Algodoo

That is unfinished scene with a lot of code. Seems like I'll never finish it due to task complexity. Anyway, scene runs pretty good even with 200 units on map. They only can move, but it's not so easy to do - units able to find route around obstacles, move in groups, follow route.

Select units with left click or with frame, add or remove with shift click or shift frame. Set way-point with left click and add way-points with shift.
H - hold position, ESC - clear selection.

Good luck, have fun!