diff --git a/source/blender/blenkernel/intern/rigidbody.c b/source/blender/blenkernel/intern/rigidbody.c
index 8e5b67404ac..86128994092 100644
--- a/source/blender/blenkernel/intern/rigidbody.c
+++ b/source/blender/blenkernel/intern/rigidbody.c
@@ -1105,6 +1105,26 @@ static void rigidbody_update_simulation(Scene *scene, RigidBodyWorld *rbw, bool
 		BKE_rigidbody_validate_sim_world(scene, rbw, true);
 	rigidbody_update_sim_world(scene, rbw);
 
+	/* XXX TODO For rebuild: remove all constraints first.
+	 * Otherwise we can end up deleting objects that are still
+	 * referenced by constraints, corrupting bullet's internal list.
+	 * 
+	 * Memory management needs redesign here, this is just a dirty workaround.
+	 */
+	if (rebuild && rbw->constraints) {
+		for (go = rbw->constraints->gobject.first; go; go = go->next) {
+			Object *ob = go->ob;
+			if (ob) {
+				RigidBodyCon *rbc = ob->rigidbody_constraint;
+				if (rbc && rbc->physics_constraint) {
+					RB_dworld_remove_constraint(rbw->physics_world, rbc->physics_constraint);
+					RB_constraint_delete(rbc->physics_constraint);
+					rbc->physics_constraint = NULL;
+				}
+			}
+		}
+	}
+
 	/* update objects */
 	for (go = rbw->group->gobject.first; go; go = go->next) {
 		Object *ob = go->ob;
@@ -1150,6 +1170,7 @@ static void rigidbody_update_simulation(Scene *scene, RigidBodyWorld *rbw, bool
 			rigidbody_update_sim_ob(scene, rbw, ob, rbo);
 		}
 	}
+	
 	/* update constraints */
 	if (rbw->constraints == NULL) /* no constraints, move on */
 		return;