diff --git a/include/Nazara/Physics3D/Components/RigidBody3DComponent.hpp b/include/Nazara/Physics3D/Components/RigidBody3DComponent.hpp
index a510bed44..af8de52b8 100644
--- a/include/Nazara/Physics3D/Components/RigidBody3DComponent.hpp
+++ b/include/Nazara/Physics3D/Components/RigidBody3DComponent.hpp
@@ -14,6 +14,8 @@ namespace Nz
 {
 	class NAZARA_PHYSICS3D_API RigidBody3DComponent : public RigidBody3D
 	{
+		friend class Physics3DSystem;
+
 		public:
 			using RigidBody3D::RigidBody3D;
 			RigidBody3DComponent(const RigidBody3DComponent&) = default;
diff --git a/include/Nazara/Physics3D/RigidBody3D.hpp b/include/Nazara/Physics3D/RigidBody3D.hpp
index bd9e40408..0343cea3b 100644
--- a/include/Nazara/Physics3D/RigidBody3D.hpp
+++ b/include/Nazara/Physics3D/RigidBody3D.hpp
@@ -77,6 +77,9 @@ namespace Nz
 			RigidBody3D& operator=(const RigidBody3D& object);
 			RigidBody3D& operator=(RigidBody3D&& object) noexcept;
 
+		protected:
+			void Destroy();
+
 		private:
 			void UpdateBody(const Matrix4f& transformMatrix);
 			static void ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex);
diff --git a/include/Nazara/Physics3D/Systems/Physics3DSystem.hpp b/include/Nazara/Physics3D/Systems/Physics3DSystem.hpp
index 97240b3f9..c47b4ba73 100644
--- a/include/Nazara/Physics3D/Systems/Physics3DSystem.hpp
+++ b/include/Nazara/Physics3D/Systems/Physics3DSystem.hpp
@@ -35,6 +35,7 @@ namespace Nz
 		private:
 			static void OnConstruct(entt::registry& registry, entt::entity entity);
 
+			entt::registry& m_registry;
 			entt::connection m_constructConnection;
 			PhysWorld3D m_physWorld;
 	};
diff --git a/src/Nazara/Physics3D/RigidBody3D.cpp b/src/Nazara/Physics3D/RigidBody3D.cpp
index 6454497d9..671e195a7 100644
--- a/src/Nazara/Physics3D/RigidBody3D.cpp
+++ b/src/Nazara/Physics3D/RigidBody3D.cpp
@@ -418,6 +418,17 @@ namespace Nz
 		return *this;
 	}
 
+	void RigidBody3D::Destroy()
+	{
+		if (m_body)
+		{
+			NewtonDestroyBody(m_body);
+			m_body = nullptr;
+		}
+
+		m_geom.reset();
+	}
+
 	void RigidBody3D::UpdateBody(const Matrix4f& transformMatrix)
 	{
 		NewtonBodySetMatrix(m_body, &transformMatrix.m11);
diff --git a/src/Nazara/Physics3D/Systems/Physics3DSystem.cpp b/src/Nazara/Physics3D/Systems/Physics3DSystem.cpp
index faf8f8265..26fe23380 100644
--- a/src/Nazara/Physics3D/Systems/Physics3DSystem.cpp
+++ b/src/Nazara/Physics3D/Systems/Physics3DSystem.cpp
@@ -8,13 +8,19 @@
 
 namespace Nz
 {
-	Physics3DSystem::Physics3DSystem(entt::registry& registry)
+	Physics3DSystem::Physics3DSystem(entt::registry& registry) :
+	m_registry(registry)
 	{
 		m_constructConnection = registry.on_construct<RigidBody3DComponent>().connect<OnConstruct>();
 	}
 
 	Physics3DSystem::~Physics3DSystem()
 	{
+		// Ensure every NewtonBody is destroyed before world is
+		auto rigidBodyView = m_registry.view<RigidBody3DComponent>();
+		for (auto [entity, rigidBodyComponent] : rigidBodyView.each())
+			rigidBodyComponent.Destroy();
+
 		m_constructConnection.release();
 	}