diff --git a/dartsim/src/SimulationFeatures.cc b/dartsim/src/SimulationFeatures.cc
index 3623abe3c..a6708dbbf 100644
--- a/dartsim/src/SimulationFeatures.cc
+++ b/dartsim/src/SimulationFeatures.cc
@@ -199,7 +199,7 @@ void SimulationFeatures::Write(ChangedWorldPoses &_changedPoses) const
   this->prevLinkPoses = std::move(newPoses);
 }
 
-SimulationFeatures::RayIntersection
+SimulationFeatures::RayIntersectionInternal
 SimulationFeatures::GetRayIntersectionFromLastStep(
   const Identity &_worldID,
   const LinearVector3d &_from,
@@ -217,6 +217,8 @@ SimulationFeatures::GetRayIntersectionFromLastStep(
   // Currently, raycast supports only the Bullet collision detector.
   // For other collision detectors, the result will always be NaN.
   SimulationFeatures::RayIntersection intersection;
+  CompositeData extraData;
+
   if (result.hasHit())
   {
     // Store intersection data if there is a ray hit
@@ -224,6 +226,19 @@ SimulationFeatures::GetRayIntersectionFromLastStep(
     intersection.point = firstHit.mPoint;
     intersection.normal = firstHit.mNormal;
     intersection.fraction = firstHit.mFraction;
+
+    // Map DART CollisionObject to gz-physics shape identity
+    if (firstHit.mCollisionObject)
+    {
+      auto *dtShapeFrame = firstHit.mCollisionObject->getShapeFrame();
+      if (dtShapeFrame && this->shapes.HasEntity(dtShapeFrame->asShapeNode()))
+      {
+        auto &extra =
+            extraData.Get<SimulationFeatures::ExtraRayIntersectionData>();
+        extra.collisionShapeId =
+            this->shapes.IdentityOf(dtShapeFrame->asShapeNode());
+      }
+    }
   }
   else
   {
@@ -235,7 +250,7 @@ SimulationFeatures::GetRayIntersectionFromLastStep(
     intersection.fraction = std::numeric_limits<double>::quiet_NaN();
   }
 
-  return intersection;
+  return {intersection, extraData};
 }
 
 std::vector<SimulationFeatures::ContactInternal>
diff --git a/dartsim/src/SimulationFeatures.hh b/dartsim/src/SimulationFeatures.hh
index c55c2d34f..f2411fbba 100644
--- a/dartsim/src/SimulationFeatures.hh
+++ b/dartsim/src/SimulationFeatures.hh
@@ -118,7 +118,7 @@ class SimulationFeatures :
   public: std::vector<ContactInternal> GetContactsFromLastStep(
       const Identity &_worldID) const override;
 
-  public: RayIntersection GetRayIntersectionFromLastStep(
+  public: RayIntersectionInternal GetRayIntersectionFromLastStep(
       const Identity &_worldID,
       const LinearVector3d &_from,
       const LinearVector3d &_end) const override;
diff --git a/include/gz/physics/GetRayIntersection.hh b/include/gz/physics/GetRayIntersection.hh
index 1c9e31223..68adcd7e5 100644
--- a/include/gz/physics/GetRayIntersection.hh
+++ b/include/gz/physics/GetRayIntersection.hh
@@ -22,6 +22,7 @@
 #include <gz/physics/ForwardStep.hh>
 #include <gz/physics/Geometry.hh>
 #include <gz/physics/SpecifyData.hh>
+#include <gz/physics/Entity.hh>
 
 namespace gz
 {
@@ -32,6 +33,13 @@ namespace physics
 class GZ_PHYSICS_VISIBLE GetRayIntersectionFromLastStepFeature
     : public virtual FeatureWithRequirements<ForwardStep>
 {
+  public: template <typename PolicyT>
+  struct ExtraRayIntersectionDataT
+  {
+    /// \brief The identity of the collision shape that was hit.
+    std::size_t collisionShapeId{INVALID_ENTITY_ID};
+  };
+
   public: template <typename PolicyT>
   struct RayIntersectionT
   {
@@ -52,11 +60,14 @@ class GZ_PHYSICS_VISIBLE GetRayIntersectionFromLastStepFeature
   public: template <typename PolicyT, typename FeaturesT>
   class World : public virtual Feature::World<PolicyT, FeaturesT>
   {
+    public: using ExtraRayIntersectionData = ExtraRayIntersectionDataT<PolicyT>;
     public: using VectorType =
       typename FromPolicy<PolicyT>::template Use<LinearVector>;
     public: using RayIntersection = RayIntersectionT<PolicyT>;
+
     public: using RayIntersectionData =
-      SpecifyData<RequireData<RayIntersection>>;
+        SpecifyData<RequireData<RayIntersection>,
+                    ExpectData<ExtraRayIntersectionData>>;
 
     /// \brief Get ray intersection generated in the previous simulation step
     /// \param[in] _from The start point of the ray in world coordinates
@@ -68,11 +79,18 @@ class GZ_PHYSICS_VISIBLE GetRayIntersectionFromLastStepFeature
   public: template <typename PolicyT>
   class Implementation : public virtual Feature::Implementation<PolicyT>
   {
+    public: using ExtraRayIntersectionData = ExtraRayIntersectionDataT<PolicyT>;
     public: using RayIntersection = RayIntersectionT<PolicyT>;
     public: using VectorType =
       typename FromPolicy<PolicyT>::template Use<LinearVector>;
 
-    public: virtual RayIntersection GetRayIntersectionFromLastStep(
+    public: struct RayIntersectionInternal
+    {
+      RayIntersection intersection;
+      CompositeData extraData;
+    };
+
+    public: virtual RayIntersectionInternal GetRayIntersectionFromLastStep(
       const Identity &_worldID,
       const VectorType &_from,
       const VectorType &_to) const = 0;
diff --git a/include/gz/physics/detail/GetRayIntersection.hh b/include/gz/physics/detail/GetRayIntersection.hh
index 8448ea608..2ea73dfd5 100644
--- a/include/gz/physics/detail/GetRayIntersection.hh
+++ b/include/gz/physics/detail/GetRayIntersection.hh
@@ -36,10 +36,18 @@ auto GetRayIntersectionFromLastStepFeature::World<
     this->template Interface<GetRayIntersectionFromLastStepFeature>()
         ->GetRayIntersectionFromLastStep(this->identity, _from, _to);
 
-  RayIntersection intersection{result.point, result.fraction, result.normal};
+  RayIntersection intersection{result.intersection.point,
+                               result.intersection.fraction,
+                               result.intersection.normal};
 
   RayIntersectionData output;
   output.template Get<RayIntersection>() = std::move(intersection);
+
+  auto *extraData = result.extraData.template Query<ExtraRayIntersectionData>();
+  if(extraData)
+  {
+    output.template Get<ExtraRayIntersectionData>() = std::move(*extraData);
+  }
   return output;
 }
 
diff --git a/test/common_test/simulation_features.cc b/test/common_test/simulation_features.cc
index 049de9006..5e95cdc31 100644
--- a/test/common_test/simulation_features.cc
+++ b/test/common_test/simulation_features.cc
@@ -2211,6 +2211,13 @@ TYPED_TEST(SimulationFeaturesRayIntersectionTest, SupportedRayIntersections)
           rayIntersection.normal.isApprox(Eigen::Vector3d(-1, 0, 0), epsilon));
       EXPECT_DOUBLE_EQ(rayIntersection.fraction, 0.25);
 
+      // Check that the extra data contains a valid collision shape ID
+      auto *extraData = result.template
+          Query<gz::physics::World3d<FeaturesRayIntersections>::ExtraRayIntersectionData>();
+      ASSERT_NE(nullptr, extraData);
+      EXPECT_NE(0u, extraData->collisionShapeId);
+
+
       // ray does not hit the sphere
       result = world->GetRayIntersectionFromLastStep(
           Eigen::Vector3d(2, 0, 10), Eigen::Vector3d(-2, 0, 10));
@@ -2221,6 +2228,11 @@ TYPED_TEST(SimulationFeaturesRayIntersectionTest, SupportedRayIntersections)
       ASSERT_TRUE(rayIntersection.point.array().isNaN().any());
       ASSERT_TRUE(rayIntersection.normal.array().isNaN().any());
       ASSERT_TRUE(std::isnan(rayIntersection.fraction));
+
+      // Check that extra data has no valid collision shape ID for a miss
+      auto *extraDataMiss = result.template
+          Query<gz::physics::World3d<FeaturesRayIntersections>::ExtraRayIntersectionData>();
+      EXPECT_EQ(nullptr, extraDataMiss);      
     }
   }
 }
@@ -2254,6 +2266,11 @@ TYPED_TEST(SimulationFeaturesRayIntersectionTest, UnsupportedRayIntersections)
       ASSERT_TRUE(rayIntersection.point.array().isNaN().any());
       ASSERT_TRUE(rayIntersection.normal.array().isNaN().any());
       ASSERT_TRUE(std::isnan(rayIntersection.fraction));
+
+      auto *extraData = result.template
+          Query<gz::physics::World3d<FeaturesRayIntersections>::ExtraRayIntersectionData>();
+      EXPECT_EQ(nullptr, extraData);
+      
     }
   }
 }