RVO Local Avoidance is progressing. I recently managed to fix a bug which boosted performance hugely. Apparently it is not a good idea to use generic lists for holding simple structs since they will be copied every time they are accessed, and when you do that 170000 times every frame, that small copy operation adds up. Moving to a standard array fixed that. I can now get 5000 agents running around at 50 fps average and 10 fps during calculation steps, the rvo simulation itself is only running at around 10 fps. And this is on my laptop.
I uploaded a new video showing 1000 agents trying to reach their antipodal points on a circle.
So how easy is it to integrate existing movement scripts with the local avoidance then? Really easy actually. I have written an RVOController script which is designed to be an almost drop-in replacement for the Unity CharacterController so starting to use local avoidance will be easy as pie.