Add components for RotationAxisAngle and RotationQuat (rerun-io#6929

)

### What

* Part of rerun-io#6831 

Very similar to previous PRs in the series. Still doesn't remove
existing components since `Transform3D` datatype is still used in
`OutOfTreeTransform` and the `Transform3D` datatype is still used to
describe `from_parent` (that's the next thing to fix!)

### Checklist
* [x] don't regress `main` checks further
* [x] I have read and agree to [Contributor
Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and
the [Code of
Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md)
* [x] I've included a screenshot or gif (if applicable)
* [x] I have tested the web demo (if applicable):
* Using examples from latest `main` build:
[rerun.io/viewer](https://rerun.io/viewer/pr/6929?manifest_url=https://app.rerun.io/version/main/examples_manifest.json)
* Using full set of examples from `nightly` build:
[rerun.io/viewer](https://rerun.io/viewer/pr/6929?manifest_url=https://app.rerun.io/version/nightly/examples_manifest.json)
* [x] The PR title and labels are set such as to maximize their
usefulness for the next release's CHANGELOG
* [x] If applicable, add a new check to the [release
checklist](https://github.com/rerun-io/rerun/blob/main/tests/python/release_checklist)!
* [x] If have noted any breaking changes to the log API in
`CHANGELOG.md` and the migration guide

- [PR Build Summary](https://build.rerun.io/pr/6929)
- [Recent benchmark results](https://build.rerun.io/graphs/crates.html)
- [Wasm size tracking](https://build.rerun.io/graphs/sizes.html)

To run all checks from `main`, comment on the PR with `@rerun-bot
full-check`.

crates/build/re_types_builder/src/codegen/cpp/mod.rs

@@ -1298,7 +1298,8 @@ fn single_field_constructor_methods(
     // but ran into some issues when init archetypes with initializer lists.
     if let Type::Object(field_type_fqname) = &field.typ {
         let field_type_obj = &objects[field_type_fqname];
-        if field_type_obj.fields.len() == 1 {
+        if field_type_obj.fields.len() == 1 && !field_type_obj.is_attr_set(ATTR_CPP_NO_FIELD_CTORS)
+        {
             methods.extend(add_copy_assignment_and_constructor(
                 hpp_includes,
                 &field_type_obj.fields[0],

crates/store/re_types/definitions/rerun/archetypes/transform3d.fbs

@@ -27,11 +27,17 @@ table Transform3D (
   /// Translation vectors.
   translation: [rerun.components.Translation3D] ("attr.rerun.component_optional", nullable, order: 1100);
 
+  /// Rotation via axis + angle.
+  rotation_axis_angle: [rerun.components.RotationAxisAngle] ("attr.rerun.component_optional", nullable, order: 1200);
+
+  /// Rotation via quaternion.
+  quaternion: [rerun.components.RotationQuat] ("attr.rerun.component_optional", nullable, order: 1300);
+
   /// Scaling factor.
-  scale: [rerun.components.Scale3D] ("attr.rerun.component_optional", nullable, order: 1200);
+  scale: [rerun.components.Scale3D] ("attr.rerun.component_optional", nullable, order: 1400);
 
   /// 3x3 transformation matrices.
-  mat3x3: [rerun.components.TransformMat3x3] ("attr.rerun.component_optional", nullable, order: 1300);
+  mat3x3: [rerun.components.TransformMat3x3] ("attr.rerun.component_optional", nullable, order: 1500);
 
   // --- visual representation
 

crates/store/re_types/definitions/rerun/components/rotation_axis_angle.fbs

@@ -0,0 +1,10 @@
+namespace rerun.components;
+
+/// 3D rotation represented by a rotation around a given axis.
+table RotationAxisAngle (
+  "attr.docs.unreleased",
+  "attr.rust.derive": "Default, Copy, PartialEq",
+  "attr.rust.repr": "transparent"
+) {
+  rotation: rerun.datatypes.RotationAxisAngle (order: 100);
+}

crates/store/re_types/definitions/rerun/components/rotation_quat.fbs

@@ -0,0 +1,13 @@
+namespace rerun.components;
+
+/// A 3D rotation expressed as a quaternion.
+///
+/// Note: although the x,y,z,w components of the quaternion will be passed through to the
+/// datastore as provided, when used in the Viewer Quaternions will always be normalized.
+struct RotationQuat (
+  "attr.docs.unreleased",
+  "attr.rust.derive": "Default, Copy, PartialEq, bytemuck::Pod, bytemuck::Zeroable",
+  "attr.rust.repr": "transparent"
+) {
+  quaternion: rerun.datatypes.Quaternion (order: 100);
+}

crates/store/re_types/definitions/rerun/datatypes/quaternion.fbs

@@ -6,12 +6,11 @@ namespace rerun.datatypes;
 ///
 /// Note: although the x,y,z,w components of the quaternion will be passed through to the
 /// datastore as provided, when used in the Viewer Quaternions will always be normalized.
-//
-// Expectations:
 struct Quaternion (
   "attr.arrow.transparent",
-  "attr.rust.derive": "Copy, PartialEq, PartialOrd",
+  "attr.rust.derive": "Copy, PartialEq, PartialOrd, bytemuck::Pod, bytemuck::Zeroable",
   "attr.rust.tuple_struct",
+  "attr.rust.repr": "C",
   "attr.cpp.no_field_ctors" // Always be explicit about the values of the fields.
 ) {
   xyzw: [float: 4] (order: 100);

crates/store/re_types/src/archetypes/transform3d_ext.rs

@@ -1,11 +1,26 @@
 use crate::{
     components::{Scale3D, TransformMat3x3, Translation3D},
-    datatypes::{Rotation3D, TranslationRotationScale3D},
+    Rotation3D,
 };
 
 use super::Transform3D;
 
 impl Transform3D {
+    /// Convenience method that takes any kind of (single) rotation representation and sets it on this transform.
+    #[inline]
+    pub fn with_rotation(self, rotation: impl Into<Rotation3D>) -> Self {
+        match rotation.into() {
+            Rotation3D::Quaternion(quaternion) => Self {
+                quaternion: Some(vec![quaternion]),
+                ..self
+            },
+            Rotation3D::AxisAngle(rotation_axis_angle) => Self {
+                rotation_axis_angle: Some(vec![rotation_axis_angle]),
+                ..self
+            },
+        }
+    }
+
     /// From a translation.
     #[inline]
     pub fn from_translation(translation: impl Into<Translation3D>) -> Self {
@@ -27,10 +42,7 @@ impl Transform3D {
     /// From a rotation
     #[inline]
     pub fn from_rotation(rotation: impl Into<Rotation3D>) -> Self {
-        Self {
-            transform: TranslationRotationScale3D::from_rotation(rotation).into(),
-            ..Self::default()
-        }
+        Self::default().with_rotation(rotation)
     }
 
     /// From a scale
@@ -49,10 +61,10 @@ impl Transform3D {
         rotation: impl Into<Rotation3D>,
     ) -> Self {
         Self {
-            transform: TranslationRotationScale3D::from_rotation(rotation).into(),
             translation: Some(vec![translation.into()]),
             ..Self::default()
         }
+        .with_rotation(rotation)
     }
 
     /// From a translation applied after a 3x3 matrix.
@@ -89,21 +101,21 @@ impl Transform3D {
         scale: impl Into<Scale3D>,
     ) -> Self {
         Self {
-            transform: TranslationRotationScale3D::from_rotation(rotation).into(),
             scale: Some(vec![scale.into()]),
             translation: Some(vec![translation.into()]),
             ..Self::default()
         }
+        .with_rotation(rotation)
     }
 
     /// From a rotation & scale
     #[inline]
     pub fn from_rotation_scale(rotation: impl Into<Rotation3D>, scale: impl Into<Scale3D>) -> Self {
         Self {
-            transform: TranslationRotationScale3D::from_rotation(rotation).into(),
             scale: Some(vec![scale.into()]),
             ..Self::default()
         }
+        .with_rotation(rotation)
     }
 
     /// Indicate that this transform is from parent to child.