Basic Circle Movement

I've finally finished the algorithm for basic circle movement. A worm starts out at a random position and orientation, then "swims" to a random point using this algorithm, at which point it swims to another random point, etc. This took me far too long, and I'm sure there was an easier way, but at least it's usable. I tried spawning lots of worms and watching them swim around... it's pretty neat overall. Here is a screenshot of the current version (with some much-improved icons I created):