feat(rapier): modernize to rapier3d 0.33 (glam), redis 0.32, axum 0.8

[chrishayuk]

Ports rapier-service to current crate APIs (the deliberate follow-up to the earlier pin/revert).

Changes

• rapier3d 0.18 → 0.33: the big one — migrate the math layer from nalgebra to rapier's new glam-based types (Vec3/Pose3/Rot3). Also: BroadPhase → BroadPhaseBvh; query_pipeline dropped (no longer a step() param); gravity passed by value; halfspace via SharedShape; joints take a Vector axis; has_any_active_contact() is now a method; linvel() returns by value.
• redis 0.24 → 0.32: query_async now takes a single type parameter.
• axum 0.7 → 0.8: route params :id → {id}.
• nalgebra 0.35, tower 0.5, tower-http 0.6.

Validation (new Rust tests)

Added #[cfg(test)] coverage — all green locally:

• free-fall: a dynamic sphere drops ~4.5 m in ~1 s (gravity math ✓)
• resting on floor: a ball settles on a static box and registers the contact (broad/narrow phase + collisions ✓)
• revolute joint: adds and steps without panic ✓
• orientation round-trip: quaternion in == quaternion out ✓

Re-enables cargo renovate now that rust.yml gates Rust changes (this is why the earlier auto-merged major bumps slipped through — they predated that CI).