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

@@ -204,6 +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();
     }
@@ -220,6 +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/ImprovedAerodynamics.java

@@ -1,11 +1,9 @@
 package dev.lumareth.improvedAerodynamics;
 
 import com.mojang.logging.LogUtils;
-import dev.lumareth.improvedAerodynamics.client.aim.CursorAimClientConfig;
 import dev.lumareth.improvedAerodynamics.client.pipper.PipperConfig;
 import dev.lumareth.improvedAerodynamics.exhaust.ExhaustSync;
 import dev.lumareth.improvedAerodynamics.exhaust.NozzleContent;
-import dev.lumareth.improvedAerodynamics.flight.CursorAimConfig;
 import dev.lumareth.improvedAerodynamics.flight.PhysicsBridge;
 import dev.lumareth.improvedAerodynamics.network.Network;
 import dev.lumareth.improvedAerodynamics.terrain.LookaheadLoader;
@@ -29,12 +27,11 @@ public class ImprovedAerodynamics {
         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");
-        ModLoadingContext.get().registerConfig(ModConfig.Type.SERVER, CursorAimConfig.SPEC, "improved_aerodynamics-cursor-aim.toml");
-        ModLoadingContext.get().registerConfig(ModConfig.Type.CLIENT, CursorAimClientConfig.SPEC, "improved_aerodynamics-cursor-aim-client.toml");
         NozzleContent.register(FMLJavaModLoadingContext.get().getModEventBus());
         Network.register();
     }

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

@@ -1,5 +1,6 @@
 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;
@@ -32,6 +33,7 @@ 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;
@@ -44,9 +46,10 @@ 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 direction relative to the gun reticle (the
- *   craft's boresight), at most {@code maxCursorAngleDegrees} away from it, and springs back to it when the mouse
- *   rests. It is sent to the server every tick, where a virtual pilot flies the craft by it;</li>
+ *   <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>
@@ -62,16 +65,23 @@ public final class CursorAimClient {
     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 components along the craft's forward (gun reticle), right and up axes
+    // 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
@@ -109,9 +119,91 @@ public final class CursorAimClient {
             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;
@@ -135,10 +227,12 @@ public final class CursorAimClient {
             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;
@@ -184,7 +278,8 @@ public final class CursorAimClient {
         }
         Entity seat = AimSeat.seatOf(player);
         AimBasis basis = AimBasis.of(level, seat.blockPosition());
-        if (basis == null) {
+        Quaterniondc rotation = basis != null ? shipRotation(level, seat, true) : null;
+        if (basis == null || rotation == null) {
             return;
         }
         if (minecraft.options.getCameraType() != CameraType.THIRD_PERSON_BACK) {
@@ -207,10 +302,11 @@ public final class CursorAimClient {
                 deltaPitch = 0.0;
             }
         }
-        double sensitivity = CursorAimClientConfig.MOUSE_SENSITIVITY.get();
+        double sensitivity = Config.CURSOR_AIM_MOUSE_SENSITIVITY.get();
         boolean freeLook = minecraft.screen == null && AimKeys.FREE_LOOK.isDown();
 
-        double spring = CursorAimClientConfig.SPRING_BACK_SECONDS.get();
+        cursorFromWorld(basis, rotation);
+        double spring = Config.CURSOR_AIM_SPRING_BACK_SECONDS.get();
         if (spring > 0.0) {
             shrinkCursor(Math.exp(-dt / spring));
         }
@@ -223,14 +319,16 @@ public final class CursorAimClient {
             offsetYaw *= decay;
             offsetPitch *= decay;
         }
+        cursorToWorld(basis, rotation);
 
-        // Camera: along the reticle, or turned towards the cursor by the look ahead setting
-        double lookAhead = CursorAimClientConfig.LOOK_AHEAD.get();
+        // 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 {
-            double[] target = basis.toShip(cf, cr, cu);
+            // 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));
@@ -295,7 +393,7 @@ public final class CursorAimClient {
     }
 
     private static void limitCursor() {
-        double limit = Math.toRadians(CursorAimClientConfig.MAX_CURSOR_ANGLE_DEGREES.get());
+        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;
@@ -318,7 +416,7 @@ public final class CursorAimClient {
         if (!active || minecraft.screen != null) {
             return;
         }
-        zoom = Mth.clamp(zoom - event.getScrollDelta() * CursorAimClientConfig.ZOOM_STEP.get(), -3.0, CursorAimClientConfig.ZOOM_MAX.get());
+        zoom = Mth.clamp(zoom - event.getScrollDelta() * Config.CURSOR_AIM_ZOOM_STEP.get(), -3.0, Config.CURSOR_AIM_ZOOM_MAX.get());
         event.setCanceled(true);
     }
 
@@ -354,14 +452,10 @@ public final class CursorAimClient {
         }
         Entity seat = AimSeat.seatOf(player);
         AimBasis basis = AimBasis.of(level, seat.blockPosition());
-        Ship ship = VSGameUtilsKt.getLoadedShipManagingPos(level, BlockPos.containing(seat.getX(), seat.getY(), seat.getZ()));
-        if (basis == null || ship == null) {
+        Quaterniondc rotation = basis != null ? shipRotation(level, seat, true) : null;
+        if (rotation == null || cursorWorld == null) {
             return;
         }
-        Quaterniondc rotation = ship instanceof ClientShip clientShip
-                ? clientShip.getRenderTransform().getShipToWorldRotation() : ship.getTransform().getShipToWorldRotation();
-        double[] cursorShip = basis.toShip(cf, cr, cu);
-        Vector3d cursorWorld = rotation.transform(new Vector3d(cursorShip[0], cursorShip[1], cursorShip[2]));
         double[] forward = basis.forward();
         Vector3d reticleWorld = rotation.transform(new Vector3d(forward[0], forward[1], forward[2]));
 
@@ -375,8 +469,8 @@ public final class CursorAimClient {
         RenderSystem.setShader(GameRenderer::getPositionColorShader);
         builder.begin(VertexFormat.Mode.QUADS, DefaultVertexFormat.POSITION_COLOR);
 
-        float size = (float) (CursorAimClientConfig.MARKER_SIZE.get() * MARKER_DISTANCE);
-        if (CursorAimClientConfig.SHOW_RETICLE.get()) {
+        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);

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

@@ -1,45 +0,0 @@
-package dev.lumareth.improvedAerodynamics.client.aim;
-
-import net.minecraftforge.common.ForgeConfigSpec;
-
-/** Client side settings of cursor aim. Lives in improved_aerodynamics-cursor-aim-client.toml. */
-public final class CursorAimClientConfig {
-    public static final ForgeConfigSpec SPEC;
-
-    public static final ForgeConfigSpec.DoubleValue LOOK_AHEAD;
-    public static final ForgeConfigSpec.DoubleValue MOUSE_SENSITIVITY;
-    public static final ForgeConfigSpec.DoubleValue SPRING_BACK_SECONDS;
-    public static final ForgeConfigSpec.DoubleValue MAX_CURSOR_ANGLE_DEGREES;
-    public static final ForgeConfigSpec.DoubleValue ZOOM_STEP;
-    public static final ForgeConfigSpec.DoubleValue ZOOM_MAX;
-    public static final ForgeConfigSpec.DoubleValue MARKER_SIZE;
-    public static final ForgeConfigSpec.BooleanValue SHOW_RETICLE;
-
-    static {
-        ForgeConfigSpec.Builder builder = new ForgeConfigSpec.Builder();
-        builder.comment("Cursor aim, client side").push("cursor_aim");
-        LOOK_AHEAD = 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);
-        MOUSE_SENSITIVITY = 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);
-        SPRING_BACK_SECONDS = builder.comment("The cursor returns to the gun reticle with this time constant in seconds when you stop moving the mouse.",
-                        "0 makes it stay where you left it")
-                .defineInRange("springBackSeconds", 1.0, 0.0, 10.0);
-        MAX_CURSOR_ANGLE_DEGREES = 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);
-        ZOOM_STEP = builder.comment("Blocks the camera moves per mouse wheel notch")
-                .defineInRange("zoomStep", 2.0, 0.1, 20.0);
-        ZOOM_MAX = builder.comment("Furthest the camera can be pulled back from its normal distance, in blocks")
-                .defineInRange("zoomMax", 80.0, 0.0, 500.0);
-        MARKER_SIZE = builder.comment("Radius of the cursor ring on screen")
-                .defineInRange("markerSize", 0.04, 0.01, 0.3);
-        SHOW_RETICLE = 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);
-        builder.pop();
-        SPEC = builder.build();
-    }
-
-    private CursorAimClientConfig() {
-    }
-}

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/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

@@ -27,6 +27,8 @@ 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;
@@ -41,7 +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();
 
@@ -57,6 +64,8 @@ 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
@@ -67,6 +76,17 @@ public final class AeroState implements PhysicsBridge.Publishable {
         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;
 
@@ -151,9 +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
@@ -180,9 +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()) {
@@ -209,9 +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;
     }
@@ -229,6 +257,7 @@ 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();
@@ -251,6 +280,9 @@ 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);
@@ -296,6 +328,37 @@ public final class AeroState implements PhysicsBridge.Publishable {
         }
     }
 
+    /**
+     * 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, ControlAxis nudged, double extra) {
         if (node == null || state == null) {
@@ -318,7 +381,7 @@ public final class AeroState implements PhysicsBridge.Publishable {
     }
 
     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)};
@@ -328,11 +391,13 @@ public final class AeroState implements PhysicsBridge.Publishable {
                 continue;
             }
             // 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);
+            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);
+            state.updatedMillis = System.currentTimeMillis();
             AutoTrim.update(state, effective, worldVelocity, altitude, rotation, inertia, w, torque, dt, improved && wingStalled);
         }
     }
@@ -351,6 +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/CursorAimConfig.java

@@ -1,56 +0,0 @@
-package dev.lumareth.improvedAerodynamics.flight;
-
-import net.minecraftforge.common.ForgeConfigSpec;
-
-/** Server side settings of the cursor aim virtual pilot. Lives in improved_aerodynamics-cursor-aim.toml. */
-public final class CursorAimConfig {
-    public static final ForgeConfigSpec SPEC;
-
-    public static final ForgeConfigSpec.BooleanValue ENABLED;
-    public static final ForgeConfigSpec.DoubleValue FULL_DEFLECTION_DEGREES;
-    public static final ForgeConfigSpec.DoubleValue DEADZONE_DEGREES;
-    public static final ForgeConfigSpec.DoubleValue MAX_TURN_RATE_DEGREES;
-    public static final ForgeConfigSpec.DoubleValue MAX_ROLL_RATE_DEGREES;
-    public static final ForgeConfigSpec.DoubleValue MAX_BANK_DEGREES;
-    public static final ForgeConfigSpec.DoubleValue BANK_GAIN;
-    public static final ForgeConfigSpec.DoubleValue RATE_GAIN;
-    public static final ForgeConfigSpec.DoubleValue PUSH_FACTOR;
-    public static final ForgeConfigSpec.DoubleValue STALLED_PITCH_FACTOR;
-    public static final ForgeConfigSpec.DoubleValue MIN_SPEED;
-
-    static {
-        ForgeConfigSpec.Builder builder = new ForgeConfigSpec.Builder();
-        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");
-        ENABLED = builder.comment("Whether pilots may use cursor aim on this server")
-                .define("enabled", true);
-        FULL_DEFLECTION_DEGREES = builder.comment("Angle of the cursor from the gun reticle at which the virtual pilot asks for full deflection: the maximum bank",
-                        "sideways, the full pitch rate up or down")
-                .defineInRange("fullDeflectionDegrees", 30.0, 5.0, 90.0);
-        DEADZONE_DEGREES = builder.comment("Radius around the gun reticle in degrees inside which the cursor commands nothing, so the craft flies straight.",
-                        "Outside it the command grows from zero, there is no jump at the edge")
-                .defineInRange("deadzoneDegrees", 3.0, 0.0, 15.0);
-        MAX_TURN_RATE_DEGREES = builder.comment("Turn rate in degrees per second the pilot asks for at full deflection, both for the turn at maximum bank and for pitching")
-                .defineInRange("maxTurnRateDegrees", 40.0, 5.0, 360.0);
-        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);
-        MAX_BANK_DEGREES = builder.comment("Bank angle the pilot rolls to when the cursor is at full sideways deflection")
-                .defineInRange("maxBankDegrees", 70.0, 10.0, 90.0);
-        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);
-        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);
-        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);
-        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);
-        MIN_SPEED = builder.comment("Below this speed in blocks per second the pilot does nothing, the surfaces have no effect anyway")
-                .defineInRange("minSpeed", 15.0, 0.0, 200.0);
-        builder.pop();
-        SPEC = builder.build();
-    }
-
-    private CursorAimConfig() {
-    }
-}

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

@@ -1,5 +1,6 @@
 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;
@@ -24,7 +25,7 @@ public final class CursorAimServer {
         }
         long nodeKey = basis.nodePos().asLong();
         double length = Math.sqrt(cf * cf + cr * cr + cu * cu);
-        if (!active || !CursorAimConfig.ENABLED.get() || !(length > 1.0E-6) || !Double.isFinite(length)) {
+        if (!active || !Config.CURSOR_AIM_ENABLED.get() || !(length > 1.0E-6) || !Double.isFinite(length)) {
             CursorAimRegistry.clear(nodeKey);
             return;
         }

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

@@ -1,29 +1,54 @@
 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 stick that springs back to the gun reticle:
+ * 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>sideways it commands a bank angle and turn: the further out, the steeper the bank and the harder the pull
- *   that comes with it. Centered it levels the wings, so a centered cursor is straight flight;</li>
- *   <li>up and down it commands a pitch rate;</li>
- *   <li>close to the reticle it steers with yaw and pitch directly instead of banking, so aiming does not rock the
- *   wings.</li>
+ *   <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;
-    private static final double MAX_PULL_BANK = Math.toRadians(90.0);
+    // 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() {
     }
@@ -32,57 +57,128 @@ final class 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) {
-        if (!CursorAimConfig.ENABLED.get()) {
+                          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 || speed < CursorAimConfig.MIN_SPEED.get()) {
+        if (aim == null) {
             return node;
         }
 
-        double fullAngle = Math.toRadians(CursorAimConfig.FULL_DEFLECTION_DEGREES.get());
-        double maxTurn = Math.toRadians(CursorAimConfig.MAX_TURN_RATE_DEGREES.get());
-        double maxRoll = Math.toRadians(CursorAimConfig.MAX_ROLL_RATE_DEGREES.get());
-        double maxBank = Math.toRadians(CursorAimConfig.MAX_BANK_DEGREES.get());
+        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();
-
-        // Cursor as angles from the reticle: sideways (positive right) and up, both through any 270 degree cone
-        double sideways = Math.atan2(aim.cr(), aim.cf());
-        double vertical = Math.atan2(aim.cu(), Math.hypot(aim.cf(), aim.cr()));
-        // Deadzone around the reticle: shrink the cursor offset by its radius, direction kept
-        double offset = Math.hypot(sideways, vertical);
-        double deadzone = Math.toRadians(CursorAimConfig.DEADZONE_DEGREES.get());
-        if (offset > 1.0E-9) {
-            double scale = Math.max(0.0, offset - deadzone) / offset;
-            sideways *= scale;
-            vertical *= scale;
-        }
-        double lateral = saturate(sideways / fullAngle);
-        double blend = smoothstep(Math.abs(sideways), FINE_START, FINE_END);
+        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);
 
-        double bankCommand = maxBank * lateral * blend;
-        double rollRate = clamp(CursorAimConfig.BANK_GAIN.get() * (bankCommand - bank), -maxRoll, maxRoll);
-
-        // Pitch: the stick, plus the pull that carries the turn while banked
-        double pitchStick = saturate(vertical / fullAngle);
-        double pitchRate = maxTurn * (pitchStick >= 0.0 ? pitchStick : pitchStick * CursorAimConfig.PUSH_FACTOR.get());
-        if (Math.abs(bank) < MAX_PULL_BANK) {
-            pitchRate += maxTurn * Math.abs(lateral) * blend * Math.sin(Math.abs(bank));
+        // 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;
         }
-        if (wingStalled && pitchRate > 0.0) {
-            pitchRate *= CursorAimConfig.STALLED_PITCH_FACTOR.get();
+        // 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 * lateral * (1.0 - blend);
+        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(
@@ -90,7 +186,7 @@ final class CursorPilot {
                 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(CursorAimConfig.RATE_GAIN.get());
+        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);
@@ -101,6 +197,11 @@ final class CursorPilot {
         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,
@@ -108,6 +209,25 @@ final class CursorPilot {
                 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);
@@ -129,6 +249,11 @@ final class CursorPilot {
         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);
     }

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/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

@@ -44,6 +44,11 @@ public final class Network {
                 .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/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",