System Information
Operating system: Windows 10 Home 1903
Graphics card: Intel UHD 630

Blender Version
Broken: version: 2.81 (sub 14), branch: master, commit date: 2019-10-08 22:16, hash: 0812949bbc3d, type: Release
build date: 2019-10-08, 23:06:16
platform: Windows

Short description of error
Playing animation after deleting-undo deleting a rigid body object from outliner crashes blender.

Exact steps for others to reproduce the error
1- Open Blender
2- Select the default cube
3- Add Rigid body to default cube
4- Bake the cache (scene properties->rigid body World->cache)
5- Play animation and then stop animation (appr. 10-20 frame) (this is necessary)
6- Select the light object (or some other obj) from outliner
7- Select the cube and Delete it from outliner
8- Ctrl+Z (undo the last delete operation)
9- Select the light object (or some other obj) from outliner
10- Select the cube and delete it from outliner
11- Play the animation (hit spacebar)
12- Blender crashes.

or open the blend file (includes the first 9 steps)
and then,
10- Select the cube and delete it from outliner
11- Play the animation (hit spacebar)
12- Blender crashes.