diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
index 8ba705acd..22a025444 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
@@ -459,17 +459,25 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl() const
     {
       FWheelPhysicsControl PhysicsWheel;
 
-      PxVehicleWheelData PWheelData = Vehicle4W->PVehicle->mWheelsSimData.getWheelData(i);
-      PhysicsWheel.DampingRate = Cm2ToM2(PWheelData.mDampingRate);
-      PhysicsWheel.MaxSteerAngle = FMath::RadiansToDegrees(PWheelData.mMaxSteer);
-      PhysicsWheel.Radius = PWheelData.mRadius;
-      PhysicsWheel.MaxBrakeTorque = Cm2ToM2(PWheelData.mMaxBrakeTorque);
-      PhysicsWheel.MaxHandBrakeTorque = Cm2ToM2(PWheelData.mMaxHandBrakeTorque);
+      if (bPhysicsEnabled) {
+        PxVehicleWheelData PWheelData = Vehicle4W->PVehicle->mWheelsSimData.getWheelData(i);
 
-      PxVehicleTireData PTireData = Vehicle4W->PVehicle->mWheelsSimData.getTireData(i);
-      PhysicsWheel.LatStiffMaxLoad = PTireData.mLatStiffX;
-      PhysicsWheel.LatStiffValue = PTireData.mLatStiffY;
-      PhysicsWheel.LongStiffValue = PTireData.mLongitudinalStiffnessPerUnitGravity;
+        PhysicsWheel.DampingRate = Cm2ToM2(PWheelData.mDampingRate);
+        PhysicsWheel.MaxSteerAngle = FMath::RadiansToDegrees(PWheelData.mMaxSteer);
+        PhysicsWheel.Radius = PWheelData.mRadius;
+        PhysicsWheel.MaxBrakeTorque = Cm2ToM2(PWheelData.mMaxBrakeTorque);
+        PhysicsWheel.MaxHandBrakeTorque = Cm2ToM2(PWheelData.mMaxHandBrakeTorque);
+
+        PxVehicleTireData PTireData = Vehicle4W->PVehicle->mWheelsSimData.getTireData(i);
+
+        PhysicsWheel.LatStiffMaxLoad = PTireData.mLatStiffX;
+        PhysicsWheel.LatStiffValue = PTireData.mLatStiffY;
+        PhysicsWheel.LongStiffValue = PTireData.mLongitudinalStiffnessPerUnitGravity;
+      } else {
+        if (i < LastPhysicsControl.Wheels.Num()) {
+          PhysicsWheel = LastPhysicsControl.Wheels[i];
+        }
+      }
 
       PhysicsWheel.TireFriction = Vehicle4W->Wheels[i]->TireConfig->GetFrictionScale();
       PhysicsWheel.Position = Vehicle4W->Wheels[i]->Location;
@@ -537,17 +545,23 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl() const
     {
       FWheelPhysicsControl PhysicsWheel;
 
-      PxVehicleWheelData PWheelData = VehicleNW->PVehicle->mWheelsSimData.getWheelData(i);
-      PhysicsWheel.DampingRate = Cm2ToM2(PWheelData.mDampingRate);
-      PhysicsWheel.MaxSteerAngle = FMath::RadiansToDegrees(PWheelData.mMaxSteer);
-      PhysicsWheel.Radius = PWheelData.mRadius;
-      PhysicsWheel.MaxBrakeTorque = Cm2ToM2(PWheelData.mMaxBrakeTorque);
-      PhysicsWheel.MaxHandBrakeTorque = Cm2ToM2(PWheelData.mMaxHandBrakeTorque);
+      if (bPhysicsEnabled) {
+        PxVehicleWheelData PWheelData = VehicleNW->PVehicle->mWheelsSimData.getWheelData(i);
+        PhysicsWheel.DampingRate = Cm2ToM2(PWheelData.mDampingRate);
+        PhysicsWheel.MaxSteerAngle = FMath::RadiansToDegrees(PWheelData.mMaxSteer);
+        PhysicsWheel.Radius = PWheelData.mRadius;
+        PhysicsWheel.MaxBrakeTorque = Cm2ToM2(PWheelData.mMaxBrakeTorque);
+        PhysicsWheel.MaxHandBrakeTorque = Cm2ToM2(PWheelData.mMaxHandBrakeTorque);
 
-      PxVehicleTireData PTireData = VehicleNW->PVehicle->mWheelsSimData.getTireData(i);
-      PhysicsWheel.LatStiffMaxLoad = PTireData.mLatStiffX;
-      PhysicsWheel.LatStiffValue = PTireData.mLatStiffY;
-      PhysicsWheel.LongStiffValue = PTireData.mLongitudinalStiffnessPerUnitGravity;
+        PxVehicleTireData PTireData = VehicleNW->PVehicle->mWheelsSimData.getTireData(i);
+        PhysicsWheel.LatStiffMaxLoad = PTireData.mLatStiffX;
+        PhysicsWheel.LatStiffValue = PTireData.mLatStiffY;
+        PhysicsWheel.LongStiffValue = PTireData.mLongitudinalStiffnessPerUnitGravity;
+      } else {
+        if (i < LastPhysicsControl.Wheels.Num()) {
+          PhysicsWheel = LastPhysicsControl.Wheels[i];
+        }
+      }
 
       PhysicsWheel.TireFriction = VehicleNW->Wheels[i]->TireConfig->GetFrictionScale();
       PhysicsWheel.Position = VehicleNW->Wheels[i]->Location;