Rapier CI build

Use meshloader to support multiple file formats loading #1152

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Run time

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Job	Run time
build-wasm	1m 16s
check-fmt	10s
build-wasm-emscripten	1m 58s
build-native	17m 1s
doc	1m 11s
publish-dry-run	5m 57s
typos	5s
	27m 38s