Add Scale3D component (#6892)

### What

* Part of #6831
* Based on #6866

Introduces a new `Scale3D` component that lives directly on the
`Transform3D` archetype.
The `Scale3D` _datatype_ which is part of `TranslationRotationScale3D`
is still around, but will be removed in a subsequent PR.

Additionally, reversed order of how transform components. Rationale:
"translation, rotation, scale" is a common way of expressing a simple
transform. What is meant is that we first scale an object, then rotate
it and _then_ translate it.

Commit by commit review possible.

### Checklist
* [x] pass `main` ci
* [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/6892?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/6892?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/6892)
- [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`.

CMakeLists.txt

@@ -37,7 +37,9 @@ function(rerun_strict_warning_settings target)
         # CMAKE_COMPILE_WARNING_AS_ERROR is only directly supported starting in CMake `3.24`
         # https://cmake.org/cmake/help/latest/prop_tgt/COMPILE_WARNING_AS_ERROR.html
         if(CMAKE_COMPILE_WARNING_AS_ERROR)
-            target_compile_options(${target} PRIVATE /WX)
+            target_compile_options(${target} PRIVATE /WX
+                /w15038 # Initialization order. https://learn.microsoft.com/en-us/cpp/error-messages/compiler-warnings/c5038
+            )
         endif()
 
         if(RERUN_USE_ASAN)

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

@@ -8,9 +8,9 @@ namespace rerun.archetypes;
 
 /// A transform between two 3D spaces, i.e. a pose.
 ///
-/// All components are applied in the order they are listed here.
+/// All components are applied in the inverse order they are listed here.
 /// E.g. if both a 4x4 matrix with a translation and a translation vector are present,
-/// the matrix is applied first, then the translation vector on top.
+/// the translation is applied first, followed by the matrix.
 ///
 /// Each transform component can be listed multiple times, but transform tree propagation is only possible
 /// if there's only one instance for each transform component.
@@ -21,18 +21,22 @@ namespace rerun.archetypes;
 // TODO(#6831): provide example with out of tree transform.
 table Transform3D (
   "attr.rust.derive": "Default, PartialEq",
+  "attr.rust.generate_field_info",
   "attr.docs.category": "Spatial 3D",
   "attr.docs.view_types": "Spatial3DView, Spatial2DView: if logged above active projection"
 ) {
   /// The transform
   // TODO(#6831): remove.
   transform: rerun.components.Transform3D ("attr.rerun.component_optional", order: 1000);
 
-  /// 3x3 transformation matrices.
-  mat3x3: [rerun.components.TransformMat3x3] ("attr.rerun.component_optional", nullable, order: 1100);
-
   /// Translation vectors.
-  translation: [rerun.components.Translation3D] ("attr.rerun.component_optional", nullable, order: 1200);
+  translation: [rerun.components.Translation3D] ("attr.rerun.component_optional", nullable, order: 1100);
+
+  /// Scaling factor.
+  scale: [rerun.components.Scale3D] ("attr.rerun.component_optional", nullable, order: 1200);
+
+  /// 3x3 transformation matrices.
+  mat3x3: [rerun.components.TransformMat3x3] ("attr.rerun.component_optional", nullable, order: 1300);
 
   // --- visual representation
 

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

@@ -33,6 +33,7 @@ include "./components/range1d.fbs";
 include "./components/resolution.fbs";
 include "./components/rotation3d.fbs";
 include "./components/scalar.fbs";
+include "./components/scale3d.fbs";
 include "./components/stroke_width.fbs";
 include "./components/tensor_data.fbs";
 include "./components/tensor_dimension_selection.fbs";

crates/store/re_types/definitions/rerun/components/scale3d.fbs

@@ -0,0 +1,14 @@
+namespace rerun.components;
+
+/// A 3D scale factor.
+///
+/// A scale of 1.0 means no scaling.
+/// A scale of 2.0 means doubling the size.
+/// Each component scales along the corresponding axis.
+struct Scale3D (
+  "attr.docs.unreleased",
+  "attr.rust.derive": "Copy, PartialEq, bytemuck::Pod, bytemuck::Zeroable",
+  "attr.rust.repr": "transparent"
+) {
+  scale: rerun.datatypes.Vec3D (order: 100);
+}

crates/store/re_types/definitions/rerun/datatypes/mat3x3.fbs

@@ -43,6 +43,7 @@ namespace rerun.datatypes;
 struct Mat3x3 (
   "attr.arrow.transparent",
   "attr.python.aliases": "npt.ArrayLike",
+  "attr.python.array_aliases": "npt.ArrayLike",
   "attr.rust.derive": "Copy, PartialEq, PartialOrd, bytemuck::Pod, bytemuck::Zeroable",
   "attr.rust.repr": "transparent",
   "attr.rust.tuple_struct"

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

@@ -1,6 +1,6 @@
 use crate::{
-    components::{TransformMat3x3, Translation3D},
-    datatypes::{Rotation3D, Scale3D, TranslationRotationScale3D},
+    components::{Scale3D, TransformMat3x3, Translation3D},
+    datatypes::{Rotation3D, TranslationRotationScale3D},
 };
 
 use super::Transform3D;
@@ -37,7 +37,7 @@ impl Transform3D {
     #[inline]
     pub fn from_scale(scale: impl Into<Scale3D>) -> Self {
         Self {
-            transform: TranslationRotationScale3D::from_scale(scale).into(),
+            scale: Some(vec![scale.into()]),
             ..Self::default()
         }
     }
@@ -75,7 +75,7 @@ impl Transform3D {
         scale: impl Into<Scale3D>,
     ) -> Self {
         Self {
-            transform: TranslationRotationScale3D::from_scale(scale).into(),
+            scale: Some(vec![scale.into()]),
             translation: Some(vec![translation.into()]),
             ..Self::default()
         }
@@ -89,7 +89,8 @@ impl Transform3D {
         scale: impl Into<Scale3D>,
     ) -> Self {
         Self {
-            transform: TranslationRotationScale3D::from_rotation_scale(rotation, scale).into(),
+            transform: TranslationRotationScale3D::from_rotation(rotation).into(),
+            scale: Some(vec![scale.into()]),
             translation: Some(vec![translation.into()]),
             ..Self::default()
         }
@@ -99,7 +100,8 @@ impl Transform3D {
     #[inline]
     pub fn from_rotation_scale(rotation: impl Into<Rotation3D>, scale: impl Into<Scale3D>) -> Self {
         Self {
-            transform: TranslationRotationScale3D::from_rotation_scale(rotation, scale).into(),
+            transform: TranslationRotationScale3D::from_rotation(rotation).into(),
+            scale: Some(vec![scale.into()]),
             ..Self::default()
         }
     }