diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp
index d99e3835..38a69d15 100644
--- a/src/collision/shapes/BoxShape.cpp
+++ b/src/collision/shapes/BoxShape.cpp
@@ -90,8 +90,10 @@ bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* pro
             // Compute the intersection of the ray with the near and far plane of the slab
             decimal oneOverD = decimal(1.0) / rayDirection[i];
             decimal t1 = (-mExtent[i] - point1[i]) * oneOverD;
-            decimal t2 = (mExtent[i] - point1 [i]) * oneOverD;
-            currentNormal = -mExtent;
+            decimal t2 = (mExtent[i] - point1[i]) * oneOverD;
+            currentNormal[0] = (i == 0) ? -mExtent[i] : decimal(0.0);
+            currentNormal[1] = (i == 1) ? -mExtent[i] : decimal(0.0);
+            currentNormal[2] = (i == 2) ? -mExtent[i] : decimal(0.0);
 
             // Swap t1 and t2 if need so that t1 is intersection with near plane and
             // t2 with far plane
@@ -125,6 +127,7 @@ bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* pro
     raycastInfo.proxyShape = proxyShape;
     raycastInfo.hitFraction = tMin;
     raycastInfo.worldPoint = localToWorldTransform * localHitPoint;
+    normalDirection.normalize();
     raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection;
 
     return true;
diff --git a/src/collision/shapes/ConeShape.cpp b/src/collision/shapes/ConeShape.cpp
index 89d67471..83ff73c4 100644
--- a/src/collision/shapes/ConeShape.cpp
+++ b/src/collision/shapes/ConeShape.cpp
@@ -215,14 +215,17 @@ bool ConeShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* pr
 
     // Compute the normal direction for hit against side of the cone
     if (hitIndex != 2) {
-        decimal m = std::sqrt(localHitPoint[hitIndex].x * localHitPoint[hitIndex].x +
-                              localHitPoint[hitIndex].z * localHitPoint[hitIndex].z);
         decimal h = decimal(2.0) * mHalfHeight;
-        decimal hOverR = h / mRadius;
-        decimal hOverROverM = hOverR / m;
-        localNormal[hitIndex].x = localHitPoint[hitIndex].x * hOverROverM;
-        localNormal[hitIndex].y = mRadius / h;
-        localNormal[hitIndex].z = localHitPoint[hitIndex].z * hOverROverM;
+        decimal value1 = (localHitPoint[hitIndex].x * localHitPoint[hitIndex].x +
+                          localHitPoint[hitIndex].z * localHitPoint[hitIndex].z);
+        decimal rOverH = mRadius / h;
+        decimal value2 = decimal(1.0) + rOverH * rOverH;
+        decimal factor = decimal(1.0) / std::sqrt(value1 * value2);
+        decimal x = localHitPoint[hitIndex].x * factor;
+        decimal z = localHitPoint[hitIndex].z * factor;
+        localNormal[hitIndex].x = x;
+        localNormal[hitIndex].y = std::sqrt(x * x + z * z) * rOverH;
+        localNormal[hitIndex].z = z;
     }
 
     raycastInfo.body = proxyShape->getBody();