    /** Flap angle of a node that is not flying: moves towards the lever's angle, once per tick however many flaps ask. */
+    private static double staticFlap(ServerLevel level, long nodeKey, CompoundTag nodeTag) {
+        double target = Math.toRadians(FlapSetting.of(nodeTag.getInt(WariumCapture.FLAP_SETTING_TAG)).degrees());
+        double[] entry = STATIC_FLAPS.computeIfAbsent(nodeKey, key -> new double[]{target, Double.NaN});
+        long now = level.getGameTime();
+        if (entry[1] != now) {
+            entry[1] = now;
+            entry[0] = AeroState.moveTowards(entry[0], target, Math.toRadians(Config.FLAP_SLEW_DEGREES.get()) / 20.0);
+        }
+        return entry[0];
+    }
+
+    @SubscribeEvent
+    public static void onServerTick(TickEvent.ServerTickEvent event) {
+        if (event.phase != TickEvent.Phase.END || BATCHES.isEmpty()) {
+            return;
+        }
+        for (Batch batch : BATCHES.values()) {
+            DeflectionPacket packet = new DeflectionPacket(batch.positions.toLongArray(), batch.tenths.toShortArray());
+            Network.CHANNEL.send(PacketDistributor.NEAR.with(() -> new PacketDistributor.TargetPoint(batch.x, batch.y, batch.z,
+                    RANGE, batch.level.dimension())), packet);
+        }
+        BATCHES.clear();
+    }
+
+    @SubscribeEvent
+    public static void onServerStopped(ServerStoppedEvent event) {
+        BATCHES.clear();
+        LAST_VALUE.clear();
+        LAST_SENT.clear();
+        STATIC_FLAPS.clear();
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/flight/ImprovedAero.java

@@ -129,11 +129,8 @@ final class ImprovedAero {
 
         // Low aspect ratio wings keep their flow attached longer thanks to leading-edge vortices. Control surfaces
         // in a wing's group stall with the wing instead of before it
-        double vortexFactor = tuning.vortex() && (s.type() == SurfaceType.WING || s.wingGroup() && s.type().controllable)
-                ? VortexLift.factor(s.aspectRatio()) : 0.0;
-        double baseStall = s.slab() ? SurfaceType.SLAB_STALL_ANGLE
-                : s.wingGroup() && s.type().controllable ? SurfaceType.WING.stallAngle : s.type().stallAngle;
-        double critical = Math.toRadians(baseStall) * (1.0 + tuning.vortexStallBonus() * vortexFactor) * tuning.stallAngleScale();
+        double vortexFactor = vortexFactor(s, tuning);
+        double critical = criticalAngle(s, tuning, vortexFactor);
         double absAlpha = Math.abs(alpha);
         if (alpha >= 0.0) {
             critical += FLAP_STALL_GAIN * flapShift;
@@ -149,9 +146,8 @@ final class ImprovedAero {
 
         // Finite wing theory: lift slope and induced drag follow from the wing's aspect ratio
         double aspectRatio = s.aspectRatio();
-        double slope = aspectRatio > 0.0 ? 2.0 * Math.PI / (1.0 + 2.0 / aspectRatio) : LIFT_SLOPE;
         double inducedDrag = aspectRatio > 0.0 ? 1.0 / (Math.PI * EFFICIENCY * aspectRatio) : INDUCED_DRAG;
-        double attachedLift = slope * alpha;
+        double attachedLift = liftSlope(s) * alpha;
         if (s.type() == SurfaceType.WING) {
             attachedLift += VortexLift.liftCoefficient(alpha, vortexFactor, tuning.vortexLiftStrength());
         }
@@ -175,6 +171,44 @@ final class ImprovedAero {
         return stalled;
     }
 
+    /**
+     * Lift (along the surface's normal) the surface would make in the airflow it sees now at the highest angle of
+     * attack it can fly without starting to stall, flaps included. Only meaningful for horizontal surfaces.
+     */
+    static double maxLift(AeroSurface s, double[] v, double[] w, double[] r, double flap, double weight, Tuning tuning) {
+        double vx = v[0] + w[1] * r[2] - w[2] * r[1];
+        double vy = v[1] + w[2] * r[0] - w[0] * r[2];
+        double vz = v[2] + w[0] * r[1] - w[1] * r[0];
+        double u = vx * s.facingX() + vz * s.facingZ();
+        double planeSpeedSq = u * u + vy * vy;
+        double vortexFactor = vortexFactor(s, tuning);
+        double flapShift = FLAP_ALPHA_FACTOR * flap;
+        double alpha = criticalAngle(s, tuning, vortexFactor) + FLAP_STALL_GAIN * flapShift - STALL_BLEND;
+        double lift = liftSlope(s) * alpha;
+        if (s.type() == SurfaceType.WING) {
+            lift += VortexLift.liftCoefficient(alpha, vortexFactor, tuning.vortexLiftStrength());
+        }
+        return LIFT_CONSTANT * s.pressure() * weight * s.fluidFactor() * planeSpeedSq * lift * tuning.liftScale();
+    }
+
+    private static double vortexFactor(AeroSurface s, Tuning tuning) {
+        return tuning.vortex() && (s.type() == SurfaceType.WING || s.wingGroup() && s.type().controllable)
+                ? VortexLift.factor(s.aspectRatio()) : 0.0;
+    }
+
+    /** Angle of attack (radians, camber and flaps included) at which the surface starts to stall, without flaps. */
+    private static double criticalAngle(AeroSurface s, Tuning tuning, double vortexFactor) {
+        double baseStall = s.slab() ? SurfaceType.SLAB_STALL_ANGLE
+                : s.wingGroup() && s.type().controllable ? SurfaceType.WING.stallAngle : s.type().stallAngle;
+        return Math.toRadians(baseStall) * (1.0 + tuning.vortexStallBonus() * vortexFactor) * tuning.stallAngleScale();
+    }
+
+    /** Lift slope per radian from finite wing theory, from the wing's aspect ratio. */
+    private static double liftSlope(AeroSurface s) {
+        double aspectRatio = s.aspectRatio();
+        return aspectRatio > 0.0 ? 2.0 * Math.PI / (1.0 + 2.0 / aspectRatio) : LIFT_SLOPE;
+    }
+
     static double smoothstep(double edge0, double edge1, double x) {
         double t = Math.max(0.0, Math.min(1.0, (x - edge0) / (edge1 - edge0)));
         return t * t * (3.0 - 2.0 * t);

src/main/java/dev/lumareth/improvedAerodynamics/flight/LiveInputs.java

@@ -0,0 +1,44 @@
+package dev.lumareth.improvedAerodynamics.flight;
+
+import net.minecraft.nbt.CompoundTag;
+
+/**
+ * The pilot inputs a control node's devices should follow, for everything that is not an aerodynamic surface (thrust
+ * vectoring nozzles). While the node's ship is flying these are the inputs the flight physics uses: the pilot's keys
+ * smoothed, or what cursor aim asks for in their place, plus the flight computer's pitch trim. A node without physics
+ * (on the ground, nothing moving, physics rate aerodynamics off) gives Warium's raw key values, as before.
+ */
+public final class LiveInputs {
+    // A node state the physics thread has not touched for this long is not flying any more
+    private static final long FRESH_MILLIS = 500;
+
+    private LiveInputs() {
+    }
+
+    /** The node's physics state if its ship is flying now, else null. */
+    static AeroState.NodeState flying(long nodeKey) {
+        AeroState.NodeState state = AeroState.nodeState(nodeKey);
+        return state != null && System.currentTimeMillis() - state.updatedMillis < FRESH_MILLIS ? state : null;
+    }
+
+    /**
+     * One axis of a node, in Warium's node units (-1 to 1), without any key multiplier.
+     *
+     * @param nodeTag the node block entity's persistent data, for the raw value
+     */
+    public static double value(long nodeKey, CompoundTag nodeTag, ControlAxis axis) {
+        AeroState.NodeState state = flying(nodeKey);
+        return switch (axis) {
+            case PITCH -> state != null ? state.pitch + state.trimOutput : nodeTag.getDouble("Pitch");
+            case YAW -> state != null ? state.yaw : nodeTag.getDouble("Yaw");
+            case ROLL -> state != null ? state.roll : nodeTag.getDouble("Roll");
+            case THROTTLE -> nodeTag.getDouble("Throttle");
+            case NONE -> 0.0;
+        };
+    }
+
+    /** A Warium key such as "Pitch+" or "Roll-" read from the node: its axis' value times the key's sign. */
+    public static double key(long nodeKey, CompoundTag nodeTag, String key) {
+        return value(nodeKey, nodeTag, ControlAxis.of(key)) * ControlAxis.multiplier(key);
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/flight/MixinPlugin.java

@@ -23,11 +23,13 @@ public final class MixinPlugin implements IMixinConfigPlugin {
 
     private boolean warium;
     private boolean futurism;
+    private boolean geckolib;
 
     @Override
     public void onLoad(String mixinPackage) {
         warium = supported("valkyrien_warium", WARIUM_VERSION, "Warium VS");
         futurism = supported("futurism", FUTURISM_VERSION, "Futurism");
+        geckolib = LoadingModList.get().getModFileById("geckolib") != null;
     }
 
     private static boolean supported(String modId, String version, String name) {
@@ -49,6 +51,10 @@ public final class MixinPlugin implements IMixinConfigPlugin {
         if (mixinClassName.contains(".mixin.warium.")) {
             return warium;
         }
+        if (mixinClassName.contains(".mixin.gecko.")) {
+            // Animates Warium's control surfaces, which are GeckoLib models
+            return warium && geckolib;
+        }
         if (mixinClassName.contains(".mixin.futurism.")) {
             return futurism;
         }

src/main/java/dev/lumareth/improvedAerodynamics/flight/WariumCapture.java

@@ -50,6 +50,9 @@ public final class WariumCapture {
         world = level;
         pos = BlockPos.containing(x, y, z);
         state = blockState;
+        if (surfaceType.controllable && level instanceof ServerLevel serverLevel && Config.PHYSICS_RATE_AERODYNAMICS.get()) {
+            DeflectionSync.report(serverLevel, pos, surfaceType);
+        }
     }
 
     /**

src/main/java/dev/lumareth/improvedAerodynamics/flight/mixin/futurism/VectoredAfterburnerSystemProcedureMixin.java

@@ -0,0 +1,55 @@
+package dev.lumareth.improvedAerodynamics.flight.mixin.futurism;
+
+import dev.lumareth.improvedAerodynamics.flight.LiveInputs;
+import net.mcreator.futurism.procedures.VectoredAfterburnerSystemProcedure;
+import net.minecraft.core.BlockPos;
+import net.minecraft.nbt.CompoundTag;
+import net.minecraft.server.level.ServerLevel;
+import net.minecraft.world.level.LevelAccessor;
+import net.minecraft.world.level.block.entity.BlockEntity;
+import net.minecraft.world.level.block.state.BlockState;
+import org.spongepowered.asm.mixin.Mixin;
+import org.spongepowered.asm.mixin.injection.At;
+import org.spongepowered.asm.mixin.injection.ModifyVariable;
+
+/**
+ * Futurism's vectored afterburner reads the raw key values of its control node, so it ignored cursor aim and the flight
+ * computer. This hands it the same inputs the control surfaces follow ({@link LiveInputs}), through the same Key and Key2
+ * it is configured with. It stays what Futurism made it, 2D vectoring: the procedure still only tilts the thrust up or
+ * down. The value is kept on Warium's 0.2 key steps, since every change of it plays Futurism's servo sound and sends a
+ * block update.
+ */
+@Mixin(value = VectoredAfterburnerSystemProcedure.class, remap = false)
+public abstract class VectoredAfterburnerSystemProcedureMixin {
+    private static final double STEP = 0.2;
+
+    @ModifyVariable(method = "execute", at = @At("STORE"), name = "input")
+    private static double improvedAerodynamics$liveInput(double input, LevelAccessor world, double x, double y, double z, BlockState blockstate) {
+        if (!(world instanceof ServerLevel level)) {
+            return input;
+        }
+        BlockEntity own = level.getBlockEntity(BlockPos.containing(x, y, z));
+        if (own == null) {
+            return input;
+        }
+        CompoundTag tag = own.getPersistentData();
+        BlockPos nodePos = BlockPos.containing(tag.getDouble("ControlX"), tag.getDouble("ControlY"), tag.getDouble("ControlZ"));
+        BlockEntity node = level.getBlockEntity(nodePos);
+        if (node == null) {
+            return input;
+        }
+        long nodeKey = nodePos.asLong();
+        CompoundTag nodeTag = node.getPersistentData();
+        double live = keyInput(nodeKey, nodeTag, tag.getString("Key")) + keyInput(nodeKey, nodeTag, tag.getString("Key2"));
+        live = Math.max(-1.0, Math.min(1.0, live));
+        return Math.round(live / STEP) * STEP;
+    }
+
+    /** Like Futurism reads a key: pitch, yaw or roll with its sign, anything else (Throttle, Null) adds nothing. */
+    private static double keyInput(long nodeKey, CompoundTag nodeTag, String key) {
+        if (key.startsWith("Pitch") || key.startsWith("Yaw") || key.startsWith("Roll")) {
+            return LiveInputs.key(nodeKey, nodeTag, key);
+        }
+        return 0.0;
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/flight/mixin/gecko/GeoModelMixin.java

@@ -0,0 +1,25 @@
+package dev.lumareth.improvedAerodynamics.flight.mixin.gecko;
+
+import dev.lumareth.improvedAerodynamics.client.animation.SurfaceAnimation;
+import net.minecraft.world.level.block.entity.BlockEntity;
+import org.spongepowered.asm.mixin.Mixin;
+import org.spongepowered.asm.mixin.injection.At;
+import org.spongepowered.asm.mixin.injection.Inject;
+import org.spongepowered.asm.mixin.injection.callback.CallbackInfo;
+import software.bernie.geckolib.core.animatable.GeoAnimatable;
+import software.bernie.geckolib.core.animation.AnimationState;
+import software.bernie.geckolib.model.GeoModel;
+
+/**
+ * Runs after GeckoLib has played an animatable's animations, to put Warium's control surfaces at the deflection the
+ * flight physics gives them, see {@link SurfaceAnimation}.
+ */
+@Mixin(value = GeoModel.class, remap = false)
+public abstract class GeoModelMixin {
+    @Inject(method = "handleAnimations", at = @At("RETURN"))
+    private void improvedAerodynamics$deflectSurface(GeoAnimatable animatable, long instanceId, AnimationState animationState, CallbackInfo ci) {
+        if (animatable instanceof BlockEntity blockEntity) {
+            SurfaceAnimation.apply(blockEntity, (GeoModel<?>) (Object) this);
+        }
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/network/AimPacket.java

@@ -0,0 +1,45 @@
+package dev.lumareth.improvedAerodynamics.network;
+
+import dev.lumareth.improvedAerodynamics.flight.CursorAimServer;
+import net.minecraft.network.FriendlyByteBuf;
+import net.minecraft.server.level.ServerPlayer;
+import net.minecraftforge.fml.ModList;
+import net.minecraftforge.network.NetworkEvent;
+
+import java.util.function.Supplier;
+
+/**
+ * Sent every tick while a pilot has cursor aim on, and once when it goes off. The cursor is given as components along
+ * the craft's boresight, right and up axes, so it does not depend on the camera.
+ */
+public final class AimPacket {
+    private final boolean active;
+    private final float forward;
+    private final float right;
+    private final float up;
+
+    public AimPacket(boolean active, float forward, float right, float up) {
+        this.active = active;
+        this.forward = forward;
+        this.right = right;
+        this.up = up;
+    }
+
+    public void encode(FriendlyByteBuf buffer) {
+        buffer.writeBoolean(active);
+        buffer.writeFloat(forward);
+        buffer.writeFloat(right);
+        buffer.writeFloat(up);
+    }
+
+    public static AimPacket decode(FriendlyByteBuf buffer) {
+        return new AimPacket(buffer.readBoolean(), buffer.readFloat(), buffer.readFloat(), buffer.readFloat());
+    }
+
+    public void handle(Supplier<NetworkEvent.Context> context) {
+        ServerPlayer player = context.get().getSender();
+        if (player != null && ModList.get().isLoaded("valkyrien_warium")) {
+            CursorAimServer.accept(player, active, forward, right, up);
+        }
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/network/ControlModePacket.java

@@ -0,0 +1,32 @@
+package dev.lumareth.improvedAerodynamics.network;
+
+import dev.lumareth.improvedAerodynamics.client.aim.CursorAimClient;
+import net.minecraft.network.FriendlyByteBuf;
+import net.minecraftforge.api.distmarker.Dist;
+import net.minecraftforge.fml.DistExecutor;
+import net.minecraftforge.network.NetworkEvent;
+
+import java.util.function.Supplier;
+
+/** Tells a client whether its player flies with cursor aim, see {@code /aero controls}. */
+public final class ControlModePacket {
+    private final boolean cursorAim;
+
+    public ControlModePacket(boolean cursorAim) {
+        this.cursorAim = cursorAim;
+    }
+
+    public void encode(FriendlyByteBuf buffer) {
+        buffer.writeBoolean(cursorAim);
+    }
+
+    public static ControlModePacket decode(FriendlyByteBuf buffer) {
+        return new ControlModePacket(buffer.readBoolean());
+    }
+
+    public void handle(Supplier<NetworkEvent.Context> context) {
+        boolean value = cursorAim;
+        DistExecutor.unsafeRunWhenOn(Dist.CLIENT, () -> () -> CursorAimClient.setMode(value));
+        context.get().setPacketHandled(true);
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/network/DeflectionPacket.java

@@ -0,0 +1,50 @@
+package dev.lumareth.improvedAerodynamics.network;
+
+import dev.lumareth.improvedAerodynamics.client.animation.SurfaceAnimation;
+import net.minecraft.network.FriendlyByteBuf;
+import net.minecraftforge.api.distmarker.Dist;
+import net.minecraftforge.fml.DistExecutor;
+import net.minecraftforge.network.NetworkEvent;
+
+import java.util.function.Supplier;
+
+/** How far control surfaces are deflected, for the clients near a ship: block positions and tenths of a degree. */
+public final class DeflectionPacket {
+    private final long[] positions;
+    private final short[] tenths;
+
+    public DeflectionPacket(long[] positions, short[] tenths) {
+        this.positions = positions;
+        this.tenths = tenths;
+    }
+
+    public void encode(FriendlyByteBuf buffer) {
+        buffer.writeVarInt(positions.length);
+        for (int i = 0; i < positions.length; i++) {
+            buffer.writeLong(positions[i]);
+            buffer.writeShort(tenths[i]);
+        }
+    }
+
+    public static DeflectionPacket decode(FriendlyByteBuf buffer) {
+        int count = buffer.readVarInt();
+        long[] positions = new long[count];
+        short[] tenths = new short[count];
+        for (int i = 0; i < count; i++) {
+            positions[i] = buffer.readLong();
+            tenths[i] = buffer.readShort();
+        }
+        return new DeflectionPacket(positions, tenths);
+    }
+
+    public void handle(Supplier<NetworkEvent.Context> context) {
+        long[] pos = positions;
+        short[] values = tenths;
+        DistExecutor.unsafeRunWhenOn(Dist.CLIENT, () -> () -> {
+            for (int i = 0; i < pos.length; i++) {
+                SurfaceAnimation.set(pos[i], values[i] / 10.0F);
+            }
+        });
+        context.get().setPacketHandled(true);
+    }
+}

src/main/java/dev/lumareth/improvedAerodynamics/network/Network.java

@@ -33,6 +33,22 @@ public final class Network {
                 .decoder(ExhaustPacket::decode)
                 .consumerMainThread(ExhaustPacket::handle)
                 .add();
+        // High id so it cannot collide with packets added on other branches
+        CHANNEL.messageBuilder(AimPacket.class, 50, NetworkDirection.PLAY_TO_SERVER)
+                .encoder(AimPacket::encode)
+                .decoder(AimPacket::decode)
+                .consumerMainThread(AimPacket::handle)
+                .add();
+        CHANNEL.messageBuilder(ControlModePacket.class, 51, NetworkDirection.PLAY_TO_CLIENT)
+                .encoder(ControlModePacket::encode)
+                .decoder(ControlModePacket::decode)
+                .consumerMainThread(ControlModePacket::handle)
+                .add();
+        CHANNEL.messageBuilder(DeflectionPacket.class, 11, NetworkDirection.PLAY_TO_CLIENT)
+                .encoder(DeflectionPacket::encode)
+                .decoder(DeflectionPacket::decode)
+                .consumerMainThread(DeflectionPacket::handle)
+                .add();
         // Higher id than the neighbours so it does not collide with packets added on other branches
         CHANNEL.messageBuilder(FlapPacket.class, 10, NetworkDirection.PLAY_TO_SERVER)
                 .encoder(FlapPacket::encode)

src/main/resources/assets/improved_aerodynamics/lang/de_de.json

@@ -1,8 +1,8 @@
 {
   "key.categories.improved_aerodynamics": "Improved Aerodynamics",
   "key.improved_aerodynamics.toggle_auto_trim": "Automatische Trimmung umschalten",
-  "message.improved_aerodynamics.auto_trim.on": "Automatische Trimmung an",
-  "message.improved_aerodynamics.auto_trim.off": "Automatische Trimmung aus",
+  "message.improved_aerodynamics.auto_trim.on": "Flugcomputer an (automatische Trimmung)",
+  "message.improved_aerodynamics.auto_trim.off": "Flugcomputer aus (automatische Trimmung)",
   "message.improved_aerodynamics.auto_trim.unavailable": "Automatische Trimmung an, sie braucht aber physicsRateAerodynamics in der Serverkonfiguration",
   "message.improved_aerodynamics.auto_trim.no_seat": "Setz dich in einen Warium-Steuersitz, um die automatische Trimmung zu nutzen",
   "message.improved_aerodynamics.auto_trim.no_node": "Dieser Sitz ist mit keinem Vehicle Control Node verbunden",
@@ -23,6 +23,11 @@
   "message.improved_aerodynamics.afterburner.throttle": "Der Nachbrenner braucht mindestens Schub %s",
   "message.improved_aerodynamics.afterburner.no_seat": "Setz dich in einen Warium-Steuersitz, um den Nachbrenner zu nutzen",
   "message.improved_aerodynamics.afterburner.no_node": "Dieser Sitz ist mit keinem Vehicle Control Node verbunden",
+  "key.improved_aerodynamics.cursor_aim_free_look": "Cursor-Steuerung: Freie Sicht (halten)",
+  "message.improved_aerodynamics.cursor_aim.on": "Cursor-Steuerung an",
+  "message.improved_aerodynamics.cursor_aim.off": "Cursor-Steuerung aus",
+  "message.improved_aerodynamics.cursor_aim.no_seat": "Setz dich in einen Warium-Steuersitz, um die Cursor-Steuerung zu nutzen",
+  "message.improved_aerodynamics.cursor_aim.no_server": "Dieser Server hat Improved Aerodynamics nicht, die Cursor-Steuerung braucht es",
   "key.improved_aerodynamics.flaps_down": "Klappen runter (eine Stufe)",
   "key.improved_aerodynamics.flaps_up": "Klappen rauf (eine Stufe)",
   "message.improved_aerodynamics.flaps": "Klappen: %s",

src/main/resources/assets/improved_aerodynamics/lang/en_us.json

@@ -1,8 +1,8 @@
 {
   "key.categories.improved_aerodynamics": "Improved Aerodynamics",
   "key.improved_aerodynamics.toggle_auto_trim": "Toggle auto trim",
-  "message.improved_aerodynamics.auto_trim.on": "Auto trim on",
-  "message.improved_aerodynamics.auto_trim.off": "Auto trim off",
+  "message.improved_aerodynamics.auto_trim.on": "Flight computer on (auto trim)",
+  "message.improved_aerodynamics.auto_trim.off": "Flight computer off (auto trim)",
   "message.improved_aerodynamics.auto_trim.unavailable": "Auto trim on, but it needs physicsRateAerodynamics enabled in the server config",
   "message.improved_aerodynamics.auto_trim.no_seat": "Sit in a Warium control seat to use auto trim",
   "message.improved_aerodynamics.auto_trim.no_node": "This seat is not linked to a vehicle control node",
@@ -23,6 +23,11 @@
   "message.improved_aerodynamics.afterburner.throttle": "The afterburner needs a throttle of at least %s",
   "message.improved_aerodynamics.afterburner.no_seat": "Sit in a Warium control seat to use the afterburner",
   "message.improved_aerodynamics.afterburner.no_node": "This seat is not linked to a vehicle control node",
+  "key.improved_aerodynamics.cursor_aim_free_look": "Cursor aim: free look (hold)",
+  "message.improved_aerodynamics.cursor_aim.on": "Cursor aim on",
+  "message.improved_aerodynamics.cursor_aim.off": "Cursor aim off",
+  "message.improved_aerodynamics.cursor_aim.no_seat": "Sit in a Warium control seat to use cursor aim",
+  "message.improved_aerodynamics.cursor_aim.no_server": "This server does not have Improved Aerodynamics, cursor aim needs it",
   "key.improved_aerodynamics.flaps_down": "Flaps down (one step)",
   "key.improved_aerodynamics.flaps_up": "Flaps up (one step)",
   "message.improved_aerodynamics.flaps": "Flaps: %s",

src/main/resources/data/improved_aerodynamics/tags/blocks/flappable.json

@@ -216,6 +216,18 @@
     {
       "id": "valkyrien_warium:green_control_surface_offset_top",
       "required": false
+    },
+    {
+      "id": "warframes:airframe_control_surface",
+      "required": false
+    },
+    {
+      "id": "warframes:airframe_half_control_surface",
+      "required": false
+    },
+    {
+      "id": "warframes:airframe_stepped_control_surface",
+      "required": false
     }
   ]
-}
+}

src/main/resources/improved_aerodynamics.mixins.json

@@ -6,6 +6,8 @@
   "compatibilityLevel": "JAVA_17",
   "mixins": [
     "futurism.ForceInducedShipsMixin",
+    "futurism.VectoredAfterburnerSystemProcedureMixin",
+    "gecko.GeoModelMixin",
     "warium.AirBrakeTickProcedureMixin",
     "warium.BypassedCompressorScriptProcedureMixin",
     "warium.ControlSurfaceTickProcedureMixin",