Spent day for implementing steering behaviors for horde.
Recast navigation + avoid nearest neighbor (with prediction, OpenSteer style) + avoid near walls
Recast navigation + avoid nearest neighbor (with prediction, OpenSteer style) + avoid walls only after collision + avoid dynamic obstacles
It needs time to update nav mesh (usually nav mesh updated with 0.5 sec intervals), so sometimes bots can go throw obstacle. Maybe for moving obstacles I need to use same steering behavior as for another bots. Does it look natural? Or need some enhancements?