Use babel for traspiling rather than closure compiler

We recently switch from using closure-compiler with `WHITESPACE_ONLY` to
closure-compiler with `SIMPLE_OPTIMIZATIONS`.  However this had the
negative side effect that all input need to be free of closure compiler
warnings, and this turned out not to be practical for all users.
See emscripten-core#20810 for more on this

When selecting a transpilation tool use I also evaluated `swx` (written
in rust) and `esbuild` (written in go).  `esbuild` was rejected
because the simply don't support ES5
(evanw/esbuild#297).  `swx` was rejected
because it almost doubled the side of our `node_modules` directory by
adding two 50mb binary files.