Panic when regular body collide with multi-body

[newDINO]

Scenario:
A cube connected to ground using multi body joint. Another cube fall to the ground. After a while, the simulation crashed.

Backtrace:

thread 'main' (569197) panicked at ***/nalgebra-0.34.1/src/base/matrix_view.rs:290:9:
Matrix slicing out of bounds.
stack backtrace:
   0: __rustc::rust_begin_unwind
   1: core::panicking::panic_fmt
   2: rapier3d::dynamics::solver::contact_constraint::generic_contact_constraint_element::GenericRhs::apply_impulse
   3: rapier3d::dynamics::solver::contact_constraint::generic_contact_constraint::GenericContactConstraint::warmstart
   4: rapier3d::dynamics::solver::contact_constraint::contact_constraints_set::ContactConstraintsSet::warmstart
   5: rapier3d::dynamics::solver::velocity_solver::VelocitySolver::solve_constraints
   6: rapier3d::dynamics::solver::island_solver::IslandSolver::init_and_solve
   7: rapier3d::pipeline::physics_pipeline::PhysicsPipeline::step
   8: rapier_testbed3d::harness::Harness::step_with_graphics
   9: rapier_testbed3d::testbed::update_testbed
  10: <bevy_ecs::system::function_system::FunctionSystem<Marker,F> as bevy_ecs::system::system::System>::run_unsafe

I created an example for reproduction at newDINO/rapier@bd20ccd.