diff --git a/OdeWorld.cc b/OdeWorld.cc
index 3420c85..e0daea4 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -98,10 +98,8 @@ dBodyID OdeWorld::createBody()
     return id;
 }
 
-void OdeWorld::destroyBody(dBodyID body)
+void OdeWorld::enableAllBodies()
 {
-    m_bodies.erase(body);
-    dBodyDestroy(body);
     for (std::map<dBodyID, int>::iterator it = m_bodies.begin();
             it != m_bodies.end();
             it++)
@@ -110,6 +108,13 @@ void OdeWorld::destroyBody(dBodyID body)
     }
 }
 
+void OdeWorld::destroyBody(dBodyID body)
+{
+    m_bodies.erase(body);
+    dBodyDestroy(body);
+    enableAllBodies();
+}
+
 OdeWorld::Object::Object(bool is_static, OdeWorld * ode_world,
         dWorldID world, dSpaceID space,
         float scale)
diff --git a/OdeWorld.h b/OdeWorld.h
index d6b8fd9..ea7e248 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -65,8 +65,10 @@ class OdeWorld
         void setGravity(float x, float y, float z)
         {
             dWorldSetGravity(m_world, x, y, z);
+            enableAllBodies();
         }
         void step();
+        void enableAllBodies();
 
         friend void OdeWorld_collide_callback(void * data,
                 dGeomID o1, dGeomID o2);