Rapier CI build

Implement interaction groups test mode and cofficient combine rule #1138

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Job	Run time
build-native	16m 4s
build-wasm	1m 9s
check-fmt	6s
build-wasm-emscripten	1m 59s
doc	53s
publish-dry-run	6m 47s
typos	6s
	27m 4s