Threejs路径规划案例V1

        最近在做一个路径规划的例子，大概场景是在一个xy坐标系中，有几个障碍物，一个车要绕过这些障碍物到达目的地，本来用java来实现，但是java调试太不直观了，我就想起用threejs把场景简单搭建出来，规划好的路线也直接展示出来，就可以实时查看路径规划的怎么样了。

先来一张效果图：

首先是添加threejs场景，包括灯光，相机，渲染器，也包括地板，然后得到一个空的场景，为了方便观看，我们把相机调整到地图的正上方，且对准地图的中心点。

 initScene(){
      this.scene = new THREE.Scene();
      const axesHelper = new THREE.AxesHelper( 100 );
      axesHelper.position.set(0,0,10)
      this.scene.add( axesHelper );
    },
    initCamera(){
      this.camera = new THREE.PerspectiveCamera(45, window.innerWidth / window.innerHeight, 0.1, 10000);
      this.camera.position.set(200,150,400);
      this.camera.lookAt(200,150,0);
      // this.camera.up.set(0, 0, 1);   // <=== spin // around Z-axis
    },
    initLight(){
      //添加两个平行光
      const directionalLight1 = new THREE.DirectionalLight(0xffffff, 1.5);
      directionalLight1.position.set(300,300,600)
      this.scene.add(directionalLight1);
      const directionalLight2 = new THREE.DirectionalLight(0xffffff, 1.5);
      directionalLight2.position.set(600,200,600)
      this.scene.add(directionalLight2);
    },
    initFloor(){
      let floorGeometry = new THREE.BoxGeometry( this.floor.floorWidth,this.floor.floorLength,this.floor.depth);
      let floorMaterial = new THREE.MeshPhysicalMaterial({color:'#FFFFFF'});
      let textureFloor = new THREE.TextureLoader().load('/static/images/floor.jpg', function (texture) {
        texture.wrapS = texture.wrapT = THREE.RepeatWrapping;
      })
      floorMaterial.map = textureFloor
      let floor = new THREE.Mesh( floorGeometry, floorMaterial );
      floor.name = '地板';
      floor.position.set(this.floor.floorWidth/2,this.floor.floorLength/2,0)
      this.scene.add(floor)
    },
 initRenderer(){
      this.renderer = new THREE.WebGLRenderer({ antialias: true });
      this.container = document.getElementById("container")
      this.renderer.setSize(this.container.clientWidth, this.container.clientHeight);
      this.renderer.setClearColor('#AAAAAA', 1.0);
      this.container.appendChild(this.renderer.domElement);
    },
    initControl(){
      this.controls = new OrbitControls(t