Great plugin you have here man, I can see a lot of effort has gone into writing it really so you should be really proud of yourself 
Anyway I just wanted to ask about how scalable it is. Cause in my scenario, I want to simulate about 4000 actors at the same time (worst case) and just having 200 with Ignore repathing for direct goals turned off gives a horrible performance and there seems to be a huge memory leak when that happens too. The thing is that if I leave it as true, the bots go through the obstacle, am I doing something wrong here? also the map is huge, so the voxel size is set to 10,000. I know this will affect the accuracy but I think with that Boolean set to true, there should be no problem?
Your answer will be of great help, and thanks again 