diff --git a/Boids/Assets/Scripts/Boid.cs b/Boids/Assets/Scripts/Boid.cs
index 2f18707..62e2680 100644
--- a/Boids/Assets/Scripts/Boid.cs
+++ b/Boids/Assets/Scripts/Boid.cs
@@ -1,18 +1,20 @@
 using System;
 using System.Collections.Generic;
+    using UnityEditor;
 using UnityEngine;
 
 // Boids are represented by a moving, rotating triangle.
 // Boids should communicate with sibling Boids via the parental BoidController object
 public class Boid : MonoBehaviour {
     [NonSerialized] private Vector2 _position = Vector2.zero;
-    [NonSerialized] private Vector2 _velocity;
+    [NonSerialized] public Vector2 _velocity;
     [NonSerialized] private bool _isWrappingX = false;
     [NonSerialized] private bool _isWrappingY = false;
     [NonSerialized] private Vector2 _centeringVelocity;
     [NonSerialized] public int latestNeighborhoodCount = 0;
+    [NonSerialized] public List<Boid> latestNeighborhood;
     [NonSerialized] private BoidController _parent;
-    [NonSerialized] private bool _isFocused = false;
+    [NonSerialized] public bool _isFocused = false;
 
     private void Start() {
         _parent = transform.parent
@@ -37,6 +39,10 @@ public class Boid : MonoBehaviour {
             List<Boid> flock = _parent.localFlocks ? GetFlock(_parent.boids, _parent.boidGroupRange) : _parent.boids;
             latestNeighborhoodCount = flock.Count;
 
+            // Only update latest neighborhood when we need it for focused boid gizmo draws
+            if (_isFocused)
+                latestNeighborhood = flock;
+
             // Calculate all offsets and multiple by magnitudes given
             if (flock.Count > 0) {
                 if (_parent.enableCohesion)
@@ -173,10 +179,13 @@ public class Boid : MonoBehaviour {
 
             // FOV Check
             if (_parent.enableFOVChecks) {
-                float angle1 = Mathf.Rad2Deg * -Mathf.Atan2(_velocity.x, _velocity.y);
-                float angle2 = Mathf.Rad2Deg * -Mathf.Atan2(boid._velocity.x, boid._velocity.y);
-                if (Mathf.Abs(angle2 - angle1) > _parent.boidFOV / 2)
+                float angle1 = Util.Vector2ToAngle(_velocity); // Current Heading
+                float angle2 = Util.AngleBetween(transform.position, boid.transform.position);  // Angle between Boid and other Boid
+
+                // Outside of FOV range, skip
+                if (Mathf.Abs(Mathf.DeltaAngle(angle1, angle2)) > _parent.boidFOV / 2)
                     continue;
+                
             }
 
             flock.Add(boid);
@@ -224,7 +233,7 @@ public class Boid : MonoBehaviour {
         DrawCircle(_parent.boidGroupRange, "Group Range Circle");
 
         // Draw FOV Line
-        DrawArcCentered((_parent.boidSeparationRange + _parent.boidGroupRange) / 2f, transform.eulerAngles.z,
+        DrawArcCentered(_parent.boidGroupRange, Util.Vector2ToAngle(_velocity),
             _parent.boidFOV, "FOV Arc");
     }
 
@@ -254,7 +263,8 @@ public class Boid : MonoBehaviour {
     }
 
     private void DrawArcCentered(float radius, float centerAngle, float angleWidth, string childName) {
-        DrawArc(radius, centerAngle - angleWidth / 2f, centerAngle + angleWidth / 2f, childName);
+        float half = angleWidth / 2f;
+        DrawArc(radius, Util.AddAngle(centerAngle, -half), Util.AddAngle(centerAngle, half), childName);
     }
 
     private void DrawArc(float radius, float from, float to, string childName) {
@@ -275,10 +285,11 @@ public class Boid : MonoBehaviour {
         // Calculate points for circle
         var pointCount = vertexCount + 1;
         var points = new Vector3[pointCount + 2];
+        
         for (int i = 0; i < pointCount; i++) {
             // Magic '180 - angle'
-            var rad = Mathf.Deg2Rad * (180 - Mathf.LerpAngle(from, to, i / (float) pointCount));
-            points[i + 1] = new Vector3(Mathf.Sin(rad) * radius, Mathf.Cos(rad) * radius, 0);
+            var rad = Mathf.Deg2Rad * Mathf.LerpAngle(from, to, i / (float) pointCount);
+            points[i + 1] = new Vector3(Mathf.Sin(rad), Mathf.Cos(rad), 0) * radius;
         }
 
         points[0] = new Vector3(0, 0, 0);
diff --git a/Boids/Assets/Scripts/Util.cs b/Boids/Assets/Scripts/Util.cs
index d859b41..572a62b 100644
--- a/Boids/Assets/Scripts/Util.cs
+++ b/Boids/Assets/Scripts/Util.cs
@@ -6,13 +6,13 @@ public class Util {
         var sa = Mathf.Sin(a);
         var rx = v.x * ca - v.y * sa;
 
-        return new Vector2((float) rx, (float) (v.x * sa + v.y * ca));
+        return new Vector2(rx, v.x * sa + v.y * ca);
     }
 
     // Returns a velocity (Vector2) at a random angle with a specific overall magnitude
     public static Vector2 GetRandomVelocity(float magnitude) {
         var vector = new Vector2(magnitude, magnitude);
-        return Util.RotateBy(vector, Random.Range(0, 180));
+        return RotateBy(vector, Random.Range(0, 180));
     }
 
     public static Vector2 MaxVelocity(Vector2 v, float max) {
@@ -27,24 +27,25 @@ public class Util {
         return v;
     }
 
-    public static Vector2 AbsVector(Vector2 vector) {
-        return new Vector2(vector.x, vector.y);
+    public static float Vector2ToAngle(Vector2 velocity) {
+        float result = Mathf.Rad2Deg * Mathf.Atan2(velocity.y, velocity.x);
+        return (result < 0) ? (360f + result) : result;
     }
-}
 
-public class Scale {
-    private Vector2 _original;
-    private Vector2 _new;
-    private Vector2 _ratio;
+    public static float AngleBetween(Vector2 from, Vector2 to) {
+        Vector2 diff = to - from;
+        float result = Mathf.Rad2Deg * Mathf.Atan2(diff.y, diff.x);
+        return (result < 0) ? (360f + result) : result;
+    }
 
-    public float X => _ratio.x;
-    public float Y => _ratio.y;
+    public static float AngleDifference(float angle1, float angle2) {
+        return Mathf.Abs((angle1 > 180 ? 360 - angle1 : angle1) - (angle2 > 180 ? 360 - angle2 : angle2));
+    }
 
-    public Scale(Vector2 original, Canvas canvas) : this(original, canvas.pixelRect.size) { }
-
-    public Scale(Vector2 original, Vector2 resized) {
-        _original = original;
-        _new = resized;
-        _ratio = _original / _new;
+    public static float AddAngle(float angle, float add) {
+        float result = angle + add;
+        if (result > 360) return result - 360;
+        if (result < 0) return 360 + result;
+        return result;
     }
 }
\ No newline at end of file