Rapier CI build

feat: rename AxisMask to AxesMask + enable LIN_Z only in 3D #1289

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Job	Run time
build-wasm-emscripten	1m 44s
build-wasm	1m 8s
build-native	18m 36s
check-fmt	7s
doc	54s
publish-dry-run	10m 46s
typos	7s
	33m 22s