ODE pluggin / dynSys->RemoveBody(...), slowing machine

[teike]

When I create about 50 iRigidBody objects, after I clean them with dynSys->RemoveBody(pRB) they actually dont get deleted.

Despite they disappear they are still obstacles to other RB objects and the only way I found to make this work a bit better is pRB->MakeStatic() then move them to outside of map

Tho after I create so much RB objects the machine gets slowed then i need to restart my application  

Is there nway I could use to really 'delete'  them from memory and remove them from dynamics engine?