A quick demo of recent updates to Detour Crowd.
At start all the agents find a short parts towards the goal. In the video they intentionally get stuck at local minima at start. Generally this improves responsiveness, but sometimes the agents move to wrong direction for a moment.
During movement the agents will replan their paths if they notice that the navmesh has changed in front of them. When the agents turn to purple, it means that they are replanning their paths. Similar small search is performend when the replanning occurs, but polygons along the existing path are favored. This makes changes close the agent responsive and changes further away does not make any visual change at all.
When the agent approaches the end of the path and the last polygon on the path is not the goal polygon, the agent will periodically replan the path. When a pathway to the goal opens, the agent will use that path.