diff --git a/CHANGELOG.md b/CHANGELOG.md
index af5961b..0dadfba 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@ This document lists new features, improvements, changes, and bug fixes in every
 ### Fixes
 
 - KinematicBody2DAgents and KinematicBody3DAgents that moved fast enough no longer reverse velocity suddenly during a frame where no acceleration is applied.
+- RigidBody2DAgent should no longer crash due to a missing reference.
 
 ## Godot Steering AI Framework 2.1.0 ##
 
diff --git a/project/src/Agents/GSAIKinematicBody2DAgent.gd b/project/src/Agents/GSAIKinematicBody2DAgent.gd
index a956bdf..a41c500 100644
--- a/project/src/Agents/GSAIKinematicBody2DAgent.gd
+++ b/project/src/Agents/GSAIKinematicBody2DAgent.gd
@@ -103,6 +103,7 @@ func _apply_orientation_steering(angular_acceleration: float, delta: float) -> v
 
 
 func _set_body(value: KinematicBody2D) -> void:
+	body = value
 	_body_ref = weakref(body)
 
 	_last_position = value.global_position
diff --git a/project/src/Agents/GSAIKinematicBody3DAgent.gd b/project/src/Agents/GSAIKinematicBody3DAgent.gd
index 8fd9ef9..11ab734 100644
--- a/project/src/Agents/GSAIKinematicBody3DAgent.gd
+++ b/project/src/Agents/GSAIKinematicBody3DAgent.gd
@@ -20,6 +20,7 @@ var _body_ref: WeakRef
 
 
 func _init(_body: KinematicBody, _movement_type: int = MovementType.SLIDE) -> void:
+	body = _body
 	if not _body.is_inside_tree():
 		yield(_body, "ready")
 
@@ -27,7 +28,9 @@ func _init(_body: KinematicBody, _movement_type: int = MovementType.SLIDE) -> vo
 	self.movement_type = _movement_type
 
 	# warning-ignore:return_value_discarded
-	_body.get_tree().connect("physics_frame", self, "_on_SceneTree_physics_frame")
+	_body.get_tree().connect(
+		"physics_frame", self, "_on_SceneTree_physics_frame"
+	)
 
 
 # Moves the agent's `body` by target `acceleration`.
@@ -49,10 +52,14 @@ func _apply_sliding_steering(accel: Vector3, delta: float) -> void:
 	var _body: KinematicBody = _body_ref.get_ref()
 	if not _body:
 		return
-		
-	var velocity := GSAIUtils.clampedv3(linear_velocity + accel * delta, linear_speed_max)
+
+	var velocity := GSAIUtils.clampedv3(
+		linear_velocity + accel * delta, linear_speed_max
+	)
 	if apply_linear_drag:
-		velocity = velocity.linear_interpolate(Vector3.ZERO, linear_drag_percentage)
+		velocity = velocity.linear_interpolate(
+			Vector3.ZERO, linear_drag_percentage
+		)
 	velocity = _body.move_and_slide(velocity)
 	if calculate_velocities:
 		linear_velocity = velocity
@@ -62,10 +69,14 @@ func _apply_collide_steering(accel: Vector3, delta: float) -> void:
 	var _body: KinematicBody = _body_ref.get_ref()
 	if not _body:
 		return
-		
-	var velocity := GSAIUtils.clampedv3(linear_velocity + accel * delta, linear_speed_max)
+
+	var velocity := GSAIUtils.clampedv3(
+		linear_velocity + accel * delta, linear_speed_max
+	)
 	if apply_linear_drag:
-		velocity = velocity.linear_interpolate(Vector3.ZERO, linear_drag_percentage)
+		velocity = velocity.linear_interpolate(
+			Vector3.ZERO, linear_drag_percentage
+		)
 	# warning-ignore:return_value_discarded
 	_body.move_and_collide(velocity * delta)
 	if calculate_velocities:
@@ -76,10 +87,14 @@ func _apply_position_steering(accel: Vector3, delta: float) -> void:
 	var _body: KinematicBody = _body_ref.get_ref()
 	if not _body:
 		return
-		
-	var velocity := GSAIUtils.clampedv3(linear_velocity + accel * delta, linear_speed_max)
+
+	var velocity := GSAIUtils.clampedv3(
+		linear_velocity + accel * delta, linear_speed_max
+	)
 	if apply_linear_drag:
-		velocity = velocity.linear_interpolate(Vector3.ZERO, linear_drag_percentage)
+		velocity = velocity.linear_interpolate(
+			Vector3.ZERO, linear_drag_percentage
+		)
 	_body.global_position += velocity * delta
 	if calculate_velocities:
 		linear_velocity = velocity
@@ -89,7 +104,7 @@ func _apply_orientation_steering(angular_acceleration: float, delta: float) -> v
 	var _body: KinematicBody = _body_ref.get_ref()
 	if not _body:
 		return
-		
+
 	var velocity = clamp(
 		angular_velocity + angular_acceleration * delta,
 		-angular_acceleration_max,
@@ -103,6 +118,7 @@ func _apply_orientation_steering(angular_acceleration: float, delta: float) -> v
 
 
 func _set_body(value: KinematicBody) -> void:
+	body = value
 	_body_ref = weakref(value)
 
 	_last_position = value.transform.origin
@@ -116,7 +132,7 @@ func _on_SceneTree_physics_frame() -> void:
 	var _body: KinematicBody = _body_ref.get_ref()
 	if not _body:
 		return
-		
+
 	var current_position := _body.transform.origin
 	var current_orientation := _body.rotation.y
 
@@ -136,11 +152,15 @@ func _on_SceneTree_physics_frame() -> void:
 				)
 
 			angular_velocity = clamp(
-				_last_orientation - current_orientation, -angular_speed_max, angular_speed_max
+				_last_orientation - current_orientation,
+				-angular_speed_max,
+				angular_speed_max
 			)
 
 			if apply_angular_drag:
-				angular_velocity = lerp(angular_velocity, 0, angular_drag_percentage)
+				angular_velocity = lerp(
+					angular_velocity, 0, angular_drag_percentage
+				)
 
 			_last_position = current_position
 			_last_orientation = current_orientation
diff --git a/project/src/Agents/GSAIRigidBody2DAgent.gd b/project/src/Agents/GSAIRigidBody2DAgent.gd
index 5b4708f..455a99b 100644
--- a/project/src/Agents/GSAIRigidBody2DAgent.gd
+++ b/project/src/Agents/GSAIRigidBody2DAgent.gd
@@ -12,6 +12,7 @@ var _body_ref: WeakRef
 
 
 func _init(_body: RigidBody2D) -> void:
+	body = _body
 	if not _body.is_inside_tree():
 		yield(_body, "ready")
 
@@ -26,7 +27,7 @@ func _apply_steering(acceleration: GSAITargetAcceleration, _delta: float) -> voi
 	var _body: RigidBody2D = _body_ref.get_ref()
 	if not _body:
 		return
-		
+
 	_applied_steering = true
 	_body.apply_central_impulse(GSAIUtils.to_vector2(acceleration.linear))
 	_body.apply_torque_impulse(acceleration.angular)
@@ -36,6 +37,7 @@ func _apply_steering(acceleration: GSAITargetAcceleration, _delta: float) -> voi
 
 
 func _set_body(value: RigidBody2D) -> void:
+	body = value
 	_body_ref = weakref(value)
 
 	_last_position = value.global_position
@@ -49,9 +51,9 @@ func _on_SceneTree_frame() -> void:
 	var _body: RigidBody2D = _body_ref.get_ref()
 	if not _body:
 		return
-		
-	var current_position := body.global_position
-	var current_orientation := body.rotation
+
+	var current_position := _body.global_position
+	var current_orientation := _body.rotation
 
 	position = GSAIUtils.to_vector3(current_position)
 	orientation = current_orientation
@@ -60,5 +62,5 @@ func _on_SceneTree_frame() -> void:
 		if _applied_steering:
 			_applied_steering = false
 		else:
-			linear_velocity = GSAIUtils.to_vector3(body.linear_velocity)
-			angular_velocity = body.angular_velocity
+			linear_velocity = GSAIUtils.to_vector3(_body.linear_velocity)
+			angular_velocity = _body.angular_velocity
diff --git a/project/src/Agents/GSAIRigidBody3DAgent.gd b/project/src/Agents/GSAIRigidBody3DAgent.gd
index 9cfe846..fcf7369 100644
--- a/project/src/Agents/GSAIRigidBody3DAgent.gd
+++ b/project/src/Agents/GSAIRigidBody3DAgent.gd
@@ -11,6 +11,7 @@ var _last_position: Vector3
 var _body_ref: WeakRef
 
 func _init(_body: RigidBody) -> void:
+	body = _body
 	if not _body.is_inside_tree():
 		yield(_body, "ready")
 
@@ -35,6 +36,7 @@ func _apply_steering(acceleration: GSAITargetAcceleration, _delta: float) -> voi
 
 
 func _set_body(value: RigidBody) -> void:
+	body = value
 	_body_ref = weakref(value)
 
 	_last_position = value.transform.origin