diff --git a/src/controller/ground.rs b/src/controller/ground.rs
index 25a23b3..ca8b252 100644
--- a/src/controller/ground.rs
+++ b/src/controller/ground.rs
@@ -91,7 +91,7 @@ impl Ground {
         let ground_entity = ctx.collider_parent(entity).unwrap_or(entity);
 
         let mass = if let Ok(mass) = masses.get(ground_entity) {
-            mass.0.clone()
+            (**mass).clone()
         } else {
             MassProperties::default()
         };
@@ -436,21 +436,21 @@ impl CastResult {
 
 impl CastResult {
     /// Use the first shape in the shape-cast as the cast result.
-    pub fn from_toi1(toi: Toi) -> Self {
-        Self {
+    pub fn from_toi1(toi: Toi) -> Option<Self> {
+        toi.details.map(|details| Self {
             toi: toi.toi,
-            normal: toi.normal1,
-            point: toi.witness1,
-        }
+            normal: details.normal1,
+            point: details.witness1,
+        })
     }
 
     /// Use the second shape in the shape-cast as the cast result.
-    pub fn from_toi2(toi: Toi) -> Self {
-        Self {
+    pub fn from_toi2(toi: Toi) -> Option<Self> {
+        toi.details.map(|details| Self {
             toi: toi.toi,
-            normal: toi.normal2,
-            point: toi.witness2,
-        }
+            normal: details.normal2,
+            point: details.witness2,
+        })
     }
 }
 
@@ -658,16 +658,20 @@ impl<'c, 'f> GroundCastParams<'c, 'f> {
             self.direction,
             self.shape,
             self.max_toi,
+            true,
             self.filter,
         ) else {
             return None;
         };
 
-        if toi.status == TOIStatus::Penetrating || toi.toi <= std::f32::EPSILON {
+        if toi.toi <= std::f32::EPSILON {
             return None;
         }
 
         let (entity, cast) = (entity, CastResult::from_toi1(toi));
+        let Some(cast) = cast else {
+            return None;
+        };
 
         gizmos.ray(self.position, self.direction * cast.toi, Color::BLUE);
         gizmos.sphere(
diff --git a/src/controller/mod.rs b/src/controller/mod.rs
index 4bb37f9..f96c7ed 100644
--- a/src/controller/mod.rs
+++ b/src/controller/mod.rs
@@ -153,7 +153,7 @@ pub fn accumulate_forces(
             };
 
             let ground_mass = if let Ok(mass) = masses.get(ground.entity) {
-                mass.0.clone()
+                (**mass).clone()
             } else {
                 MassProperties::default()
             };
diff --git a/src/controller/movement.rs b/src/controller/movement.rs
index d3f6809..e380054 100644
--- a/src/controller/movement.rs
+++ b/src/controller/movement.rs
@@ -136,7 +136,7 @@ pub fn movement_force(
                 .unwrap_or(&GlobalTransform::IDENTITY);
 
             let ground_mass = if let Ok(mass) = masses.get(ground.entity) {
-                mass.0.clone()
+                (**mass).clone()
             } else {
                 MassProperties::default()
             };
diff --git a/src/rapier.rs b/src/rapier.rs
index fd61ef1..4e84ba6 100644
--- a/src/rapier.rs
+++ b/src/rapier.rs
@@ -91,9 +91,9 @@ pub fn apply_ground_forces(
 /// Sync rapier masses over to our masses.
 pub fn get_mass_from_rapier(mut query: Query<(&mut ControllerMass, &ReadMassProperties)>) {
     for (mut mass, rapier_mass) in &mut query {
-        mass.mass = rapier_mass.0.mass;
-        mass.inertia = rapier_mass.0.principal_inertia;
-        mass.com = rapier_mass.0.local_center_of_mass;
+        mass.mass = rapier_mass.mass;
+        mass.inertia = rapier_mass.principal_inertia;
+        mass.com = rapier_mass.local_center_of_mass;
     }
 }