LÖVE

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closest = {x=boid.x,y=boid.y}

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closest.x, closest.y = boid.x, boid.y

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	local angle_diff = target_angle - self.angle
	if math.abs(angle_diff) > math.pi then
		if angle_diff > 0 then
			angle_diff = -(2*math.pi-target_angle+self.angle)
		else
			angle_diff = 2*math.pi-self.angle+target_angle
		end
	end
	if angle_diff > 0 then
		self.angle = self.angle + power*dt
	else
		self.angle = self.angle - power*dt
	end

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local angle_diff = (self.angle - target_angle + math.pi)%(2*math.pi) - math.pi
if angle_diff ~= 0 then
  local dir = angle_diff/math.abs(angle_diff)
  self.angle = self.angle + dir*power*dt
end