void AddCollidableToBroadPhase(int bodyHandle, ref RigidPose pose, ref BodyInertia localInertia, ref Collidable collidable)
{
//This body has a collidable; stick it in the broadphase.
//Note that we have to calculate an initial bounding box for the broad phase to be able to insert it efficiently.
//(In the event of batch adds, you'll want to use batched AABB calculations or just use cached values.)
//Note: the min and max here are in absolute coordinates, which means this is a spot that has to be updated in the event that positions use a higher precision representation.
shapes.UpdateBounds(ref pose, ref collidable.Shape, out var bodyBounds);
//Note that new body collidables are always assumed to be active.
collidable.BroadPhaseIndex =
broadPhase.AddActive(
new CollidableReference(IsKinematic(ref localInertia) ? CollidableMobility.Kinematic : CollidableMobility.Dynamic, bodyHandle),
ref bodyBounds);
}