Panic when removing rigid body in a multi body

[newDINO]

Scenario:
A chain of rigid bodies attached to a fixed body using multi body joint. Another rigid body placed on top of the fixed body (Won't crash if this body is not added). Crash happens when removing the last body connected to the fixed body.

Backtrace:

thread 'main' (650592) panicked at crates/rapier3d/../../src/dynamics/solver/contact_constraint/generic_contact_constraint.rs:63:35:
No element at index
stack backtrace:
   0: __rustc::rust_begin_unwind
   1: core::panicking::panic_fmt
   2: core::option::expect_failed
   3: rapier3d::dynamics::solver::contact_constraint::generic_contact_constraint::GenericContactConstraintBuilder::generate
   4: rapier3d::dynamics::solver::contact_constraint::contact_constraints_set::ContactConstraintsSet::init
   5: rapier3d::dynamics::solver::island_solver::IslandSolver::init_and_solve
   6: rapier3d::pipeline::physics_pipeline::PhysicsPipeline::step
   7: rapier_testbed3d::harness::Harness::step_with_graphics
   8: rapier_testbed3d::testbed::update_testbed
   9: <bevy_ecs::system::function_system::FunctionSystem<Marker,F> as bevy_ecs::system::system::System>::run_unsafe

Example for reproduction: newDINO/rapier@7d53edd