diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3a955c84..b23a8d5b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # Changelog
 
+## [0.10.2] - 2024-10-01
+
+- Issue [#402](https://github.com/DanielChappuis/reactphysics3d/issues/402) Adding colliders to inactive body
+
+### Fixed
+
 ## [0.10.1] - 2024-06-25
 
 ### Fixed
diff --git a/src/body/Body.cpp b/src/body/Body.cpp
index 891ec317..cf345228 100644
--- a/src/body/Body.cpp
+++ b/src/body/Body.cpp
@@ -105,11 +105,15 @@ Collider* Body::addCollider(CollisionShape* collisionShape, const Transform& tra
 
 #endif
 
-    // Compute the world-space AABB of the new collision shape
-    const AABB aabb = collisionShape->computeTransformedAABB(mWorld.mTransformComponents.getTransform(mEntity) * transform);
+    // If the body is active
+    if (isActive) {
+
+        // Compute the world-space AABB of the new collision shape
+        const AABB aabb = collisionShape->computeTransformedAABB(mWorld.mTransformComponents.getTransform(mEntity) * transform);
 
-    // Notify the collision detection about this new collision shape
-    mWorld.mCollisionDetection.addCollider(collider, aabb);
+        // Notify the collision detection about this new collision shape
+        mWorld.mCollisionDetection.addCollider(collider, aabb);
+    }
 
     RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
              "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body",  __FILE__, __LINE__);
diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp
index da162707..c2a5e119 100644
--- a/src/body/RigidBody.cpp
+++ b/src/body/RigidBody.cpp
@@ -696,11 +696,16 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform
 
 #endif
 
-    // Compute the world-space AABB of the new collision shape
-    AABB aabb = collisionShape->computeTransformedAABB(mWorld.mTransformComponents.getTransform(mEntity) * transform);
+    // If the body is active
+    const bool isActive = mWorld.mBodyComponents.getIsActive(mEntity);
+    if (isActive) {
 
-    // Notify the collision detection about this new collision shape
-    mWorld.mCollisionDetection.addCollider(collider, aabb);
+        // Compute the world-space AABB of the new collision shape
+        AABB aabb = collisionShape->computeTransformedAABB(mWorld.mTransformComponents.getTransform(mEntity) * transform);
+
+        // Notify the collision detection about this new collision shape
+        mWorld.mCollisionDetection.addCollider(collider, aabb);
+    }
 
     RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
              "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body",  __FILE__, __LINE__);