EAFE — Autonomous Elytra Flight Engine

Protocol-level navigation for autonomous flight in Minecraft

Overview

EAFE (Autonomous Elytra Flight Engine) is a protocol-level navigation architecture for long-range autonomous elytra flight in Minecraft. It handles adaptive obstacle avoidance, threat evasion, and precision landing using vanilla physics compliance.

Version	Status	Key Additions
v7.0	Reference	FSM, kinematics, anti-cheat, Nether hazards
v7.1	Current	Decompiled vanilla physics, axis-decoupled drag, 150ms jump apex, chunk hysteresis

Finite State Machine

stateDiagram-v2
    [*] --> IDLE
    IDLE --> AUDIT : Launch command
    AUDIT --> PRE_FLIGHT : Audit pass
    AUDIT --> GROUND_PATHFIND : Obstruction detected
    GROUND_PATHFIND --> TAKEOFF : Arrived at open node
    PRE_FLIGHT --> TAKEOFF : Pitch set, item staged
    TAKEOFF --> CRUISE : Airborne (v_y > 0.1)
    CRUISE --> EVASION : Player within 128m
    CRUISE --> STALL_ORBIT : TPS < 10 or chunk unloaded
    CRUISE --> DESCENT : Within 150m of target
    STALL_ORBIT --> CRUISE : TPS >= 16 and chunk loaded
    DESCENT --> LANDING : Y_rel <= 20m
    LANDING --> [*]

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Core Physics

EAFE models Minecraft's discrete per-tick velocity update (1 tick = 50ms).

Velocity Update Loop (v7.1 — Authoritative)

Step 1: Pitch Energy Exchange

Nose-UP ($\phi < 0$): Horizontal → vertical climbing: $$\Delta v_y = v_h \cdot (-\sin\phi) \cdot 0.04$$

Nose-DOWN ($\phi > 0, v_y < 0$): Falling → horizontal thrust: $$\Delta v_x = \frac{v_x}{v_h} \cdot (-v_y) \cdot \cos^2\phi \cdot 0.1$$

Step 2: Gravity & Lift $$v_y' = v_y + \Delta v_y - 0.08 + (\cos^2\phi \cdot 0.06) + a_{boost,y}$$

Step 3: Axis-Decoupled Drag $$v_{x,t+1} = v_x' \cdot 0.99 \quad \text{(horizontal)}$$ $$v_{y,t+1} = v_y' \cdot 0.98 \quad \text{(vertical)}$$

Key difference: v7 used unified 0.99 drag. v7.1 correctly splits horizontal (0.99) and vertical (0.98), matching vanilla decompiled code.

Version Comparison: Physics Model

Aspect	v7.0	v7.1
Drag	Unified $k_d = 0.99$	Axis-decoupled: $D_h = 0.99$, $D_v = 0.98$
Lift	$C_L = \cos\theta \cdot \min(1, |\vec{v}|^2)$	Passive wing: $\cos^2\phi \cdot 0.06$
Pitch exchange	Single formula	Decomposed nose-up (0.04) / nose-down (0.1)
Update order	Drag → gravity → lift	Pitch exchange → gravity+impulse+lift → drag
Nether hazard	Weighted sum $H(n)$	Percentage ratio $H > 30%$

Navigation

Target Angle Calculation

$$d_{2D} = \sqrt{(x_t - x_b)^2 + (z_t - z_b)^2}$$ $$\theta_{yaw} = \text{atan2}(-(x_t - x_b), z_t - z_b)$$ $$\phi_{pitch} = \text{atan2}(y_t - y_b, d_{2D})$$

Fuel Requirement

$$N_{rockets} = \left\lceil \frac{d_{2D}}{68.5} \right\rceil + \left\lceil \frac{|Y_{cruise} - Y_{start}|}{28.0} \right\rceil + 15$$

Anti-Cheat

Look-vector changes use cubic Bézier curves with Gaussian noise: $$\vec{B}(t) = (1-t)^3 \vec{P}_0 + 3(1-t)^2 t \vec{P}_1 + 3(1-t) t^2 \vec{P}_2 + t^3 \vec{P}_3$$

Slew rate limits: $|\Delta\phi| \le 0.35$ rad/tick, $|\Delta\theta| \le 0.26$ rad/tick

Landing

Archimedean spiral scan for safe landing zones: $$r(\alpha) = a + b \cdot \alpha, \quad x = r\cos\alpha, \quad z = r\sin\alpha$$

Surface classifier: SAFE (grass/stone) → MODERATE (ice/slime) → FATAL (lava/void)

Fail-Safe Matrix

Error	Trigger	Recovery	Fallback
ERR_WALL_COLLISION	v_h < 0.1 while θ ≤ 0	Pitch -0.70 rad + rocket + 180° yaw	GROUND_PATHFIND
ERR_ELYTRA_BREAK	Durability ≤ 10	Equip totem, pitch +0.5 rad glide	LANDING (Dead-Stick)
ERR_CRITICAL_HEALTH	HP ≤ 6.0	Totem swap, stratospheric boost	EVASION
ERR_CHUNK_FREEZE	Chunk unloaded	Pitch +0.05 rad, 30m orbit	STALL_ORBIT
ERR_RUBBERBAND_LOOP	3 teleports in 10 ticks	Zero velocity, halve target speed	STALL_ORBIT
ERR_NO_FIREWORKS	Rocket count == 0	Archimedean scan, dead-stick glide	DESCENT → LANDING
ERR_NETHER_BEDROCK	Y ≥ 118 or Y ≤ 35	Pitch correction +0.3/-0.3 rad	Rocket thrust away
ERR_PORTAL_BLOCKAGE	No dimension shift in 60 ticks	Step back 3m, re-align, re-enter	GROUND_PATHFIND

Full Specifications

• EAFE-v7.0 — Master Architecture
• EAFE-v7.1 — Engineering Specification
• Technical Audit