Could anyone suggest a python library which has the ability to construct simple 3D objects and interact(touch) them?
Here's what I'm exactly looking into:

To have a test object, square/rectangular box(or any object) on a ground plane.
To have another sphere object of certain diameter.
To simulate, i.e. the roll the sphere all over and all sides of the test object.
To highlight or shade the parts of the test objects that are touched during the rolling process. (it won't roll all over, due to the ground plane restriction)
Not interested to see any animations, just the end product of the test object which were touched by the sphere.

Any suggestions on libraries or mathematical methods?
Many thanks.
p.s. In electrical engineering, this is one of the method to see which part of the building the lightning may be able to strike, i.e the "touched" area.
Vtk is a very sophisticated framework, but it might be overkill.
Python: How to model 3D objects and interact them in 3D space?