Very basic question about jit.phys.body.

The docs say that it "represents a rigid body and collision shape in a physics simulation".

But as far as I can tell, there's no way to add a collision shape only - am I missing something? Tried to find an attribute that would allow the rigid body to be toggled off - the most likely candidates seem to be enable_sim and kinematic - but both of these seem to take the object out of the physics sim altogether.

So: is there any way to add a collider to an object *without* adding a rigidbody to that same object - such that the object is not affected by gravity etc but that other rigidbody objects bounce off it?

Simple example: a terrain or a tabletop which stays where it is while other rigidbody objects collide with it.