Coupled angular spring joints panic with index out of bounds: the len is 1 but the index is 18446744073709551615

[funmaker]

Coupled angular spring joints seem to cause a panic.

Minimal reproduction: https://github.com/funmaker/rapier-issue-792

thread 'main' panicked at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier3d/../../src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs:677:31:
index out of bounds: the len is 1 but the index is 18446744073709551615
stack backtrace:
   0: rust_begin_unwind
             at /rustc/1891c28669863bf7ed3ef8f43f2d3fa546f34861/library/std/src/panicking.rs:692:5
   1: core::panicking::panic_fmt
             at /rustc/1891c28669863bf7ed3ef8f43f2d3fa546f34861/library/core/src/panicking.rs:75:14
   2: core::panicking::panic_bounds_check
             at /rustc/1891c28669863bf7ed3ef8f43f2d3fa546f34861/library/core/src/panicking.rs:273:5
   3: rapier3d::dynamics::solver::joint_constraint::joint_velocity_constraint::JointOneBodyConstraint<f32,1_usize>::solve
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier3d/../../src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs:677:31
   4: rapier3d::dynamics::solver::joint_constraint::any_joint_constraint::<impl rapier3d::dynamics::solver::solver_constraints_set::AnyConstraintMut<rapier3d::dynamics::solver::joint_constraint::any_joint_constraint::JointConstraintTypes>>::solve
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier3d/../../src/dynamics/solver/joint_constraint/any_joint_constraint.rs:51:33
   5: rapier3d::dynamics::solver::joint_constraint::joint_constraints_set::<impl rapier3d::dynamics::solver::solver_constraints_set::SolverConstraintsSet<rapier3d::dynamics::solver::joint_constraint::any_joint_constraint::JointConstraintTypes>>::solve
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier3d/../../src/dynamics/solver/joint_constraint/joint_constraints_set.rs:372:13
   6: rapier3d::dynamics::solver::velocity_solver::VelocitySolver::solve_constraints
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier3d/../../src/dynamics/solver/velocity_solver.rs:187:17
   7: rapier3d::dynamics::solver::island_solver::IslandSolver::init_and_solve
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier3d/../../src/dynamics/solver/island_solver.rs:82:9
   8: rapier3d::pipeline::physics_pipeline::PhysicsPipeline::build_islands_and_solve_velocity_constraints
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier3d/../../src/pipeline/physics_pipeline.rs:234:17
   9: rapier3d::pipeline::physics_pipeline::PhysicsPipeline::step
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier3d/../../src/pipeline/physics_pipeline.rs:583:13
  10: rapier_testbed3d::harness::Harness::step_with_graphics
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier_testbed3d/../../src_testbed/harness/mod.rs:235:9
  11: rapier_testbed3d::testbed::update_testbed
             at /home/funmaker/.cargo/git/checkouts/rapier-2268ac801e75c2bc/c4c549f/crates/rapier_testbed3d/../../src_testbed/testbed.rs:1484:17
  12: core::ops::function::FnMut::call_mut
             at /home/funmaker/.rustup/toolchains/nightly-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ops/function.rs:166:5
  13: core::ops::function::impls::<impl core::ops::function::FnMut<A> for &mut F>::call_mut
             at /home/funmaker/.rustup/toolchains/nightly-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ops/function.rs:294:13
  14: <Func as bevy_ecs::system::function_system::SystemParamFunction<fn(F0,F1,F2,F3,F4,F5,F6,F7,F8,F9,F10,F11,F12,F13) .> Out>>::run::call_inner
             at /home/funmaker/.cargo/registry/src/github.com-25cdd57fae9f0462/bevy_ecs-0.15.1/src/system/function_system.rs:1002:21
  15: <Func as bevy_ecs::system::function_system::SystemParamFunction<fn(F0,F1,F2,F3,F4,F5,F6,F7,F8,F9,F10,F11,F12,F13) .> Out>>::run
             at /home/funmaker/.cargo/registry/src/github.com-25cdd57fae9f0462/bevy_ecs-0.15.1/src/system/function_system.rs:1005:17
  16: <bevy_ecs::system::function_system::FunctionSystem<Marker,F> as bevy_ecs::system::system::System>::run_unsafe
             at /home/funmaker/.cargo/registry/src/github.com-25cdd57fae9f0462/bevy_ecs-0.15.1/src/system/function_system.rs:800:19
note: Some details are omitted, run with `RUST_BACKTRACE=full` for a verbose backtrace.
Encountered a panic in system `rapier_testbed3d::testbed::update_testbed`!
2025-01-26T22:29:35.650104Z  WARN bevy_ecs::world::command_queue: CommandQueue has un-applied commands being dropped. Did you forget to call SystemState::apply?
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!

Process finished with exit code 101