Rapier CI build

Additional groove joint 2D implementation with DOF: 1 translation + 1 rotation #1211

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Run time

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Job	Run time
check-fmt	4s
build-wasm	59s
build-wasm-emscripten	1m 51s
build-native	16m 55s
doc	56s
publish-dry-run	6m 3s
typos	4s
	26m 52s