Rapier CI build

Incorrect narrow_phase collisions after using ColliderSet::set_parent #1143

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Job	Run time
check-fmt	8s
build-wasm-emscripten	1m 49s
build-wasm	1m 14s
build-native	14m 37s
doc	56s
publish-dry-run	6m 25s
typos	12s
	25m 21s