2D Mode

1. Click once to start drawing a polygon.

2. Click again to add a corner and start drawing the next edge.

3. Move near a corner to snap the cursor to the corner.

4. Click near the first corner to close the shape.

5. Click a shape to select it. Drag it to move it or use Delete to delete it.

3D Mode

1. Switch to 3D using the toggle.
2. Click Triangle, Square, or Pentagon to add an obstacle.
3. Click an obstacle, the green start sphere, or the red goal sphere to select it.
4. Drag selected objects to move them. Use Delete to remove selected obstacles.
5. Use the height slider to adjust the height of the selected object.
6. Drag your mouse to orbit, use the mouse wheel to zoom, and right-drag or Shift-drag to pan.
7. Click the view buttons to snap the camera.

The 3D planner inflates obstacles by the robot radius, searches the voxel configuration space with Theta-style line-of-sight shortcuts, and then shortens the route with collision checks. Three.js is vendored in vendor/ so I can host this on GitHub Pages without a build step.