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It seems to me that the fish needs to check its own decisions to see if a decision will take it on a collision course. For example if a fish is moving forward at a certain rate and “decides” to turn right a certain amount, then he needs to check the calculated path ahead for five or seven inches or so. If a collision is detected then the fish needs to cancel the decision and make a new decision.
When calculating a collision the fish needs to check not just it’s center coordinate but several points outlining it’s maximum dimensions. This would include the tips of it’s side fins and probably it’s top and bottom most points and it’s nose.
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