diff --git a/BepuPhysics/Collidables/Cylinder.cs b/BepuPhysics/Collidables/Cylinder.cs
index 8041c2d4..0eadc9c0 100644
--- a/BepuPhysics/Collidables/Cylinder.cs
+++ b/BepuPhysics/Collidables/Cylinder.cs
@@ -136,7 +136,8 @@ public readonly bool RayTest(in RigidPose pose, Vector3 origin, Vector3 directio
             else
             {
                 //The ray is parallel to the axis; the impact is on a disc or nothing.
-                discY = d.Y > 0 ? -HalfLength : HalfLength;
+                //If the ray is inside the cylinder, we want t = 0, so just set the discY to match the ray's origin in that case and it'll shake out like we want.
+                discY = float.MinMagnitude(d.Y > 0 ? -HalfLength : HalfLength, o.Y);
             }
 
             //Intersect the ray with the plane anchored at discY with normal equal to (0,1,0).