diff --git a/OdeWorld.cc b/OdeWorld.cc
index f567618..46b22fd 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -168,6 +168,14 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
     }
 }
 
+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);
+}
+
 dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
 {
     dGeomID id = 0;
diff --git a/OdeWorld.h b/OdeWorld.h
index 0c10d59..c4cae6b 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -18,6 +18,7 @@ class OdeWorld
             public:
                 Object(bool is_static, dWorldID world, dSpaceID space);
                 Object(const Object & orig);
+                ~Object();
 
                 void loadPhy(const std::string & path);
                 void setPosition(double x, double y, double z);
@@ -62,7 +63,6 @@ class OdeWorld
         dWorldID        m_world;
         dSpaceID        m_space;
         dJointGroupID   m_contactJointGroup;
-        std::map<std::string, dGeomID> m_objects;
 };
 
 #endif