diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index 38f277f8..da170406 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -82,35 +82,44 @@ impl RayIntersection {
 pub struct Toi {
     /// The time at which the objects touch.
     pub toi: Real,
-    /// The local-space closest point on the first shape at the time of impact.
+    /// Detail about the impact points.
     ///
-    /// Undefined if `status` is `Penetrating`.
+    /// `None` if `status` is `Penetrating`.
+    pub details: Option<ToiDetails>,
+    /// The way the time-of-impact computation algorithm terminated.
+    pub status: TOIStatus,
+}
+
+/// In depth information about a time-of-impact (TOI) computation.
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub struct ToiDetails {
+    /// The local-space closest point on the first shape at the time of impact.
     pub witness1: Vect,
     /// The local-space closest point on the second shape at the time of impact.
-    ///
-    /// Undefined if `status` is `Penetrating`.
     pub witness2: Vect,
     /// The local-space outward normal on the first shape at the time of impact.
-    ///
-    /// Undefined if `status` is `Penetrating`.
     pub normal1: Vect,
     /// The local-space outward normal on the second shape at the time of impact.
-    ///
-    /// Undefined if `status` is `Penetrating`.
     pub normal2: Vect,
-    /// The way the time-of-impact computation algorithm terminated.
-    pub status: TOIStatus,
 }
 
 impl Toi {
-    pub(crate) fn from_rapier(physics_scale: Real, toi: rapier::parry::query::TOI) -> Self {
+    /// Convert from internal `rapier::Toi`.
+    pub fn from_rapier(physics_scale: Real, toi: rapier::parry::query::TOI) -> Self {
+        let details = if toi.status != TOIStatus::Penetrating {
+            Some(ToiDetails {
+                witness1: (toi.witness1 * physics_scale).into(),
+                witness2: (toi.witness2 * physics_scale).into(),
+                normal1: toi.normal1.into(),
+                normal2: toi.normal2.into(),
+            })
+        } else {
+            None
+        };
         Self {
             toi: toi.toi,
-            witness1: (toi.witness1 * physics_scale).into(),
-            witness2: (toi.witness2 * physics_scale).into(),
-            normal1: toi.normal1.into(),
-            normal2: toi.normal2.into(),
             status: toi.status,
+            details,
         }
     }
 }
diff --git a/src/plugin/context.rs b/src/plugin/context.rs
index 0dadbc47..041878d5 100644
--- a/src/plugin/context.rs
+++ b/src/plugin/context.rs
@@ -759,11 +759,19 @@ impl RapierContext {
     /// collider, and are in world space.
     ///
     /// # Parameters
-    /// * `shape_pos` - The initial position of the shape to cast.
+    /// * `shape_pos` - The initial translation of the shape to cast.
+    /// * `shape_rot` - The rotation of the shape to cast.
     /// * `shape_vel` - The constant velocity of the shape to cast (i.e. the cast direction).
     /// * `shape` - The shape to cast.
     /// * `max_toi` - The maximum time-of-impact that can be reported by this cast. This effectively
     ///   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
+    /// * `stop_at_penetration` - If the casted shape starts in a penetration state with any
+    ///    collider, two results are possible. If `stop_at_penetration` is `true` then, the
+    ///    result will have a `toi` equal to `start_time`. If `stop_at_penetration` is `false`
+    ///    then the nonlinear shape-casting will see if further motion wrt. the penetration normal
+    ///    would result in tunnelling. If it does not (i.e. we have a separating velocity along
+    ///    that normal) then the nonlinear shape-casting will attempt to find another impact,
+    ///    at a time `> start_time` that could result in tunnelling.
     /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
     #[allow(clippy::too_many_arguments)]
     pub fn cast_shape(
@@ -773,6 +781,7 @@ impl RapierContext {
         shape_vel: Vect,
         shape: &Collider,
         max_toi: Real,
+        stop_at_penetration: bool,
         filter: QueryFilter,
     ) -> Option<(Entity, Toi)> {
         let scaled_transform = (shape_pos / self.physics_scale, shape_rot).into();
@@ -789,7 +798,7 @@ impl RapierContext {
                 &(shape_vel / self.physics_scale).into(),
                 &*scaled_shape.raw,
                 max_toi,
-                true,
+                stop_at_penetration,
                 filter,
             )
         })?;