Is there a visualizer/tool for developing path planners?

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Hi,

I'm working on a path planner that incorporates dynamic obstacle avoidance. I was wondering if there is a visualizer or any tool available for developing path planners?

Some of the requirements would be:

1. To visualize a 2D (or even 3D) space
2. Include static and dynamic obstacles programmatically
3. Visualize robot position and goal
4. Visualize the progress of the path planner as it searches the space (whichever path planner is used, eg: A*, RRT etc.)

Something similar to this: http://qiao.github.io/PathFinding.js/...

Thank you.