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look at this source.
this is part of my engine.

ReleaseElement(neRigidBody * pkElement)
{
....
this->m_pkSimulator->Advance(0.0000001f, 1, NULL); // Importance Code
this->m_pkSimulator->FreeRigidBody(pkElement);
....
}

you have to use 'Advance' before use 'FreeRigidBody'.

goog luck.