1、VTK相关的类有：

vtkTransform, vtkTransformFilter, vtkMatrix4x4等

相关的方法有：

• RotateX(angle)、RotateY(angle)、RotateZ(angle)• RotateWXYZ(angle,x,y,z)• Scale(x,y,z)• Translate(x,y,z)• SetMatrix(m)、GetMatrix(m)• PostMultiply()、PreMultiply()• SetPosition(x,y,z)、GetPosition(x,y,z)• SetOrientation(x,y,z)、 GetOrientation(x,y,z)• SetScale(sx,sy,sz)• SetOrigin(x,y,z)、GetOrigin

空间变换类

vtkSmartPointer<vtkTransform> trans = vtkSmartPointer<vtkTransform>::New();

在VTK中，矩阵乘法默认是左乘（PreMultiply），在齐次矩阵符号中，M = M*A，其中M为当前变换矩阵，A为要应用矩阵（比如旋转矩阵或者平移矩阵）。

 trans->PreMultiply();//M=M*A

源码中是这样解释的： vtkTransform.h的156行

 * Sets the internal state of the transform to PreMultiply. All subsequent* operations will occur before those already represented in the* current transformation.  In homogeneous matrix notation, M = M*A where* M is the current transformation matrix and A is the applied matrix.* The default is PreMultiply.

A就是指“All subsequent operations”，M就是指“those already represented in the current transformation”
我对before的理解就是A左乘M（A的左边乘上M）

当然，也可以设置矩阵乘法为右乘（PostMultiply），在齐次矩阵符号中，M = A*M，其中M为当前变换矩阵，A为要应用矩阵（比如旋转矩阵或者平移矩阵）。

trans->PostMultiply();//M=A*M

源码中是这样写的：

   * Sets the internal state of the transform to PostMultiply. All subsequent* operations will occur after those already represented in the* current transformation.  In homogeneous matrix notation, M = A*M where* M is the current transformation matrix and A is the applied matrix.* The default is PreMultiply.

我对after的理解就是A右乘M（A的右边乘上M）

实例分析：

三维物体的初始齐次矩阵为：

矩阵右乘（post后置），先旋转再平移

trans->PostMultiply();//M=A*M
trans->RotateZ(30);
trans->Translate(1, 0, 0);

#include <vtkLineSource.h>
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkProperty.h>
#include <vtkAxesActor.h>
#include <vtkConeSource.h>
#include <vtkTextActor.h>
#include <vtkTextProperty.h>
#include <vtkTransform.h>
#include <vtkSphereSource.h>#include "vtkAutoInit.h"
VTK_MODULE_INIT(vtkRenderingOpenGL2); // VTK was built with vtkRenderingOpenGL2
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType)int main(int, char *[])
{vtkSmartPointer<vtkSphereSource> sphereSource =vtkSmartPointer<vtkSphereSource>::New();sphereSource->SetRadius(0.1);//设置半径sphereSource->Update();vtkSmartPointer<vtkPolyDataMapper> sphereMapper =vtkSmartPointer<vtkPolyDataMapper>::New();sphereMapper->SetInputConnection(sphereSource->GetOutputPort());vtkSmartPointer<vtkActor> sphereActor =vtkSmartPointer<vtkActor>::New();sphereActor->SetPosition(0, 0, 0);//设置演员的位置sphereActor->SetMapper(sphereMapper);//设置演员的映射器sphereActor->GetProperty()->SetColor(1, 0, 0);//设置演员的颜色vtkSmartPointer<vtkConeSource> coneSource =vtkSmartPointer<vtkConeSource>::New();coneSource->SetRadius(.2);coneSource->SetHeight(.5);coneSource->SetCenter(0, 0, 0);vtkSmartPointer<vtkPolyDataMapper> coneMapper =vtkSmartPointer<vtkPolyDataMapper>::New();coneMapper->SetInputConnection(coneSource->GetOutputPort());vtkSmartPointer<vtkActor> coneActor =vtkSmartPointer<vtkActor>::New();coneActor->SetMapper(coneMapper);vtkSmartPointer<vtkActor> oriConeActor =vtkSmartPointer<vtkActor>::New();oriConeActor->SetMapper(coneMapper);
#define AXIS_LEN 1.vtkSmartPointer<vtkAxesActor> oriAxesActor =vtkSmartPointer<vtkAxesActor>::New();oriAxesActor->SetPosition(0, 0, 0);oriAxesActor->SetTotalLength(AXIS_LEN, AXIS_LEN, AXIS_LEN);oriAxesActor->SetShaftType(0);oriAxesActor->SetAxisLabels(0);oriAxesActor->SetCylinderRadius(0.02);vtkSmartPointer<vtkAxesActor> axesActor =vtkSmartPointer<vtkAxesActor>::New();axesActor->SetPosition(0, 0, 0);axesActor->SetTotalLength(AXIS_LEN, AXIS_LEN, AXIS_LEN);axesActor->SetShaftType(0);axesActor->SetAxisLabels(0);axesActor->SetCylinderRadius(0.02);vtkSmartPointer<vtkTextActor> textActor =vtkSmartPointer<vtkTextActor>::New();textActor->SetPosition2(100, 40);textActor->GetTextProperty()->SetFontSize(24);textActor->GetTextProperty()->SetColor(1, 0, 0);vtkSmartPointer<vtkTransform> trans =vtkSmartPointer<vtkTransform>::New();//trans->PostMultiply();//M=A*Mtrans->PreMultiply();//M=M*Atrans->RotateZ(30);//coneActor->SetPosition(1, 0, 0);永远M=M*Atrans->Translate(1, 0, 0);//trans->RotateZ(30);//trans->Translate(1, 0, 0);//trans->RotateZ(30);coneActor->SetUserTransform(trans);textActor->SetInput("PostMultiply()\nTranslate(1, 0, 0)\nRotateZ(30)");cout << "GetMatrix:" << endl;if (coneActor->GetMatrix() != NULL){coneActor->GetMatrix()->Print(cout);}else{cout << "NULL" << endl;}cout << "GetUserMatrix:" << endl;if (coneActor->GetUserMatrix() != NULL){coneActor->GetUserMatrix()->Print(cout);}else{cout << "NULL" << endl;}vtkSmartPointer<vtkRenderer> renderer1 =vtkSmartPointer<vtkRenderer>::New();vtkSmartPointer<vtkRenderer> renderer2 =vtkSmartPointer<vtkRenderer>::New();vtkSmartPointer<vtkRenderWindow> renderWindow =vtkSmartPointer<vtkRenderWindow>::New();renderWindow->SetSize(800, 400);renderWindow->AddRenderer(renderer1);renderWindow->AddRenderer(renderer2);vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =vtkSmartPointer<vtkRenderWindowInteractor>::New();renderWindowInteractor->SetRenderWindow(renderWindow);double leftViewport[] = { 0.0, 0.0, 0.5, 1.0 };double rightViewport[] = { 0.5, 0.0, 1.0, 1.0 };renderer1->AddActor(oriAxesActor);renderer1->AddActor(sphereActor);renderer1->AddActor(oriConeActor);renderer2->AddActor(axesActor);renderer2->AddActor(sphereActor);renderer2->AddActor(coneActor);renderer2->AddActor2D(textActor);renderer1->SetBackground(.3, .3, .5);renderer2->SetBackground(.2, .4, .5);renderer1->SetViewport(leftViewport);renderer2->SetViewport(rightViewport);renderWindow->Render();renderWindowInteractor->Start();return EXIT_SUCCESS;
}

参考：【VTK学习】空间几何变换
参考：三维空间几何变换原理[平移、旋转、错切]
参考：VTK中模型的旋转与平移
参考：VTK笔记——空间几何变换(Transform)，平移、旋转和缩放

2、OrientedArrow.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-import vtk'''
There are two alternative ways to apply the transform.1) Use vtkTransformPolyDataFilter to create a new transformed polydata.This method is useful if the transformed polydata is neededlater in the pipelineTo do this, set USER_MATRIX = True2) Apply the transform directly to the actor using vtkProp3D's SetUserMatrix.No new data is produced.To do this, set USER_MATRIX = False
'''
USER_MATRIX = Truedef main():colors = vtk.vtkNamedColors()# Set the background color.colors.SetColor("BkgColor", [26, 51, 77, 255])# Create an arrow.arrowSource = vtk.vtkArrowSource()# Generate a random start and end pointstartPoint = [0] * 3endPoint = [0] * 3rng = vtk.vtkMinimalStandardRandomSequence()rng.SetSeed(8775070)  # For testing.for i in range(0, 3):rng.Next()startPoint[i] = rng.GetRangeValue(-10, 10)rng.Next()endPoint[i] = rng.GetRangeValue(-10, 10)# Compute a basisnormalizedX = [0] * 3normalizedY = [0] * 3normalizedZ = [0] * 3# The X axis is a vector from start to endvtk.vtkMath.Subtract(endPoint, startPoint, normalizedX)length = vtk.vtkMath.Norm(normalizedX)vtk.vtkMath.Normalize(normalizedX)# The Z axis is an arbitrary vector cross Xarbitrary = [0] * 3for i in range(0, 3):rng.Next()arbitrary[i] = rng.GetRangeValue(-10, 10)vtk.vtkMath.Cross(normalizedX, arbitrary, normalizedZ)vtk.vtkMath.Normalize(normalizedZ)# The Y axis is Z cross Xvtk.vtkMath.Cross(normalizedZ, normalizedX, normalizedY)matrix = vtk.vtkMatrix4x4()# Create the direction cosine matrixmatrix.Identity()for i in range(0, 3):matrix.SetElement(i, 0, normalizedX[i])matrix.SetElement(i, 1, normalizedY[i])matrix.SetElement(i, 2, normalizedZ[i])# Apply the transformstransform = vtk.vtkTransform()transform.Translate(startPoint)transform.Concatenate(matrix)transform.Scale(length, length, length)# Transform the polydatatransformPD = vtk.vtkTransformPolyDataFilter()transformPD.SetTransform(transform)transformPD.SetInputConnection(arrowSource.GetOutputPort())# Create a mapper and actor for the arrowmapper = vtk.vtkPolyDataMapper()actor = vtk.vtkActor()if USER_MATRIX:mapper.SetInputConnection(arrowSource.GetOutputPort())actor.SetUserMatrix(transform.GetMatrix())else:mapper.SetInputConnection(transformPD.GetOutputPort())actor.SetMapper(mapper)actor.GetProperty().SetColor(colors.GetColor3d("Cyan"))# Create spheres for start and end pointsphereStartSource = vtk.vtkSphereSource()sphereStartSource.SetCenter(startPoint)sphereStartSource.SetRadius(0.8)sphereStartMapper = vtk.vtkPolyDataMapper()sphereStartMapper.SetInputConnection(sphereStartSource.GetOutputPort())sphereStart = vtk.vtkActor()sphereStart.SetMapper(sphereStartMapper)sphereStart.GetProperty().SetColor(colors.GetColor3d("Yellow"))sphereEndSource = vtk.vtkSphereSource()sphereEndSource.SetCenter(endPoint)sphereEndSource.SetRadius(0.8)sphereEndMapper = vtk.vtkPolyDataMapper()sphereEndMapper.SetInputConnection(sphereEndSource.GetOutputPort())sphereEnd = vtk.vtkActor()sphereEnd.SetMapper(sphereEndMapper)sphereEnd.GetProperty().SetColor(colors.GetColor3d("Magenta"))# Create a renderer, render window, and interactorrenderer = vtk.vtkRenderer()renderWindow = vtk.vtkRenderWindow()renderWindow.SetWindowName("Oriented Arrow")renderWindow.AddRenderer(renderer)renderWindowInteractor = vtk.vtkRenderWindowInteractor()renderWindowInteractor.SetRenderWindow(renderWindow)# Add the actor to the scenerenderer.AddActor(actor)renderer.AddActor(sphereStart)renderer.AddActor(sphereEnd)renderer.SetBackground(colors.GetColor3d("BkgColor"))# Render and interactrenderWindow.Render()renderWindowInteractor.Start()if __name__ == '__main__':main()

3、EllipticalCylinderDemo.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-import mathimport vtkdef main():nx, ny, nz = get_program_parameters()colors = vtk.vtkNamedColors()angle = 0r1 = 50r2 = 30centerX = 10.0centerY = 5.0points = vtk.vtkPoints()idx = 0while angle <= 2.0 * vtk.vtkMath.Pi() + (vtk.vtkMath.Pi() / 60.0):points.InsertNextPoint(r1 * math.cos(angle) + centerX,r2 * math.sin(angle) + centerY,0.0)angle = angle + (vtk.vtkMath.Pi() / 60.0)idx += 1line = vtk.vtkPolyLine()line.GetPointIds().SetNumberOfIds(idx)for i in range(0, idx):line.GetPointIds().SetId(i, i)lines = vtk.vtkCellArray()lines.InsertNextCell(line)polyData = vtk.vtkPolyData()polyData.SetPoints(points)polyData.SetLines(lines)extrude = vtk.vtkLinearExtrusionFilter()extrude.SetInputData(polyData)extrude.SetExtrusionTypeToNormalExtrusion()extrude.SetVector(nx, ny, nz)extrude.Update()# Create an oriented arrowstartPoint = [0.0] * 3endPoint = [0.0] * 3startPoint[0] = centerXstartPoint[1] = centerYstartPoint[2] = 0.0endPoint[0] = startPoint[0] + extrude.GetVector()[0]endPoint[1] = startPoint[1] + extrude.GetVector()[1]endPoint[2] = startPoint[2] + extrude.GetVector()[2]# Compute a basisnormalizedX = [0.0] * 3normalizedY = [0.0] * 3normalizedZ = [0.0] * 3# The X axis is a vector from start to endvtk.vtkMath.Subtract(endPoint, startPoint, normalizedX)length = vtk.vtkMath.Norm(normalizedX)vtk.vtkMath.Normalize(normalizedX)# The Z axis is an arbitrary vector cross Xarbitrary = [0.0] * 3arbitrary[0] = vtk.vtkMath.Random(-10, 10)arbitrary[1] = vtk.vtkMath.Random(-10, 10)arbitrary[2] = vtk.vtkMath.Random(-10, 10)vtk.vtkMath.Cross(normalizedX, arbitrary, normalizedZ)vtk.vtkMath.Normalize(normalizedZ)# The Y axis is Z cross Xvtk.vtkMath.Cross(normalizedZ, normalizedX, normalizedY)matrix = vtk.vtkMatrix4x4()# Create the direction cosine matrixmatrix.Identity()for i in range(0, 3):matrix.SetElement(i, 0, normalizedX[i])matrix.SetElement(i, 1, normalizedY[i])matrix.SetElement(i, 2, normalizedZ[i])# Apply the transformstransform = vtk.vtkTransform()transform.Translate(startPoint)transform.Concatenate(matrix)transform.Scale(length, length, length)arrowSource = vtk.vtkArrowSource()arrowSource.SetTipResolution(31)arrowSource.SetShaftResolution(21)# Transform the polydatatransformPD = vtk.vtkTransformPolyDataFilter()transformPD.SetTransform(transform)transformPD.SetInputConnection(arrowSource.GetOutputPort())# Create a mapper and actor for the arrowarrowMapper = vtk.vtkPolyDataMapper()arrowMapper.SetInputConnection(transformPD.GetOutputPort())arrowActor = vtk.vtkActor()arrowActor.SetMapper(arrowMapper)arrowActor.GetProperty().SetColor(colors.GetColor3d("Tomato"))tubes = vtk.vtkTubeFilter()tubes.SetInputData(polyData)tubes.SetRadius(2.0)tubes.SetNumberOfSides(21)lineMapper = vtk.vtkPolyDataMapper()lineMapper.SetInputConnection(tubes.GetOutputPort())lineActor = vtk.vtkActor()lineActor.SetMapper(lineMapper)lineActor.GetProperty().SetColor(colors.GetColor3d("Peacock"))mapper = vtk.vtkPolyDataMapper()mapper.SetInputConnection(extrude.GetOutputPort())actor = vtk.vtkActor()actor.SetMapper(mapper)actor.GetProperty().SetColor(colors.GetColor3d("Banana"))actor.GetProperty().SetOpacity(.7)ren = vtk.vtkRenderer()ren.SetBackground(colors.GetColor3d("SlateGray"))ren.AddActor(actor)ren.AddActor(lineActor)ren.AddActor(arrowActor)renWin = vtk.vtkRenderWindow()renWin.SetWindowName("Elliptical Cylinder Demo")renWin.AddRenderer(ren)renWin.SetSize(600, 600)iren = vtk.vtkRenderWindowInteractor()iren.SetRenderWindow(renWin)style = vtk.vtkInteractorStyleTrackballCamera()iren.SetInteractorStyle(style)camera = vtk.vtkCamera()camera.SetPosition(0, 1, 0)camera.SetFocalPoint(0, 0, 0)camera.SetViewUp(0, 0, 1)camera.Azimuth(30)camera.Elevation(30)ren.SetActiveCamera(camera)ren.ResetCamera()ren.ResetCameraClippingRange()renWin.Render()iren.Start()def get_program_parameters():import argparsedescription = 'Elliptical Cylinder Demo.'epilogue = '''
The example shows the vtkPolyLine that forms the base of the elliptical cylinderand an oriented arrow that represents the vector that vtkLinearExtrusionFilteruses to create the cylinder.
The example takes an optional triple that defines the vector for the filter.
The length of the vector is the height of the cylinder.'''parser = argparse.ArgumentParser(description=description, epilog=epilogue,formatter_class=argparse.RawDescriptionHelpFormatter)parser.add_argument('-nx', nargs='?', const=0.0, default=0.0, type=float)parser.add_argument('-ny', nargs='?', const=0.0, default=0.0, type=float)parser.add_argument('-nz', nargs='?', const=100.0, default=100.0, type=float)args = parser.parse_args()return args.nx, args.ny, args.nzif __name__ == '__main__':main()

4、OrientedCylinder.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-import vtk'''
There are two alternative ways to apply the transform.1) Use vtkTransformPolyDataFilter to create a new transformed polydata.This method is useful if the transformed polydata is neededlater in the pipelineTo do this, set USER_MATRIX = True2) Apply the transform directly to the actor using vtkProp3D's SetUserMatrix.No new data is produced.To do this, set USER_MATRIX = False
'''
USER_MATRIX = Truedef main():colors = vtk.vtkNamedColors()# Set the background color.colors.SetColor("BkgColor", [26, 51, 77, 255])# Create a cylinder.# Cylinder height vector is (0,1,0).# Cylinder center is in the middle of the cylindercylinderSource = vtk.vtkCylinderSource()cylinderSource.SetResolution(15)# Generate a random start and end pointstartPoint = [0] * 3endPoint = [0] * 3rng = vtk.vtkMinimalStandardRandomSequence()rng.SetSeed(8775070)  # For testing.for i in range(0, 3):rng.Next()startPoint[i] = rng.GetRangeValue(-10, 10)rng.Next()endPoint[i] = rng.GetRangeValue(-10, 10)# Compute a basisnormalizedX = [0] * 3normalizedY = [0] * 3normalizedZ = [0] * 3# The X axis is a vector from start to endvtk.vtkMath.Subtract(endPoint, startPoint, normalizedX)length = vtk.vtkMath.Norm(normalizedX)vtk.vtkMath.Normalize(normalizedX)# The Z axis is an arbitrary vector cross Xarbitrary = [0] * 3for i in range(0, 3):rng.Next()arbitrary[i] = rng.GetRangeValue(-10, 10)vtk.vtkMath.Cross(normalizedX, arbitrary, normalizedZ)vtk.vtkMath.Normalize(normalizedZ)# The Y axis is Z cross Xvtk.vtkMath.Cross(normalizedZ, normalizedX, normalizedY)matrix = vtk.vtkMatrix4x4()# Create the direction cosine matrixmatrix.Identity()for i in range(0, 3):matrix.SetElement(i, 0, normalizedX[i])matrix.SetElement(i, 1, normalizedY[i])matrix.SetElement(i, 2, normalizedZ[i])# Apply the transformstransform = vtk.vtkTransform()transform.Translate(startPoint)  # translate to starting pointtransform.Concatenate(matrix)  # apply direction cosinestransform.RotateZ(-90.0)  # align cylinder to x axistransform.Scale(1.0, length, 1.0)  # scale along the height vectortransform.Translate(0, .5, 0)  # translate to start of cylinder# Transform the polydatatransformPD = vtk.vtkTransformPolyDataFilter()transformPD.SetTransform(transform)transformPD.SetInputConnection(cylinderSource.GetOutputPort())# Create a mapper and actor for the arrowmapper = vtk.vtkPolyDataMapper()actor = vtk.vtkActor()if USER_MATRIX:mapper.SetInputConnection(cylinderSource.GetOutputPort())actor.SetUserMatrix(transform.GetMatrix())else:mapper.SetInputConnection(transformPD.GetOutputPort())actor.SetMapper(mapper)actor.GetProperty().SetColor(colors.GetColor3d("Cyan"))# Create spheres for start and end pointsphereStartSource = vtk.vtkSphereSource()sphereStartSource.SetCenter(startPoint)sphereStartSource.SetRadius(0.8)sphereStartMapper = vtk.vtkPolyDataMapper()sphereStartMapper.SetInputConnection(sphereStartSource.GetOutputPort())sphereStart = vtk.vtkActor()sphereStart.SetMapper(sphereStartMapper)sphereStart.GetProperty().SetColor(colors.GetColor3d("Yellow"))sphereEndSource = vtk.vtkSphereSource()sphereEndSource.SetCenter(endPoint)sphereEndSource.SetRadius(0.8)sphereEndMapper = vtk.vtkPolyDataMapper()sphereEndMapper.SetInputConnection(sphereEndSource.GetOutputPort())sphereEnd = vtk.vtkActor()sphereEnd.SetMapper(sphereEndMapper)sphereEnd.GetProperty().SetColor(colors.GetColor3d("Magenta"))# Create a renderer, render window, and interactorrenderer = vtk.vtkRenderer()renderWindow = vtk.vtkRenderWindow()renderWindow.AddRenderer(renderer)renderWindow.SetWindowName("Oriented Cylinder")renderWindowInteractor = vtk.vtkRenderWindowInteractor()renderWindowInteractor.SetRenderWindow(renderWindow)# Add the actor to the scenerenderer.AddActor(actor)renderer.AddActor(sphereStart)renderer.AddActor(sphereEnd)renderer.SetBackground(colors.GetColor3d("BkgColor"))# Render and interactrenderWindow.Render()renderWindowInteractor.Start()if __name__ == '__main__':main()

5、CollisionDetection.py

#!/usr/bin/env pythonimport timeimport vtkdef get_program_parameters():import argparsedescription = 'Collision detection.'epilogue = '''
This examples uses vtkCollisionDetectionFilter to find the intersection between afixed (solid white) and moving (red wireframe) sphere.
The animation places the moving sphere some distance from the fixed sphere andmoves the moving sphere until it contacts the fixed sphere.Three collision modes are available and can be set as the first argument on the command line.1. All contacts (0) finds all the contacting cell pairs with two points per collision.
2. First contact (1) quickly find the first contact point.
3. Half contacts (2) finds all the contacting cell pairs with one points per collision.'''parser = argparse.ArgumentParser(description=description, epilog=epilogue,formatter_class=argparse.RawDescriptionHelpFormatter)parser.add_argument('contactMode', nargs='?', default=0, type=int, help='Contact mode 0 (default), 1, or 2.')args = parser.parse_args()return args.contactModedef main():contactMode = get_program_parameters()# Define colorscolors = vtk.vtkNamedColors()sphere0 = vtk.vtkSphereSource()sphere0.SetRadius(.29)sphere0.SetPhiResolution(31)sphere0.SetThetaResolution(31)sphere0.SetCenter(0.0, 0, 0)sphere1 = vtk.vtkSphereSource()sphere1.SetPhiResolution(30)sphere1.SetThetaResolution(30)sphere1.SetRadius(0.3)matrix1 = vtk.vtkMatrix4x4()transform0 = vtk.vtkTransform()collide = vtk.vtkCollisionDetectionFilter()collide.SetInputConnection(0, sphere0.GetOutputPort())collide.SetTransform(0, transform0)collide.SetInputConnection(1, sphere1.GetOutputPort())collide.SetMatrix(1, matrix1)collide.SetBoxTolerance(0.0)collide.SetCellTolerance(0.0)collide.SetNumberOfCellsPerNode(2)if contactMode == 0:collide.SetCollisionModeToAllContacts()elif contactMode == 1:collide.SetCollisionModeToFirstContact()else:collide.SetCollisionModeToHalfContacts()collide.GenerateScalarsOn()# Visualizemapper1 = vtk.vtkPolyDataMapper()mapper1.SetInputConnection(collide.GetOutputPort(0))mapper1.ScalarVisibilityOff()actor1 = vtk.vtkActor()actor1.SetMapper(mapper1)actor1.GetProperty().BackfaceCullingOn()actor1.SetUserTransform(transform0)actor1.GetProperty().SetDiffuseColor(colors.GetColor3d("Tomato"))actor1.GetProperty().SetRepresentationToWireframe()mapper2 = vtk.vtkPolyDataMapper()mapper2.SetInputConnection(collide.GetOutputPort(1))actor2 = vtk.vtkActor()actor2.SetMapper(mapper2)actor2.GetProperty().BackfaceCullingOn()actor2.SetUserMatrix(matrix1)mapper3 = vtk.vtkPolyDataMapper()mapper3.SetInputConnection(collide.GetContactsOutputPort())mapper3.SetResolveCoincidentTopologyToPolygonOffset()actor3 = vtk.vtkActor()actor3.SetMapper(mapper3)actor3.GetProperty().SetColor(colors.GetColor3d("Black"))actor3.GetProperty().SetLineWidth(3.0)txt = vtk.vtkTextActor()txt.GetTextProperty().SetFontSize(18)renderer = vtk.vtkRenderer()renderer.UseHiddenLineRemovalOn()renderer.AddActor(actor1)renderer.AddActor(actor2)renderer.AddActor(actor3)renderer.AddActor(txt)renderer.SetBackground(colors.GetColor3d("Gray"))renderer.UseHiddenLineRemovalOn()renderWindow = vtk.vtkRenderWindow()renderWindow.SetSize(640, 480)renderWindow.AddRenderer(renderer)interactor = vtk.vtkRenderWindowInteractor()interactor.SetRenderWindow(renderWindow)# Move the first objectnumSteps = 100dx = 1.0 / float(numSteps) * 2.0transform0.Translate(-numSteps * dx - .3, 0.0, 0.0)renderWindow.Render()renderer.GetActiveCamera().Azimuth(-60)renderer.GetActiveCamera().Elevation(45)renderer.GetActiveCamera().Dolly(1.2)renderWindow.SetWindowName('CollisionDetection')renderWindow.Render()for i in range(0, numSteps):transform0.Translate(dx, 0.0, 0.0)renderer.ResetCameraClippingRange()s = '{:s}: Number of contact cells is {:d}'.format(collide.GetCollisionModeAsString(),collide.GetNumberOfContacts())txt.SetInput(s)renderWindow.Render()if collide.GetNumberOfContacts() > 0:break# The total animation time is 3 secondstime.sleep(3.0 / numSteps)renderer.ResetCamera()renderWindow.Render()renderWindow.Render()interactor.Start()# In Field Data there will be an array named "ContactCells".# This array indexes contacting cells (e.g.) index 10 of array 0#  points to a cell (triangle) which contacts/intersects a cell#  at index 10 of array 1.# You can directly obtain these, see GetContactCells(int i)#  in the documentation.# print(collide.GetOutput(0))# print(collide.GetOutput(1))if __name__ == '__main__':main()

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