Rapier CI build

Improve capacity handling for `ColliderSet`, `RigidBodySet`. #1123

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Run time

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Job	Run time
build-wasm	1m 10s
check-fmt	4s
build-native	16m 7s
build-wasm-emscripten	1m 51s
doc	49s
publish-dry-run	6m 42s
typos	5s
	26m 48s