Stability improvements + remove cuda support

[sebcrozet]

This PR removes CUDA support (so we don’t have to stick to an older version of the rust toolchain due to cust being unmaintained) and implements features needed for the upcoming stability improvements in Rapier.

Modified

• Remove CUDA support to break free from the toolchain restriction required by cust.
• Rework internal edges resolution using normal cones. This implies the modification of the
  SimdCompositeShape::map_part_at, TypedSimdCompositeShape::map_typed_part, and
  TypedSimdCompositeShape::map_untyped_part trait functions so that the closure argument takes
  an extra argument for the (optional) normal constraints. This argument can be safely ignored
  by user code unless applying the normal collection is relevant to your use-case.
• Contact manifolds will now retain all contacts (including the ones further than the specified prediction
  distance) whenever any contact is actually closer than this prediction distance.
• Typo fix: renamed TopologyError::BadAdjascentTrianglesOrientation to BadAdjacentTrianglesOrientation.

Fixed

• Fix contacts between convex shapes being occasionally ignored due to some rounding errors.
• Remove crash when entering unreachable code in non-linear TOI calculation.
• Fix accuracy issue in triangle-mesh center-of-mass calculation when the mesh isn’t manifold.

Added

• Add SdpMatrix2::inverse_and_get_determinant_unchecked. This is useful for computing the
  inverse in a AoSoA SIMD setting.
• Add Aabb::intersects_moving_aabb to perform a swept test between two moving aabbs.