This makes changes close the agent responsive and changes further away does not make any visual change at all. Similar small search is performend when the replanning occurs, but polygons along the existing path are favored. When the agents turn to purple, it means that they are replanning their paths. During movement the agents will replan their paths if they notice that the navmesh has changed in front of them.Generally this improves responsiveness, but sometimes the agents move to wrong direction for a moment. In the video they intentionally get stuck at local minima at start.
I've been testing some ideas along the way, but never managed to have the few hours of solid coding to get all the pieces together. I've blogged about the problems surrounding it earlier, but very little code has been submitted. Path replanning for Detour Crowd has been a long time pet peeve of mine.
