diff --git a/src/sim.hpp b/src/sim.hpp
index 971b2b01..b02aa7a5 100755
--- a/src/sim.hpp
+++ b/src/sim.hpp
@@ -73,8 +73,24 @@ struct Sim : public madrona::WorldBase {
         madrona::InlineArray<std::pair<EntityType, EntityType>, 64> collisionPairs;
         collisionPairs.push_back({EntityType::Pedestrian, EntityType::Pedestrian});
         collisionPairs.push_back({EntityType::Pedestrian, EntityType::RoadEdge});
+        collisionPairs.push_back({EntityType::Pedestrian, EntityType::Cyclist});
+        collisionPairs.push_back({EntityType::Pedestrian, EntityType::RoadLine});
+        collisionPairs.push_back({EntityType::Pedestrian, EntityType::RoadLane});
+        collisionPairs.push_back({EntityType::Pedestrian, EntityType::CrossWalk});
+        collisionPairs.push_back({EntityType::Pedestrian, EntityType::SpeedBump});
+        collisionPairs.push_back({EntityType::Pedestrian, EntityType::StopSign});
         collisionPairs.push_back({EntityType::Cyclist, EntityType::Pedestrian});
         collisionPairs.push_back({EntityType::Cyclist, EntityType::RoadEdge});
+        collisionPairs.push_back({EntityType::Cyclist, EntityType::Cyclist});
+        collisionPairs.push_back({EntityType::Cyclist, EntityType::RoadLine});
+        collisionPairs.push_back({EntityType::Cyclist, EntityType::RoadLane});
+        collisionPairs.push_back({EntityType::Cyclist, EntityType::CrossWalk});
+        collisionPairs.push_back({EntityType::Cyclist, EntityType::SpeedBump});
+        collisionPairs.push_back({EntityType::Cyclist, EntityType::StopSign});
+        collisionPairs.push_back({EntityType::Vehicle, EntityType::CrossWalk});
+        collisionPairs.push_back({EntityType::Vehicle, EntityType::SpeedBump});
+        collisionPairs.push_back({EntityType::Vehicle, EntityType::RoadLine});
+        collisionPairs.push_back({EntityType::Vehicle, EntityType::RoadLane});
         // TODO: Break Cube into road types for better control over collisions
         return collisionPairs;
     }