split up debug & physics context / providers

@react-three/cannon

Access the physics context with the usePhysicsContext hook, which immediately gives you a clear error message when trying to access physics components or hooks outside of a Physics provider.
Renamed context to physicsContext
Added a useDebugContext hook for consistency
[Provider.tsx] Renamed to physics-provider.tsx
[Debug.tsx] Renamed to debug-provider.tsx (Still exported as Debug & DebugProps)
[physics-provider.tsx] One useState call that contains the whole context
[physics-provider.tsx] bodies is not a ref, no need to access current
[setup.ts] Removed, split into more appropriately named modules
[worker.d.ts] Removed, belongs in cannon-worker-api
[package.json] Use dependencies rather than peerDependencies
[.eslintrc.json] Clean up
[.eslintrc.json] Disallow non-null assertions

[WorkerRayHitEvent] from & to are optional
[WorkerRayHitEvent] Omit methods from shape type
[src/worker] self.postMessage should be typed to ensure we match API types
[src/worker] Stop using non-null assertions
[addBodies] If the body or target does not have a uuid, don't process the event
[addRay] If the body does not have a uuid, don't process the event
[package.json] Has one dependency: three
[.eslintrc.json] Clean up
[.eslintrc.json] Disallow non-null assertions