Rapier CI build

Fix character controller ground detection attempt 3 #1179

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Run time

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Job	Run time
build-wasm-emscripten	1m 48s
build-wasm-emscripten	1m 48s
build-wasm	1m 13s
build-wasm	1m 13s
build-native	15m 4s
build-native	15m 42s
check-fmt	3s
check-fmt	3s
doc	58s
doc	58s
typos	4s
typos	4s
publish-dry-run	6m 41s
publish-dry-run	6m 2s
	51m 41s