feat: update to rapier 0.13.0

[sebcrozet]

Several stability improvements are added as part of this release.
See rapier#625 for overviews of the most important improvements.

Modified

• The castShape and castCollider functions have been modified to add a targetDistance parameter. This parameter
  indicates the distance below which a hit is detected.
• Rename RayIntersection.toi to .timeOfImpact for better clarity.
• Rename RayColliderIntersection.toi to .timeOfImpact for better clarity.
• Rename RayColliderToi to RayColliderHit.
• Rename RayColliderHit.toi to .timeOfImpact for better clarity.
• Rename ShapeTOI to ShapeCastHit.
• Rename ShapeColliderTOI to ColliderShapeCastHit.
• Rename ShapeCastHit.toi to .timeOfImpact.

Added

• Fix the kinematic character controller getting stuck against vertical walls.
• Add KinematicCharacterController.normalNudgeFactor and .setNormalNudgeFactor so set a coefficient used for
  avoiding having the character controller get stuck on penetrations.
• Add RigidBody.softCcdPrediction, .setSoftCcdPrediction, and RigidBodyDesc.setSoftCcdPrediction for configuring
  soft-ccd on the rigid-body. See rapier#625 for additional details on
  soft-ccd.
• 3D version only: add TriMeshFlags::FIX_INTERNAL_EDGES and HeightFieldFlags::FIX_INTERNAL_EDGES for enabling
  internal edges correction (which is no longer enabled by default). The flags have been added as an optional parameter
  when building the shapes.
• Add Collider.contactSkin, .setContactSkin, and ColliderDesc.setContactSkin for configuring the collider’s
  contact skin. See rapier#625 for additional details on contact skins.
• Add World.lengthUnit which can be used to indicate the typical size of dynamic objects (e.g. 100 pixels instead of
  1 meter). This helps the physics engine adjust internal thresholds for better results.

Fixed

• Fix an issue where the reported contact force are lower than their actual value.

Fix #268
Fix #261
Fix #191