[3.x] Fix errors related to joints setup with two non-dynamic bodies #47943
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Abort 2D and 3D joints setup when none of the bodies is dynamic to avoid mathematical problems that lead to cryptic error messages.
Joints can still become valid when body types change, that's why creating the joints in the first place is still supported.
Fixes #47478
Fixes #47872 (comment)
3.x backport of #47942