extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -26,6 +26,7 @@ btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rb
 	  m_breakingImpulseThreshold(SIMD_INFINITY),
 	  m_isEnabled(true),
 	  m_needsFeedback(false),
+	  m_isValid(true),
 	  m_overrideNumSolverIterations(-1),
 	  m_rbA(rbA),
 	  m_rbB(getFixedBody()),
@@ -42,6 +43,7 @@ btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rb
 	  m_breakingImpulseThreshold(SIMD_INFINITY),
 	  m_isEnabled(true),
 	  m_needsFeedback(false),
+	  m_isValid(true),
 	  m_overrideNumSolverIterations(-1),
 	  m_rbA(rbA),
 	  m_rbB(rbB),

extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h

@@ -84,6 +84,7 @@ btTypedConstraint : public btTypedObject
 	btScalar m_breakingImpulseThreshold;
 	bool m_isEnabled;
 	bool m_needsFeedback;
+	bool m_isValid;
 	int m_overrideNumSolverIterations;
 
 	btTypedConstraint& operator=(btTypedConstraint& other)
@@ -198,6 +199,18 @@ public:
 		m_breakingImpulseThreshold = threshold;
 	}
 
+	bool isValid() const{
+		return m_isValid;
+	}
+
+	void invalidate(){
+		if(isValid()){
+			m_rbA.removeConstraintRef(this);
+			m_rbB.removeConstraintRef(this);
+			m_isValid = false;
+		}
+	}
+
 	bool isEnabled() const
 	{
 		return m_isEnabled;

extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -530,6 +530,10 @@ void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collision
 
 void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
 {
+	for (int i = body->getNumConstraintRefs() - 1; i >= 0; i--) {
+		btTypedConstraint *con=body->getConstraintRef(i);
+		removeConstraint(con);
+	}
 	m_nonStaticRigidBodies.remove(body);
 	btCollisionWorld::removeCollisionObject(body);
 }
@@ -644,8 +648,7 @@ void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool
 void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
 {
 	m_constraints.remove(constraint);
-	constraint->getRigidBodyA().removeConstraintRef(constraint);
+	constraint->invalidate();
-	constraint->getRigidBodyB().removeConstraintRef(constraint);
 }
 
 void btDiscreteDynamicsWorld::addAction(btActionInterface* action)

intern/rigidbody/rb_bullet_api.cpp

@@ -353,7 +353,7 @@ void RB_body_delete(rbRigidBody *object)
    * but since we delete everything when the world is rebult, we need to do it manually here */
   for (int i = body->getNumConstraintRefs() - 1; i >= 0; i--) {
     btTypedConstraint *con = body->getConstraintRef(i);
-    body->removeConstraintRef(con);
+    con->invalidate();
   }
 
   delete body;
@@ -1124,9 +1124,7 @@ void RB_constraint_delete(rbConstraint *con)
   /* If the constraint has disabled collisions between the bodies, those bodies
    * will have a pointer back to the constraint. We need to remove the constraint
    * from each body to avoid dereferencing the deleted constraint later (#91369) */
-  constraint->getRigidBodyA().removeConstraintRef(constraint);
+  constraint->invalidate();
-  constraint->getRigidBodyB().removeConstraintRef(constraint);
-
   delete constraint;
 }