Use `LeafTranslation` (centers), `LeafRotationQuat` and `LeafRotationAxisAngle` directly on `Boxes3D`/`Ellipsoids3D` #11978

Job	Run time
cpp-paths-filter	6s
docs-paths-filter	6s
python-paths-filter	7s
rust-paths-filter	5s
web-paths-filter	4s
Checks / Check if running codegen would produce any changes	1m 30s
Checks / Rerun lints	28s
Checks / Test Python Docs	24s
Checks / Lint markdown	23s
Checks / Spell Check	11s
Checks / Misc formatting	15s
Checks / Check links	16s
Update PR Body / Update PR body	17s
C++ tests / matrix_prep	5s
C++ tests / C++ formatting check	4m 40s
Rust Checks / Test on macOS and Windows	0s
Rust Checks / Rust lints (fmt, check, clippy, tests, doc)	5m 44s
Build rerun_js / Build rerun_js	3m 48s
Build web viewer / Build web viewer	2m 55s
Minimum CLI Build / Set Config (linux-x64)	3s
Python Checks / Test Python Docs	26s
Python Checks / Python lints (ruff, mypy, …)	34s
Deploy Landing Preview / Deploy	7s
Minimum CLI Build / Build rerun-cli (ubuntu-latest-16-cores)	3m 57s
C++ tests / C++ build & test - Linux x64, C++17	3m 32s
C++ tests / C++ build & test - Linux x64, C++20	3m 20s
C++ tests / C++ build & test - Windows x64	5m 33s
C++ tests / C++ build & test - Mac aarch64	5m 38s
Upload Web / Upload web build to google cloud (wasm32 + wasm-bindgen)	11s
Save PR Summary / Create HTML summary for PR	34s
Minimum Wheel Build	0s
Minimum Wheel Test	0s
	45m 19s

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