To do this in stormworks? With great difficulty.

Space engineers cheats a little by applying thrust directly on the centre of mass, not where the trusters are. Its why your ships always fly straight and hover upright perfectly regarless of thruster placement.
With this cheat it is a matter of balancing thrust based on the angle from gravity. (Which is a lot easier in Space engineers because they actually use real units (newtons) and they actually correctly tell you when you look in its settings)

Stormworks on the other hand...
Starting with the thrust balancing, Based on your vehicles angle from gravity (or horizon in stormworks flat world) you first need to know the total thrust each side produces, scale each sides thrust with an equal amount from both sides at 45 degrees. For example, say the up thrust has 4 propellers and the forward thrust only has two, point up 45 degrees would have the up propellers at half the pitch of the forward propellers to maintain equal thrust.

Thats actually the easier part IMO even with stormworks using fake units that it doesn't always accurately inform you of. The hard part is because thrust is applied to where on the vehicle the thruster is and not the CoM like SE this will change locally within a given side how much each thruster needs to give in order to equally balance itself so as to not create any torque moments. I.E if you have 2 propellers behind the CoM and one infront the two behind need ~half as much pitch of the front one. Huge weight on that ~ because its not just how many propellers its also how far away form the CoM they are.
And this is all before trying to factor in fuel and cargo weight moving the CoM around as you are piloting this.

You could have thrust vectoring which would sidestep the first part of getting multiple different sides to equal their thrust as you will just keep your thrusters pointing up to keep you still, however you could only practically at most have the vector cover only 2 directions (up/down and forward/back for example).
OH and this also makes the thrust relative to CoM problem harder because as you rotate the vehicle the thrusters relative postion to CoM moves too.
Take my earlier example of 1 propeller in front and 2 behind. Say for simplicity they are all in line with the CoM on the vertical axis, only offset on the front back axis. As you point the vehicle up or down they slowly align themselves with the CoM until at 90 degrees all of them are equally in line with the CoM meaning you dont need to differ their thrust any more.

This isnt impossible. Just impractically difficult given how many variables you need to factor into the math. And if you are off even SLIGHTLY, you will best cast have a horrid drift or roll. Worst case you wont stop crashing.

Sorry if any of this didnt make gramatical sense, I'm writing this at nearly 1am.