REFAC: KeyPressEvent renamed to KeyEvent, TetrahedralMeshRenderDelegate topology change fix, plane to surface mesh function added to geometry utility

ENH: ModuleDrivers, Modules added. Geometry transforms. Multi viewer support. LevelSetModel, LevelSetCH, EventObject, DataArray, Controller, VisualObjectImporter improvements/changes

Fix PBR textures and add colors

The cell consistency check takes considerable time during the initialization
and is removed from the surfaceMeshRenderDelegate.

Mesh related checks such as this (watertightness etc.) should be done
within the utility functions of Mesh or Rendering module. For now the user
is expected to supply correct meshes.

- Geometry class does not have a position, orientation, scaling combination
anymore, but a rigid transformation (translation + rotation) as well as a
separate uniform scaling.
- The value of that transformation can be changed using setTranslation(),
setRotation(), and setScaling().
- scale(), translate(), and rotate() are utility functions which behavior
vary based on the parameter TransformType: ConcatenateToTransform, the
default value, will concatenate transformations to the rigid transform and
signals that the transform has been modified; ApplyToData directly enforces
the transformation given to the internal data of the geometry, and signals
that the data has been modified (useful to enforce offsets at the beginning
of the simulation to avoid concatenating that offset continuously).
- A new base class AnalyticalGeomerty is created for Capsule, Plane, Cube
and Sphere. It wraps the common attributes to those geometries: a position
and an orientation axis. The values of those properties after the transform
is applied are also stored to avoid redundant computations.
- Subclasses of AnalyticalGeometry often show properties related to size:
width, radius, length, etc. Those have their post-transform sibling also.
- The Plane has a Normal API which simply wraps the AnalyticalGeometry
orientation axis.
- The mesh base class also keeps track of a post-transform value for the
vertex positions.
- Those internal data properties can be set with regular setting methods,
which also signals that the internal data has been modified.
- Get methods for those properties have a behavior which vary based on
the parameter DataType: PostTransform is the default value, and it will
return the post transform data, computing it by applying the transform if
it was not yet done.
- CollisionDetection classes are updated to use that post-transform data
- RenderDelegates are updated to update their internal data only when
the geometry data has been modified (use VTK sources and transform filter),
as well as the rigid transform when that one has been modified also.
- Maps, Controllers, and tests are updated to use the correct API:
set translation and rotation and not position/orientation.
- Update Geometry and Plane test to take into account the change of API:
getRotation is now returning a Mat3d instead of a quaternion for less
operations, and getNormal will return a normalized vector even if the one
set was not normalized. Use `isApprox` to allow for low variability.
- Update API in sandbox example
- Got rid of the vertexDisplacements variable in the Mesh class, difference
between the vertexPosition and the initialVertexPositions: it was requiring
additional bookeeping which was not necessary

Co-Authored-by: Sreekanth Arikatla <sreekanth.arikatla@kitware.com>
Signed-off-by: Alexis Girault <alexis.girault@kitware.com>

Co-Authored-by: Alexis Girault <alexis.girault@kitware.com>

/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0.txt

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   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
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=========================================================================*/

Fix regression introduced in !121 with the use of the fast normals filter
`vtkTriangleMeshPointNormals`. That filter was also applied for surface
meshes with non-triangular cells: cells, sphere, capsule, cube (quads and
not triangles).

Since the issue of non-triangular meshes comes from analytic mesh sources,
the output surface meshes will always be rigid, so their normals will stay
constant and won't need to be recomputed. We can therefore use the filter
`vtkPolyDataNormals`, which is slower but will only need to be called once
of no deformation occurs.

The main bottleneck with real-time VTK rendering so far
appeared to be the normals computation. This commit addresses
that issue by making use of the latest normals computation
filter in VTK: vtkTriangleMeshPointNormals.

While this filter is much (5 to 16 times) faster than
vtkPolyDataNormals, it does not check for consistency in the
cell orientations that could cause inverted normals, which
is why the vtkPolyDataNormals is called once in the surfacemesh
renderdelegate to retrieve consistent cells for the input mesh.

See VTK merge request for more information :
vtk/vtk!2271

PS: That MR requires the latest commits from VTK master, which
does not include work made on texture wrap mode nor on multi
texture attributes yet:
- vtk@62a7ecd8
- vtk@ae373026

1) RemoveCuller
2) Disable VBO Shift&Scale check

Also use `setUpMapper` (previously setActorMapper) more
consistently.