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

crates/store/re_types/definitions/rerun/archetypes/boxes3d.fbs

@@ -4,6 +4,9 @@ namespace rerun.archetypes;
 
 /// 3D boxes with half-extents and optional center, rotations, colors etc.
 ///
+/// Note that orienting and placing the box is handled via `[archetypes.LeafTransforms3D]`.
+/// Some of its component are repeated here for convenience.
+///
 /// \example archetypes/box3d_simple !api title="Simple 3D boxes" image="https://static.rerun.io/box3d_simple/d6a3f38d2e3360fbacac52bb43e44762635be9c8/1200w.png"
 /// \example archetypes/box3d_batch title="Batch of 3D boxes" image="https://static.rerun.io/box3d_batch/6d3e453c3a0201ae42bbae9de941198513535f1d/1200w.png"
 table Boxes3D (
@@ -21,13 +24,25 @@ table Boxes3D (
   // --- Recommended ---
 
   /// Optional center positions of the boxes.
-  centers: [rerun.components.Position3D] ("attr.rerun.component_recommended", nullable, order: 2000);
+  ///
+  /// If not specified, the centers will be at (0, 0, 0).
+  /// Note that this uses a [components.LeafTranslation3D] which is also used by [archetypes.LeafTransforms3D].
+  centers: [rerun.components.LeafTranslation3D] ("attr.rerun.component_recommended", nullable, order: 2000);
 
-  /// Optional rotations of the boxes.
-  rotations: [rerun.components.Rotation3D] ("attr.rerun.component_recommended", nullable, order: 2100);
+  /// Rotations via axis + angle.
+  ///
+  /// If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system.
+  /// Note that this uses a [components.LeafRotationAxisAngle] which is also used by [archetypes.LeafTransforms3D].
+  rotation_axis_angles: [rerun.components.LeafRotationAxisAngle] ("attr.rerun.component_optional", nullable, order: 2100);
+
+  /// Rotations via quaternion.
+  ///
+  /// If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system.
+  /// Note that this uses a [components.LeafRotationQuat] which is also used by [archetypes.LeafTransforms3D].
+  quaternions: [rerun.components.LeafRotationQuat] ("attr.rerun.component_optional", nullable, order: 2200);
 
   /// Optional colors for the boxes.
-  colors: [rerun.components.Color] ("attr.rerun.component_recommended", nullable, order: 2200);
+  colors: [rerun.components.Color] ("attr.rerun.component_recommended", nullable, order: 2300);
 
   // --- Optional ---
 

crates/store/re_types/definitions/rerun/archetypes/ellipsoids.fbs

@@ -8,8 +8,8 @@ namespace rerun.archetypes;
 /// (e.g. a bounding sphere).
 /// For points whose radii are for the sake of visualization, use `Points3D` instead.
 ///
-/// Currently, ellipsoids are always rendered as wireframes.
-/// Opaque and transparent rendering will be supported later.
+/// Note that orienting and placing the ellipsoids/spheres is handled via `[archetypes.LeafTransforms3D]`.
+/// Some of its component are repeated here for convenience.
 ///
 /// \example archetypes/ellipsoid_batch !api title="Batch of ellipsoids"
 table Ellipsoids (
@@ -32,15 +32,23 @@ table Ellipsoids (
   /// Optional center positions of the ellipsoids.
   ///
   /// If not specified, the centers will be at (0, 0, 0).
-  centers: [rerun.components.Position3D] ("attr.rerun.component_recommended", nullable, order: 2000);
+  /// Note that this uses a [components.LeafTranslation3D] which is also used by [archetypes.LeafTransforms3D].
+  centers: [rerun.components.LeafTranslation3D] ("attr.rerun.component_recommended", nullable, order: 2000);
 
-  /// Optional rotations of the ellipsoids.
+  /// Rotations via axis + angle.
   ///
-  /// If not specified, the axes of the ellipsoid align with the axes of the coordinate system.
-  rotations: [rerun.components.Rotation3D] ("attr.rerun.component_recommended", nullable, order: 2100);
+  /// If no rotation is specified, the axes of the ellipsoid align with the axes of the local coordinate system.
+  /// Note that this uses a [components.LeafRotationAxisAngle] which is also used by [archetypes.LeafTransforms3D].
+  rotation_axis_angles: [rerun.components.LeafRotationAxisAngle] ("attr.rerun.component_optional", nullable, order: 2100);
+
+  /// Rotations via quaternion.
+  ///
+  /// If no rotation is specified, the axes of the ellipsoid align with the axes of the local coordinate system.
+  /// Note that this uses a [components.LeafRotationQuat] which is also used by [archetypes.LeafTransforms3D].
+  quaternions: [rerun.components.LeafRotationQuat] ("attr.rerun.component_optional", nullable, order: 2200);
 
   /// Optional colors for the ellipsoids.
-  colors: [rerun.components.Color] ("attr.rerun.component_recommended", nullable, order: 2200);
+  colors: [rerun.components.Color] ("attr.rerun.component_recommended", nullable, order: 2300);
 
   // --- Optional ---
 

crates/store/re_types/definitions/rerun/archetypes/leaf_transforms3d.fbs

@@ -8,7 +8,7 @@ namespace rerun.archetypes;
 /// If both [archetypes.LeafTransforms3D] and [archetypes.Transform3D] are present,
 /// first the tree propagating [archetypes.Transform3D] is applied, then [archetypes.LeafTransforms3D].
 ///
-/// Currently, most visualizers support only a single leaf transform per entity.
+/// Currently, many visualizers support only a single leaf transform per entity.
 /// Check archetype documentations for details - if not otherwise specified, only the first leaf transform is applied.
 ///
 /// From the point of view of the entity's coordinate system,

crates/store/re_types/src/archetypes/boxes3d_ext.rs

@@ -1,5 +1,5 @@
 use crate::{
-    components::{HalfSize3D, Position3D},
+    components::{HalfSize3D, LeafTranslation3D},
     datatypes::Vec3D,
 };
 
@@ -15,7 +15,7 @@ impl Boxes3D {
     /// Creates new [`Boxes3D`] with [`Self::centers`] and [`Self::half_sizes`].
     #[inline]
     pub fn from_centers_and_half_sizes(
-        centers: impl IntoIterator<Item = impl Into<Position3D>>,
+        centers: impl IntoIterator<Item = impl Into<LeafTranslation3D>>,
         half_sizes: impl IntoIterator<Item = impl Into<HalfSize3D>>,
     ) -> Self {
         Self::new(half_sizes).with_centers(centers)
@@ -37,7 +37,7 @@ impl Boxes3D {
     /// TODO(#3285): Does *not* preserve data as-is and instead creates half-sizes from the input data.
     #[inline]
     pub fn from_centers_and_sizes(
-        centers: impl IntoIterator<Item = impl Into<Position3D>>,
+        centers: impl IntoIterator<Item = impl Into<LeafTranslation3D>>,
         sizes: impl IntoIterator<Item = impl Into<Vec3D>>,
     ) -> Self {
         Self::from_sizes(sizes).with_centers(centers)
@@ -56,7 +56,7 @@ impl Boxes3D {
             .zip(boxes.half_sizes.iter())
             .map(|(min, half_size)| {
                 let min = min.into();
-                Position3D::new(
+                LeafTranslation3D::new(
                     min.x() + half_size.x(),
                     min.y() + half_size.y(),
                     min.z() + half_size.z(),