It has an inherrant discipline which has a powerful incentive- a good ride.
Energy efficiency is the basis of good form.
To attain cubic ability, the mentality must preceed the reality. You must be curious about what lies beyond the envelope of your ability and you must have an appetite for it. Then the challenge is to mount a strategic, centered attempt. An initial energy is established and then coached through a move. This energy is focused in the leading edge of the boat.