diff --git a/src/query/ray/mod.rs b/src/query/ray/mod.rs
index 543dcae7..feccf6c9 100644
--- a/src/query/ray/mod.rs
+++ b/src/query/ray/mod.rs
@@ -16,6 +16,7 @@ pub mod ray;
 mod ray_aabb;
 mod ray_ball;
 mod ray_bounding_sphere;
+mod ray_capsule;
 #[cfg(feature = "alloc")]
 mod ray_composite_shape;
 mod ray_cuboid;
diff --git a/src/query/ray/ray_capsule.rs b/src/query/ray/ray_capsule.rs
new file mode 100644
index 00000000..63666713
--- /dev/null
+++ b/src/query/ray/ray_capsule.rs
@@ -0,0 +1,382 @@
+use crate::math::{Real, Vector};
+use crate::query::{Ray, RayCast, RayIntersection};
+use crate::shape::{Capsule, FeatureId, Segment};
+
+impl RayCast for Capsule {
+    #[inline]
+    fn cast_local_ray(&self, ray: &Ray, max_time_of_impact: Real, solid: bool) -> Option<Real> {
+        ray_toi_with_capsule(&self.segment, self.radius, ray, solid)
+            .1
+            .filter(|time_of_impact| *time_of_impact <= max_time_of_impact)
+    }
+
+    #[inline]
+    fn cast_local_ray_and_get_normal(
+        &self,
+        ray: &Ray,
+        max_time_of_impact: Real,
+        solid: bool,
+    ) -> Option<RayIntersection> {
+        ray_toi_and_normal_with_capsule(&self.segment, self.radius, ray, solid)
+            .filter(|inter| inter.time_of_impact <= max_time_of_impact)
+    }
+}
+
+/// Computes the time of impact of a ray on a capsule.
+/// Returns true if the ray started inside the capsule and the time of impact.
+///
+/// Adapted from Inigo Quilez (https://iquilezles.org/articles/intersectors/).
+/// Adapted to unnormalized ray direction.
+/// Made robust to degenerate cases and ray origin inside the capsule.
+/// Switched to projecting onto the plane with cross products
+/// because they introduce much less error than a difference of dot products.
+fn ray_toi_with_capsule(
+    segment: &Segment,
+    radius: Real,
+    ray: &Ray,
+    solid: bool,
+) -> (bool, Option<Real>) {
+    let ab = segment.b - segment.a;
+    let ao = ray.origin - segment.a;
+
+    let ab_ab = ab.length_squared();
+    let dir_dir = ray.dir.length_squared();
+    let ab_dir = ab.dot(ray.dir);
+    let ab_ao = ab.dot(ao);
+    let radius_squared = radius * radius;
+
+    // do a circle intersection on the plane perpendicular to the capsule's axis.
+    // all these variables are scaled by ab
+    let dir_on_plane = cross(ray.dir, ab);
+    let origin_on_plane = cross(ao, ab);
+    let ray_step = dir_on_plane.length_squared();
+    let b = dir_on_plane.dot(origin_on_plane);
+    let separation = origin_on_plane.length_squared() - radius_squared * ab_ab;
+    let h = b * b - ray_step * separation;
+
+    let inside = separation <= 0.0
+        && (0.0 < ab_ao || ao.length_squared() <= radius_squared)
+        && (ab_ao < ab_ab || (ray.origin - segment.b).length_squared() <= radius_squared);
+
+    if inside && solid {
+        return (true, Some(0.0));
+    }
+
+    if h >= 0.0 {
+        let check_sphere_a = if ray_step == 0.0 {
+            // the ray is parallel to the capsule,
+            // so it can only hit one of the caps
+            (ab_dir > 0.0) ^ inside
+        } else {
+            // cylinder part
+            // when outside, take the first intersection, when inside, the second
+            let radical = h.sqrt();
+            let t = (-b + if inside { radical } else { -radical }) / ray_step;
+            let y = ab_ao + t * ab_dir;
+            if 0.0 < y && y < ab_ab && t >= 0.0 {
+                return (inside, Some(t));
+            }
+            y <= 0.0
+        };
+
+        // caps
+        let oc = if check_sphere_a {
+            ao
+        } else {
+            ray.origin - segment.b
+        };
+        let b = ray.dir.dot(oc);
+        let c = oc.length_squared() - radius_squared;
+        let h = b * b - c * dir_dir;
+        if h >= 0.0 {
+            let radical = h.sqrt();
+            let t = -b + if inside { radical } else { -radical };
+            if t >= 0.0 && dir_dir != 0.0 {
+                return (inside, Some(t / dir_dir));
+            }
+        }
+    }
+    (inside, None)
+}
+
+#[cfg(feature = "dim3")]
+#[inline]
+fn cross(v: Vector, segment: Vector) -> Vector {
+    v.cross(segment)
+}
+
+/// Returns a vector with zero y, which is complete nonsense
+/// but makes the 2D case work with the same code as the 3D case.
+#[cfg(feature = "dim2")]
+#[inline]
+fn cross(v: Vector, segment: Vector) -> Vector {
+    Vector::new(v.x * segment.y - v.y * segment.x, 0.0)
+}
+
+/// Computes the time of impact and contact normal of a ray on a capsule.
+fn ray_toi_and_normal_with_capsule(
+    segment: &Segment,
+    radius: Real,
+    ray: &Ray,
+    solid: bool,
+) -> Option<RayIntersection> {
+    let (inside, inter) = ray_toi_with_capsule(segment, radius, ray, solid);
+
+    inter.map(|t| {
+        let normal = if solid && inside {
+            Vector::ZERO
+        } else {
+            let p = ray.origin + ray.dir * t;
+            let a_to_p = p - segment.a;
+            let seg = segment.b - segment.a;
+            let seg_squared = seg.length_squared();
+
+            // the projection of the point onto the capsule's axis times the segment's length
+            let proj_times_seg = a_to_p.dot(seg);
+
+            let n = if proj_times_seg <= 0.0 {
+                (a_to_p).normalize()
+            } else if proj_times_seg >= seg_squared {
+                (p - segment.b).normalize()
+            } else {
+                (a_to_p - (proj_times_seg / seg_squared) * seg).normalize()
+            };
+            if inside {
+                -n
+            } else {
+                n
+            }
+        };
+        RayIntersection::new(t, normal, FeatureId::Face(0))
+    })
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::math::Vector;
+    use crate::query::point::point_query::PointQuery;
+    use oorandom::Rand32;
+
+    #[test]
+    fn exact_cases() {
+        let c = Capsule::new(v2(0.0, 0.5), v2(0.0, 1.5), 0.5);
+        // Hit straight down the axis on the top cap, unnormalized direction.
+        expect_hit(&c, v2(0.0, 5.0), v2(0.0, -0.2), true, 15.0, v2(0.0, 1.0));
+        // Oblique hit on the cylinder.
+        expect_hit(&c, v2(5.0, 1.0), v2(-0.3, 0.0), true, 15.0, v2(1.0, 0.0));
+        // Tangential hit at the tip of the top cap.
+        expect_hit(&c, v2(5.0, 2.0), v2(-1.0, 0.0), true, 5.0, v2(0.0, 1.0));
+        // Hit on the bottom cap from below, parallel to the axis but offset
+        // from it.
+        expect_hit(
+            &c,
+            v2(0.1, -4.0),
+            v2(0.0, 0.2),
+            true,
+            20.0505,
+            v2(0.2, -0.9798),
+        );
+        // Lateral miss.
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(10.0, 5.0), v2(0.0, 0.1)), 50.0, true)
+            .is_none());
+
+        // Outside-origin misses where the ray's line crosses the tube (or a cap
+        // sphere) only BEHIND the origin: the entry root is negative and must
+        // not be reported. The fuzz can't catch these (it only aims rays at
+        // interior points, so its entries are always positive).
+        // Inside the infinite tube past the b-cap, receding. The tube entry is
+        // behind (t = -0.9) with a phantom axis coordinate inside the band.
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(0.4, 1.85), v2(1.0, 1.0)), 50.0, true)
+            .is_none());
+        // On-axis past the b-cap, parallel, receding (phantom t = -2.1).
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(0.0, 2.1), v2(0.0, 1.0)), 50.0, true)
+            .is_none());
+        // Inside the tube past the b-cap, receding at an angle. Phantom axis
+        // coordinate beyond the slab, cap entry behind (t = -0.87).
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(0.4, 1.85), v2(1.0, 0.2)), 50.0, true)
+            .is_none());
+        // Outside everything, receding. The line crosses the tube behind the
+        // origin, phantom axis coordinate in the band (t = -2.5).
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(2.0, 1.0), v2(1.0, 0.0)), 50.0, true)
+            .is_none());
+        // Same, with the phantom axis coordinate exactly on the a-end boundary.
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(2.0, 3.0), v2(1.0, 1.0)), 50.0, true)
+            .is_none());
+        // Inside, solid: contact at the origin, zero normal.
+        expect_hit(&c, v2(0.1, 1.0), v2(0.0, 1.0), true, 0.0, v2(0.0, 0.0));
+        // Inside, hollow: the exit, inward normal.
+        expect_hit(&c, v2(0.0, 1.0), v2(0.0, 1.0), false, 1.0, v2(0.0, -1.0));
+        // Same, toward the a-cap (the other parallel routing branch).
+        expect_hit(&c, v2(0.0, 1.0), v2(0.0, -1.0), false, 1.0, v2(0.0, 1.0));
+        // Inside, hollow: exit through the cylinder's side (the band exit
+        // root, not a cap).
+        expect_hit(&c, v2(0.0, 1.0), v2(1.0, 0.0), false, 0.5, v2(-1.0, 0.0));
+        // Same, oblique.
+        expect_hit(&c, v2(0.1, 0.8), v2(1.0, 0.5), false, 0.4, v2(-1.0, 0.0));
+        // Inside the b-cap sphere past the slab: the b-sphere exit (t = 0.6)
+        // is an intermediate crossing and must be skipped in favor of the
+        // last one (the a-sphere exit at t = 1.6).
+        expect_hit(&c, v2(0.0, 1.6), v2(0.0, -1.0), false, 1.6, v2(0.0, 1.0));
+        // Degenerate zero-length ray, inside / outside.
+        expect_hit(&c, v2(0.1, 1.0), v2(0.0, 0.0), true, 0.0, v2(0.0, 0.0));
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(0.1, 3.0), v2(0.0, 0.0)), 50.0, true)
+            .is_none());
+        // Degenerate capsule (a == b): behaves as a ball of radius 1 at (0, 1).
+        let ball = Capsule::new(v2(0.0, 1.0), v2(0.0, 1.0), 1.0);
+        expect_hit(&ball, v2(0.0, 5.0), v2(0.0, -1.0), true, 3.0, v2(0.0, 1.0));
+        expect_hit(&ball, v2(0.5, 1.0), v2(1.0, 0.0), true, 0.0, v2(0.0, 0.0));
+        // max_toi filtering (the top-cap hit above is at t = 15).
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(0.0, 5.0), v2(0.0, -0.2)), 14.9, true)
+            .is_none());
+        assert!(c
+            .cast_local_ray(&Ray::new(v2(0.0, 5.0), v2(0.0, -0.2)), 15.1, true)
+            .is_some());
+        assert!(c
+            .cast_local_ray_and_get_normal(&Ray::new(v2(0.0, 5.0), v2(0.0, -0.2)), 14.9, true)
+            .is_none());
+    }
+
+    fn v2(x: Real, y: Real) -> Vector {
+        Vector::new(
+            x,
+            y,
+            #[cfg(feature = "dim3")]
+            0.0,
+        )
+    }
+
+    #[track_caller]
+    fn expect_hit(c: &Capsule, o: Vector, d: Vector, solid: bool, et: Real, en: Vector) {
+        let i = c
+            .cast_local_ray_and_get_normal(&Ray::new(o, d), 50.0, solid)
+            .unwrap_or_else(|| panic!("expected hit (o={:?}, d={:?})", o, d));
+        assert!(
+            (i.time_of_impact - et).abs() < 1e-4,
+            "t: got {}, want {}",
+            i.time_of_impact,
+            et
+        );
+        assert!(
+            (i.normal - en).length() < 1e-3,
+            "n: got {:?}, want {:?}",
+            i.normal,
+            en
+        );
+    }
+
+    #[test]
+    fn fuzz_capsule_ray_casts() {
+        let epsilon = 0.002;
+        let mut rng = Rand32::new(42);
+
+        for _ in 0..100_000 {
+            let (a, b) = (rnd_vec(&mut rng, 10.0), rnd_vec(&mut rng, 10.0));
+            let r = 0.5 + 5.0 * rnd(&mut rng);
+            let capsule = Capsule::new(a, b, r);
+
+            // a random point inside the capsule
+            let inside = {
+                let mut w = rnd_vec(&mut rng, r);
+                while w.length_squared() >= r * r {
+                    w = rnd_vec(&mut rng, r);
+                }
+                a + (b - a) * rnd(&mut rng) + w
+            };
+
+            // cast random ray toward the inside point
+            let far_enough = r + a.distance(b);
+            let mut offset = Vector::ZERO;
+            while offset.length_squared() < far_enough * far_enough {
+                offset = rnd_vec(&mut rng, far_enough * 2.0);
+            }
+
+            let o = (a + b) * 0.5 + offset;
+            let d = (inside - o) * (0.1 + 0.9 * rnd(&mut rng));
+            let i = capsule
+                .cast_local_ray_and_get_normal(&Ray::new(o, d), 1000.0, true)
+                .expect("a ray aimed at an interior point must hit");
+
+            let hit = o + d * i.time_of_impact;
+            assert!(
+                capsule.contains_local_point(hit - i.normal * epsilon),
+                "nudging inward along the normal should go inside the capsule"
+            );
+            assert!(
+                !capsule.contains_local_point(hit + i.normal * epsilon),
+                "nudging outward along the normal should go outside the capsule"
+            );
+
+            // A ray from the interior point to the far point (hollow) must
+            // exit the capsule; its normal points inward.
+            let i_in = capsule
+                .cast_local_ray_and_get_normal(&Ray::new(inside, o - inside), 1000.0, false)
+                .expect("a ray from inside toward the outside must exit");
+            let hit_in = inside + (o - inside) * i_in.time_of_impact;
+            assert!(
+                capsule.contains_local_point(hit_in + i_in.normal * epsilon),
+                "nudging along the inward normal should stay inside"
+            );
+            assert!(
+                !capsule.contains_local_point(hit_in - i_in.normal * epsilon),
+                "nudging against the inward normal should go outside"
+            );
+
+            assert!(
+                capsule
+                    .cast_local_ray(&Ray::new(o, -d), 1000.0, true)
+                    .is_none(),
+                "a retreating ray must miss"
+            );
+
+            #[cfg(feature = "dim2")]
+            let tangent = Vector::new(-i.normal.y, i.normal.x);
+            #[cfg(feature = "dim3")]
+            let tangent = {
+                let mut tangent = Vector::ZERO;
+                while tangent.length_squared() < 1e-8 {
+                    tangent = rnd_vec(&mut rng, 1.0).cross(i.normal);
+                }
+                tangent
+            };
+            let origin = hit + i.normal * (epsilon + rnd(&mut rng)) - rnd(&mut rng) * tangent;
+            assert!(
+                capsule
+                    .cast_local_ray(&Ray::new(origin, tangent), 1000.0, true)
+                    .is_none(),
+                "tangent outside the capsule should miss"
+            );
+        }
+    }
+
+    fn rnd(rng: &mut Rand32) -> Real {
+        #[cfg(feature = "f32")]
+        {
+            rng.rand_float()
+        }
+        #[cfg(feature = "f64")]
+        {
+            rng.rand_float() as Real
+        }
+    }
+
+    fn rnd_vec(rng: &mut Rand32, scale: Real) -> Vector {
+        let mut component = || (rnd(rng) - 0.5) * 2.0 * scale;
+        #[cfg(feature = "dim2")]
+        {
+            Vector::new(component(), component())
+        }
+        #[cfg(feature = "dim3")]
+        {
+            Vector::new(component(), component(), component())
+        }
+    }
+}
diff --git a/src/query/ray/ray_support_map.rs b/src/query/ray/ray_support_map.rs
index 64a89c1a..033320f5 100644
--- a/src/query/ray/ray_support_map.rs
+++ b/src/query/ray/ray_support_map.rs
@@ -7,9 +7,9 @@ use crate::query::{Ray, RayCast, RayIntersection};
 use crate::shape::ConvexPolygon;
 #[cfg(all(feature = "alloc", feature = "dim3"))]
 use crate::shape::ConvexPolyhedron;
-use crate::shape::{Capsule, FeatureId, Segment, SupportMap};
 #[cfg(feature = "dim3")]
 use crate::shape::{Cone, Cylinder};
+use crate::shape::{FeatureId, Segment, SupportMap};
 
 use num::Zero;
 
@@ -104,23 +104,6 @@ impl RayCast for Cone {
     }
 }
 
-impl RayCast for Capsule {
-    fn cast_local_ray_and_get_normal(
-        &self,
-        ray: &Ray,
-        max_time_of_impact: Real,
-        solid: bool,
-    ) -> Option<RayIntersection> {
-        local_ray_intersection_with_support_map_with_params(
-            self,
-            &mut VoronoiSimplex::new(),
-            ray,
-            max_time_of_impact,
-            solid,
-        )
-    }
-}
-
 #[cfg(feature = "dim3")]
 #[cfg(feature = "alloc")]
 impl RayCast for ConvexPolyhedron {