Update to rapier 0.21 (#284)

Author: Vrixyz

CHANGELOG.md

@@ -1,6 +1,6 @@
 ### Unreleased
 
--   Update to rapier 0.20 ([#281](https://github.com/dimforge/rapier.js/pull/281)), see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md#v0200-9-june-2024) for more context.
+-   Update from rapier 0.19 to 0.21 ([#281](https://github.com/dimforge/rapier.js/pull/281)), see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md#v0210-23-june-2024) for more context.
 
 ### 0.13.1 (2024-05-08)