Use `LeafTranslation` (centers), `LeafRotationQuat` and `LeafRotationAxisAngle` directly on `Boxes3D`/`Ellipsoids3D` #11985

Job	Run time
cpp-paths-filter	5s
docs-paths-filter	4s
python-paths-filter	5s
rust-paths-filter	8s
web-paths-filter	6s
Checks / Test Python Docs	26s
Checks / Rerun lints	28s
Checks / Check if running codegen would produce any changes	1m 16s
Checks / Lint markdown	22s
Checks / Spell Check	6s
Checks / Check links	19s
Checks / Misc formatting	21s
Update PR Body / Update PR body	24s
C++ tests / C++ formatting check	3m 46s
C++ tests / matrix_prep	6s
Deploy Landing Preview / Deploy	9s
Python Checks / Test Python Docs	28s
Python Checks / Python lints (ruff, mypy, …)	32s
Build web viewer / Build web viewer	2m 44s
Build rerun_js / Build rerun_js	3m 39s
Rust Checks / Test on macOS and Windows	0s
Minimum CLI Build / Set Config (linux-x64)	2s
Rust Checks / Rust lints (fmt, check, clippy, tests, doc)	11m 21s
C++ tests / C++ build & test - Linux x64, C++17	3m 19s
C++ tests / C++ build & test - Linux x64, C++20	3m 32s
C++ tests / C++ build & test - Windows x64	9m 6s
C++ tests / C++ build & test - Mac aarch64	8m 26s
Minimum CLI Build / Build rerun-cli (ubuntu-latest-16-cores)	3m 31s
Upload Web / Upload web build to google cloud (wasm32 + wasm-bindgen)	8s
Save PR Summary / Create HTML summary for PR	40s
Minimum Wheel Build / Set Config (linux-x64)	2s
Minimum Wheel Build / Build Wheels (ubuntu-latest-16-cores)	1m 44s
Minimum Wheel Test / Set Config (linux-x64)	2s
Minimum Wheel Test / Test Wheels (ubuntu-latest-16-cores)	3m 35s
	1h 1m 2s

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