Crash on physx::Dy::FeatherstoneArticulation::setupInternalConstraintsForLink when the total ArticulationBodies Count exceeds 128

How to reproduce:

1. Open the attached “IN-145905“ project
2. Open the “a“ scene
3. Enter Play mode
4. Observe the crash

Reproducible with: 6000.0.0f1 (4ff56b3ea44c), 6000.0.78f1, 6000.3.18f1, 6000.5.1f1, 6000.6.0b1, 6000.7.0a1

Reproducible on: Windows 11
Not reproducible on: No other environments tested

Workaround: Cap the Segment Count to 63

Notes:

• Reproduces in Player
• With a 127 segment count, the Editor crashes with a memory allocation fault instead

First few lines of the stack trace:
0x00007FF96C68B338 (Unity) physx::Dy::FeatherstoneArticulation::setupInternalConstraintsForLink
0x00007FF96C68A324 (Unity) physx::Dy::FeatherstoneArticulation::setupInternalConstraints
0x00007FF96C68C316 (Unity) physx::Dy::FeatherstoneArticulation::setupSolverConstraints
0x00007FF96C6ACF80 (Unity) physx::Dy::SolverArticulationUpdateTask::runInternal
0x00007FF96C6AA222 (Unity) physx::Cm::BaseTask::run