diff --git a/vphysics_jolt/vjolt_environment.cpp b/vphysics_jolt/vjolt_environment.cpp
index 34baf4b..6f817ce 100644
--- a/vphysics_jolt/vjolt_environment.cpp
+++ b/vphysics_jolt/vjolt_environment.cpp
@@ -771,6 +771,10 @@ void JoltPhysicsEnvironment::Simulate( float deltaTime )
 	// doing the simulation...
 	m_ContactListener.PostSimulationFrame();
 
+	// RaphaelIT7: We need to delete all dead objects after m_ContactListener.PostSimulationFrame, or else Jolt freaks out for some reason.
+	// This also needs to be before pController->OnPreSimulate or else we get some crashes.
+	DeleteDeadObjects( true );
+
 	// Run pre-simulation controllers
 	for ( IJoltPhysicsController *pController : m_pPhysicsControllers )
 		pController->OnPreSimulate( deltaTime );
@@ -818,8 +822,10 @@ void JoltPhysicsEnvironment::Simulate( float deltaTime )
 
 	// If the delete queue is disabled, we only added to it during the simulation
 	// ie. callbacks etc. So flush that now.
-	if ( !m_bEnableDeleteQueue )
+	if ( !m_bEnableDeleteQueue ) {
 		DeleteDeadObjects();
+		DeleteDeadObjects( true ); // Also delete all bodies
+	}
 
 #ifdef JPH_DEBUG_RENDERER
 	JoltPhysicsDebugRenderer::GetInstance().RenderPhysicsSystem( m_PhysicsSystem );
@@ -1430,19 +1436,21 @@ void JoltPhysicsEnvironment::RemoveBodyAndDeleteObject( JoltPhysicsObject *pObje
 	delete pObject;
 }
 
-void JoltPhysicsEnvironment::DeleteDeadObjects()
+void JoltPhysicsEnvironment::DeleteDeadObjects( bool delBodies )
 {
-	for ( JoltPhysicsObject *pObject : m_pDeadObjects )
-		RemoveBodyAndDeleteObject( pObject );
-	m_pDeadObjects.clear();
+	if ( delBodies ) {
+		for ( JoltPhysicsObject *pObject : m_pDeadObjects )
+			RemoveBodyAndDeleteObject( pObject );
+		m_pDeadObjects.clear();
+	} else {
+		for ( JoltPhysicsConstraint *pConstraint : m_pDeadConstraints )
+			delete pConstraint;
+		m_pDeadConstraints.clear();
 
-	for ( JoltPhysicsConstraint *pConstraint : m_pDeadConstraints )
-		delete pConstraint;
-	m_pDeadConstraints.clear();
-
-	for ( CPhysCollide *pCollide : m_pDeadObjectCollides )
-		JoltPhysicsCollision::GetInstance().DestroyCollide( pCollide );
-	m_pDeadObjectCollides.clear();
+		for ( CPhysCollide *pCollide : m_pDeadObjectCollides )
+			JoltPhysicsCollision::GetInstance().DestroyCollide( pCollide );
+		m_pDeadObjectCollides.clear();
+	}
 }
 
 //-------------------------------------------------------------------------------------------------
diff --git a/vphysics_jolt/vjolt_environment.h b/vphysics_jolt/vjolt_environment.h
index 300dcb2..876b2d8 100644
--- a/vphysics_jolt/vjolt_environment.h
+++ b/vphysics_jolt/vjolt_environment.h
@@ -172,7 +172,7 @@ public:
 private:
 
 	void RemoveBodyAndDeleteObject( JoltPhysicsObject* pObject );
-	void DeleteDeadObjects();
+	void DeleteDeadObjects( bool delBodies = false );
 
 	template <typename T>
 	void AddPhysicsSaveRestorePointer( uintp oldPtr, T* newPtr );