Allow pre-compiled binaries for ruby 3.1.0 (#9566)

* Allow pre-compiled binaries for ruby 3.1.1

* add comment

* fix build and use ruby 3.1.0

* add ruby31 to build CI for tests and release

* trying to fix ci

* install ruby 3.1.0 in ruby_build_environment.sh

* use head for rvm to install 3.1.0

* just install master version of rvm in prepare_build_macos_rc

* force install of master rvm in ruby_build_environment.sh

* Use coroutine=universal when compiling ruby31

* use ucontext

* fix filename

* fix coroutine name

* use git head for rake-compiler-dock

* use newest rake-compiler-dock version