diff --git a/src/engine/engine_ray.c b/src/engine/engine_ray.c
index 04ed3408..0e85da07 100644
--- a/src/engine/engine_ray.c
+++ b/src/engine/engine_ray.c
@@ -56,11 +56,7 @@ static mjtNum longitude(const mjtNum vec[3]) {
 
 // map to elevation angle in spherical coordinates
 static mjtNum latitude(const mjtNum vec[3]) {
-  if (vec[2]>0) {
-    return mju_atan2(mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1]), vec[2]);
-  } else {
-    return mju_atan2(mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1]), vec[2]) - mjPI;
-  }
+  return mju_atan2(mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1]), vec[2]);
 }
 
 
@@ -892,9 +888,9 @@ void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
 
       if (point_in_box(aabb, xpos, xmat, pnt)) {
         (geom_ba+4*g)[0] = -mjPI;
-        (geom_ba+4*g)[1] = -mjPI/2;
+        (geom_ba+4*g)[1] = 0;
         (geom_ba+4*g)[2] = mjPI;
-        (geom_ba+4*g)[3] = mjPI/2;
+        (geom_ba+4*g)[3] = mjPI;
         continue;
       }
 
@@ -923,9 +919,9 @@ void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
 
       if (AABB[2]-AABB[0] > mjPI) {
         AABB[0] = -mjPI;
-        AABB[1] = -mjPI/2;
+        AABB[1] = 0;
         AABB[2] =  mjPI;
-        AABB[3] =  mjPI/2;
+        AABB[3] =  mjPI;
       }
 
       if (AABB[3]-AABB[1] > mjPI) {  // SHOULD NOT OCCUR
diff --git a/test/engine/engine_ray_test.cc b/test/engine/engine_ray_test.cc
index 2726967a..c6d8d3f5 100644
--- a/test/engine/engine_ray_test.cc
+++ b/test/engine/engine_ray_test.cc
@@ -203,9 +203,9 @@ TEST_F(RayTest, EdgeCases) {
   mjtNum pnt1[] = {0, 0, 0};
   mju_multiRayPrepare(m, d, pnt1, NULL, NULL, 1, -1, geom_ba, NULL);
   EXPECT_FLOAT_EQ(geom_ba[0], -mjPI);
-  EXPECT_FLOAT_EQ(geom_ba[1], -mjPI/2);
+  EXPECT_FLOAT_EQ(geom_ba[1],  0);
   EXPECT_FLOAT_EQ(geom_ba[2],  mjPI);
-  EXPECT_FLOAT_EQ(geom_ba[3],  mjPI/2);
+  EXPECT_FLOAT_EQ(geom_ba[3],  mjPI);
   mjtNum vec1[] = {1, 0, 0};
   mj_multiRay(m, d, pnt1, vec1, NULL, 1, -1, &rgeomid, &dist, 1);
   EXPECT_FLOAT_EQ(dist, 0.1);
@@ -222,8 +222,8 @@ TEST_F(RayTest, EdgeCases) {
   // pnt on the boundary of the box
   mjtNum pnt3[] = {.1, .1, .05};
   mju_multiRayPrepare(m, d, pnt3, NULL, NULL, 1, -1, geom_ba, NULL);
-  EXPECT_FLOAT_EQ(geom_ba[1], -mjPI/2);
-  EXPECT_FLOAT_EQ(geom_ba[3],  mjPI/2);
+  EXPECT_FLOAT_EQ(geom_ba[1], 0);
+  EXPECT_FLOAT_EQ(geom_ba[3], mjPI);
   mjtNum vec3[] = {1, 1, 0};
   mj_multiRay(m, d, pnt3, vec3, NULL, 1, -1, &rgeomid, &dist, 1);
   EXPECT_FLOAT_EQ(dist, -1);
@@ -234,9 +234,9 @@ TEST_F(RayTest, EdgeCases) {
   m->geom_aabb[3] = m->geom_aabb[4] = m->geom_aabb[5] = 0;
   mju_multiRayPrepare(m, d, pnt4, NULL, NULL, 1, -1, geom_ba, NULL);
   EXPECT_FLOAT_EQ(geom_ba[0], 0);
-  EXPECT_FLOAT_EQ(geom_ba[1], -mjPI/2);
+  EXPECT_FLOAT_EQ(geom_ba[1], mjPI/2);
   EXPECT_FLOAT_EQ(geom_ba[2], 0);
-  EXPECT_FLOAT_EQ(geom_ba[3], -mjPI/2);
+  EXPECT_FLOAT_EQ(geom_ba[3], mjPI/2);
   mjtNum vec4[] = {1, 0, 0};
   mj_multiRay(m, d, pnt4, vec4, NULL, 1, -1, &rgeomid, &dist, 1);
   EXPECT_FLOAT_EQ(dist, 0.9);