Update to rapier 0.21 #184
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1 warning
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The following artifacts were uploaded using a version of actions/upload-artifact that is scheduled for deprecation: "pkg macos-latest", "pkg ubuntu-latest".
Please update your workflow to use v4 of the artifact actions.
Learn more: https://github.blog/changelog/2024-04-16-deprecation-notice-v3-of-the-artifact-actions/
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