diff --git a/OdeWorld.cc b/OdeWorld.cc
index 1b06556..9e4f3c6 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -63,7 +63,7 @@ void OdeWorld::step()
 
 OdeWorld::Object * OdeWorld::createObject(bool is_static, float scale)
 {
-    return new Object(is_static, m_world, m_space, scale);
+    return new Object(is_static, this, m_world, m_space, scale);
 }
 
 /* push an OpenGL matrix onto the matrix stack for a given
@@ -91,7 +91,27 @@ void OdeWorld::pushTransform(const dReal * pos, const dReal * R)
     glMultMatrixf(matrix);
 }
 
-OdeWorld::Object::Object(bool is_static, dWorldID world, dSpaceID space,
+dBodyID OdeWorld::createBody()
+{
+    dBodyID id = dBodyCreate(m_world);
+    m_bodies[id] = 1;
+    return id;
+}
+
+void OdeWorld::destroyBody(dBodyID body)
+{
+    m_bodies.erase(body);
+    dBodyDestroy(body);
+    for (std::map<dBodyID, int>::iterator it = m_bodies.begin();
+            it != m_bodies.end();
+            it++)
+    {
+        dBodyEnable(it->first);
+    }
+}
+
+OdeWorld::Object::Object(bool is_static, OdeWorld * ode_world,
+        dWorldID world, dSpaceID space,
         float scale)
 {
     m_is_static = is_static;
@@ -99,6 +119,7 @@ OdeWorld::Object::Object(bool is_static, dWorldID world, dSpaceID space,
     m_space = space;
     m_body = 0;
     m_scale = scale;
+    m_ode_world = ode_world;
     dMassSetZero(&m_mass);
     for (int i = 0; i < 3; i++)
         m_position[i] = 0.0;
@@ -113,6 +134,7 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
     m_world = orig.m_world;
     m_space = orig.m_space;
     m_scale = orig.m_scale;
+    m_ode_world = orig.m_ode_world;
     for (int i = 0; i < 3; i++)
         m_position[i] = orig.m_position[i];
     for (int i = 0; i < 12; i++)
@@ -120,7 +142,7 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
     /* make a copy of the ODE body */
     if (orig.m_body != 0)
     {
-        m_body = dBodyCreate(m_world);
+        m_body = m_ode_world->createBody();
         m_mass = orig.m_mass;
         dBodySetMass(m_body, &m_mass);
         const dReal * pos = dBodyGetPosition(orig.m_body);
@@ -166,7 +188,7 @@ OdeWorld::Object::~Object()
     for (int i = 0, sz = m_geoms.size(); i < sz; i++)
         dGeomDestroy(m_geoms[i]);
     if (m_body != 0)
-        dBodyDestroy(m_body);
+        m_ode_world->destroyBody(m_body);
 }
 
 dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
@@ -366,7 +388,7 @@ void OdeWorld::Object::setupGeom(dGeomID geom, dMass * mass,
     {
         /* attach the geometry to the body */
         if (m_body == 0)
-            m_body = dBodyCreate(m_world);
+            m_body = m_ode_world->createBody();
 
         dGeomSetBody(transform, m_body);
 
diff --git a/OdeWorld.h b/OdeWorld.h
index 69a7f36..7590d8d 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -19,7 +19,8 @@ class OdeWorld
         class Object
         {
             public:
-                Object(bool is_static, dWorldID world, dSpaceID space,
+                Object(bool is_static, OdeWorld * ode_world,
+                        dWorldID world, dSpaceID space,
                         float scale = 1.0f);
                 Object(const Object & orig);
                 ~Object();
@@ -50,6 +51,7 @@ class OdeWorld
                 float   m_scale;
                 dReal   m_position[3];
                 dReal   m_rotation[12];
+                OdeWorld * m_ode_world;
 
                 void setupGeom(dGeomID geom, dMass * mass,
                         float locx, float locy, float locz,
@@ -70,9 +72,13 @@ class OdeWorld
         static void pushTransform(const dReal * pos, const dReal * R);
 
     protected:
+        dBodyID         createBody();
+        void            destroyBody(dBodyID body);
+
         dWorldID        m_world;
         dSpaceID        m_space;
         dJointGroupID   m_contactJointGroup;
+        std::map<dBodyID, int>  m_bodies;
 };
 
 #endif