Update to Rapier 0.18 & Release v0.12.0

[sebcrozet]

0.12.0 (2024-01-28)

The main highlight of this release is the implementation of a new non-linear constraints solver for better stability
and increased convergence rates. See #579 for additional information.

In order to adjust the number of iterations of the new solver, simply adjust World.numSolverIterations.
If recovering the old solver behavior is useful to you, call World.switchToStandardPgsSolver().

It is now possible to specify some additional solver iteration for specific rigid-bodies (and everything interacting
with it directly or indirectly through contacts and joints): RigidBodyDesc.additionalSolverIterations and
RigidBody.setAdditionalSolverIterations. This allows for higher-accuracy on subsets of the physics scene
without affecting performance of the other parts of the simulation.

Modified

• Renamed CharacterController.translationApplied, .translationRemaining and the desiredTranslation
  method argument to CharacterController.translationDeltaApplied, .translationDeltaRemaining and the
  desiredTranslationDelta to avoid confusion with the usage of the translation world in RigidBody.translation().

Added

• Added DynamicRayCastVehicleController to simulate vehicles based on ray-casting.
• Added JointData.generic (3D only) to create a generic 6-dof joint and manually specify the locked axes.