Rapier CI build

fix mesh to use 3d mesh in 3d testbed (#790) #1249

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Run time

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Job	Run time
check-fmt	9s
build-native	18m 22s
build-wasm-emscripten	1m 57s
build-wasm	1m 9s
doc	57s
publish-dry-run	6m 33s
typos	5s
	29m 12s