Lighter wrappers for rapier types

[Vrixyz]

Currently, bevy_rapier copies a lot of code from rapier, only to change a few signature functions for better glam compatibility.

In my opinion, wrapper types should be simpler: we should thrive to expose rapier types and limit code duplication:

Advantages of this approach:

• less code duplication
  • less time to maintain bevy_rapier: as we encourage users to use rapier types, we don't need to copy rapier's functions.
  • less cognitive load: macros such as joint_conversion_methods! should only live in rapier.
• better separation of concerns
  • Understanding rapier's functionalities should be oriented toward rapier's documentation, not bevy_rapier. The community would be able to better exchange on different features with a lower "wrapper overhead"

Ultimately, I think if should be possible to expose traits for glam (and nalgebra ?) capabilities, but that probably needs a more holistic approach with invasive (but I believe they could be made almost invisible) to rapier and rapier users.

Example to illustrate trait types for different library crates:
https://play.rust-lang.org/?version=stable&mode=debug&edition=2021&gist=5d57dccf5c175f862a20dbcdda149d58