In addition to the translational motion of the flock members, my system also orients each flock member (called a boid) properly, generating the yaw and pitch values from the velocity vector and the roll value from the acceleration vector. The boids are also constrainted to remain with a cube.

Click on the image below to get an MPEG movie of the motion.

I have also generated a "boid's eye view" version of the motion, where the camera is attached to a boid. Click on the next image to get an MPEG movie of that motion.