diff --git a/dart/collision/RaycastOption.cpp b/dart/collision/RaycastOption.cpp
index 829b6dd38bb86..d83a539e9e33c 100644
--- a/dart/collision/RaycastOption.cpp
+++ b/dart/collision/RaycastOption.cpp
@@ -36,11 +36,23 @@ namespace dart {
 namespace collision {
 
 //==============================================================================
-RaycastOption::RaycastOption(bool enableAllHits, bool sortByClosest)
-  : mEnableAllHits(enableAllHits), mSortByClosest(sortByClosest)
+RaycastOption::RaycastOption(
+    bool enableAllHits, bool sortByClosest, RaycastFilter filter)
+  : mEnableAllHits(enableAllHits),
+    mSortByClosest(sortByClosest),
+    mFilter(std::move(filter))
 {
   // Do nothing
 }
 
+//==============================================================================
+bool RaycastOption::passesFilter(const CollisionObject* object) const
+{
+  if (!mFilter)
+    return true;
+
+  return mFilter(object);
+}
+
 } // namespace collision
 } // namespace dart
diff --git a/dart/collision/RaycastOption.hpp b/dart/collision/RaycastOption.hpp
index 5b0fb1facd5f8..2e17edd2e19e3 100644
--- a/dart/collision/RaycastOption.hpp
+++ b/dart/collision/RaycastOption.hpp
@@ -35,6 +35,7 @@
 
 #include <dart/Export.hpp>
 
+#include <functional>
 #include <memory>
 
 #include <cstddef>
@@ -42,16 +43,27 @@
 namespace dart {
 namespace collision {
 
+class CollisionObject;
+
 struct DART_API RaycastOption
 {
+  using RaycastFilter = std::function<bool(const CollisionObject*)>;
+
   /// Constructor
-  RaycastOption(bool enableAllHits = false, bool sortByClosest = false);
+  RaycastOption(
+      bool enableAllHits = false,
+      bool sortByClosest = false,
+      RaycastFilter filter = nullptr);
+
+  /// Returns true when the filter is not set or allows the object.
+  bool passesFilter(const CollisionObject* object) const;
 
   bool mEnableAllHits;
 
   bool mSortByClosest;
 
-  // TODO(JS): Add filter
+  /// Optional filter to reject hits from specific collision objects.
+  RaycastFilter mFilter;
 };
 
 } // namespace collision
diff --git a/dart/collision/bullet/BulletCollisionDetector.cpp b/dart/collision/bullet/BulletCollisionDetector.cpp
index a9a4c51458ca9..3d9cadf420d18 100644
--- a/dart/collision/bullet/BulletCollisionDetector.cpp
+++ b/dart/collision/bullet/BulletCollisionDetector.cpp
@@ -377,16 +377,50 @@ bool BulletCollisionDetector::raycast(
   const auto btFrom = convertVector3(from);
   const auto btTo = convertVector3(to);
 
-  if (option.mEnableAllHits) {
+  const bool needsAllHits
+      = option.mEnableAllHits || static_cast<bool>(option.mFilter);
+
+  if (needsAllHits) {
+    auto lessFraction = [](const RayHit& a, const RayHit& b) {
+      return a.mFraction < b.mFraction;
+    };
+
     auto callback = btCollisionWorld::AllHitsRayResultCallback(btFrom, btTo);
     castedGroup->updateEngineData();
     collisionWorld->rayTest(btFrom, btTo, callback);
 
-    if (result == nullptr)
-      return callback.hasHit();
+    if (result == nullptr) {
+      if (!callback.hasHit())
+        return false;
+
+      if (!option.mFilter)
+        return true;
+
+      for (int i = 0; i < callback.m_collisionObjects.size(); ++i) {
+        const auto* collObj = static_cast<BulletCollisionObject*>(
+            callback.m_collisionObjects[i]->getUserPointer());
+        if (option.passesFilter(collObj))
+          return true;
+      }
+
+      return false;
+    }
 
     if (callback.hasHit()) {
       reportRayHits(callback, option, *result);
+
+      if (!option.mEnableAllHits && !result->mRayHits.empty()) {
+        if (option.mSortByClosest) {
+          result->mRayHits.resize(1);
+        } else {
+          const auto closest = std::min_element(
+              result->mRayHits.begin(), result->mRayHits.end(), lessFraction);
+          const RayHit closestHit = *closest;
+          result->mRayHits.clear();
+          result->mRayHits.emplace_back(closestHit);
+        }
+      }
+
       return result->hasHit();
     } else {
       return false;
@@ -765,7 +799,7 @@ RayHit convertRayHit(
 //==============================================================================
 void reportRayHits(
     const btCollisionWorld::ClosestRayResultCallback callback,
-    const RaycastOption& /*option*/,
+    const RaycastOption& option,
     RaycastResult& result)
 {
   // This function shouldn't be called if callback has not ray hit.
@@ -779,7 +813,9 @@ void reportRayHits(
 
   result.mRayHits.clear();
   result.mRayHits.reserve(1);
-  result.mRayHits.emplace_back(rayHit);
+
+  if (option.passesFilter(rayHit.mCollisionObject))
+    result.mRayHits.emplace_back(rayHit);
 }
 
 //==============================================================================
@@ -807,7 +843,8 @@ void reportRayHits(
         callback.m_hitPointWorld[i],
         callback.m_hitNormalWorld[i],
         callback.m_hitFractions[i]);
-    result.mRayHits.emplace_back(rayHit);
+    if (option.passesFilter(rayHit.mCollisionObject))
+      result.mRayHits.emplace_back(rayHit);
   }
 
   if (option.mSortByClosest)
diff --git a/python/stubs/dartpy/collision.pyi b/python/stubs/dartpy/collision.pyi
index ea58d6b7da628..38d758197c096 100644
--- a/python/stubs/dartpy/collision.pyi
+++ b/python/stubs/dartpy/collision.pyi
@@ -458,6 +458,7 @@ class RayHit:
 class RaycastOption:
     mEnableAllHits: bool
     mSortByClosest: bool
+    mFilter: typing.Optional[typing.Callable[[CollisionObject], bool]]
     @typing.overload
     def __init__(self) -> None:
         ...
@@ -465,7 +466,12 @@ class RaycastOption:
     def __init__(self, enableAllHits: bool) -> None:
         ...
     @typing.overload
-    def __init__(self, enableAllHits: bool, sortByClosest: bool) -> None:
+    def __init__(
+        self,
+        enableAllHits: bool,
+        sortByClosest: bool,
+        filter: typing.Optional[typing.Callable[[CollisionObject], bool]] = None,
+    ) -> None:
         ...
 class RaycastResult:
     mRayHits: list[RayHit]
diff --git a/tests/unit/collision/test_Raycast.cpp b/tests/unit/collision/test_Raycast.cpp
index eb262d5840bcb..34e411ce7dc64 100644
--- a/tests/unit/collision/test_Raycast.cpp
+++ b/tests/unit/collision/test_Raycast.cpp
@@ -45,6 +45,22 @@ using namespace collision;
 using namespace dynamics;
 using namespace dart::test;
 
+namespace {
+
+class DummyCollisionObject : public collision::CollisionObject
+{
+public:
+  DummyCollisionObject(
+      collision::CollisionDetector* detector, const dynamics::ShapeFrame* frame)
+    : CollisionObject(detector, frame)
+  {
+  }
+
+  void updateEngineData() override {}
+};
+
+} // namespace
+
 //==============================================================================
 TEST(Raycast, RayHitDefaultConstructor)
 {
@@ -62,6 +78,45 @@ TEST(Raycast, RaycastResultDefaultConstructor)
   EXPECT_TRUE(result.mRayHits.empty());
 }
 
+//==============================================================================
+TEST(Raycast, RaycastOptionPassesFilterWhenUnset)
+{
+  auto detector = DARTCollisionDetector::create();
+
+  auto frame = SimpleFrame::createShared(Frame::World());
+  frame->setShape(std::make_shared<SphereShape>(0.1));
+  DummyCollisionObject object(detector.get(), frame.get());
+
+  RaycastOption option;
+
+  EXPECT_FALSE(option.mEnableAllHits);
+  EXPECT_FALSE(option.mSortByClosest);
+  EXPECT_TRUE(option.passesFilter(&object));
+}
+
+//==============================================================================
+TEST(Raycast, RaycastOptionHonorsPredicate)
+{
+  auto detector = DARTCollisionDetector::create();
+
+  auto firstFrame = SimpleFrame::createShared(Frame::World());
+  firstFrame->setShape(std::make_shared<SphereShape>(0.1));
+  auto secondFrame = SimpleFrame::createShared(Frame::World());
+  secondFrame->setShape(std::make_shared<SphereShape>(0.1));
+
+  DummyCollisionObject first(detector.get(), firstFrame.get());
+  DummyCollisionObject second(detector.get(), secondFrame.get());
+
+  RaycastOption option(true, true, [&](const collision::CollisionObject* obj) {
+    return obj == &first;
+  });
+
+  EXPECT_TRUE(option.mEnableAllHits);
+  EXPECT_TRUE(option.mSortByClosest);
+  EXPECT_TRUE(option.passesFilter(&first));
+  EXPECT_FALSE(option.passesFilter(&second));
+}
+
 //==============================================================================
 void testBasicInterface(const std::shared_ptr<CollisionDetector>& cd)
 {
@@ -242,3 +297,90 @@ TEST(Raycast, testOptions)
   auto dart = DARTCollisionDetector::create();
   testOptions(dart);
 }
+
+//==============================================================================
+void testFilters(const std::shared_ptr<CollisionDetector>& cd)
+{
+  if (cd->getType() != "bullet") {
+    DART_WARN(
+        "Aborting test: distance check is not supported by {}.", cd->getType());
+    return;
+  }
+
+  auto simpleFrame1 = SimpleFrame::createShared(Frame::World());
+  auto simpleFrame2 = SimpleFrame::createShared(Frame::World());
+
+  auto sphere = std::make_shared<SphereShape>(1.0);
+  simpleFrame1->setShape(sphere);
+  simpleFrame2->setShape(sphere);
+
+  auto group = cd->createCollisionGroup(simpleFrame1.get(), simpleFrame2.get());
+
+  collision::RaycastOption option;
+  collision::RaycastResult result;
+
+  simpleFrame1->setTranslation(Eigen::Vector3d(-2, 0, 0));
+  simpleFrame2->setTranslation(Eigen::Vector3d(2, 0, 0));
+
+  option.mEnableAllHits = false;
+  option.mSortByClosest = false;
+  option.mFilter = [&](const collision::CollisionObject* obj) {
+    return obj->getShapeFrame() == simpleFrame2.get();
+  };
+
+  result.clear();
+  cd->raycast(
+      group.get(),
+      Eigen::Vector3d(-5, 0, 0),
+      Eigen::Vector3d(5, 0, 0),
+      option,
+      &result);
+  ASSERT_TRUE(result.hasHit());
+  ASSERT_EQ(result.mRayHits.size(), 1u);
+  auto rayHit = result.mRayHits[0];
+  EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(1, 0, 0)));
+  EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
+  EXPECT_NEAR(rayHit.mFraction, 0.6, 1e-5);
+
+  option.mEnableAllHits = true;
+  option.mFilter = [&](const collision::CollisionObject* obj) {
+    return obj->getShapeFrame() == simpleFrame1.get();
+  };
+  result.clear();
+  cd->raycast(
+      group.get(),
+      Eigen::Vector3d(-5, 0, 0),
+      Eigen::Vector3d(5, 0, 0),
+      option,
+      &result);
+  ASSERT_TRUE(result.hasHit());
+  ASSERT_EQ(result.mRayHits.size(), 1u);
+  rayHit = result.mRayHits[0];
+  EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(-3, 0, 0)));
+  EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
+  EXPECT_NEAR(rayHit.mFraction, 0.2, 1e-5);
+
+  option.mFilter = [&](const collision::CollisionObject*) {
+    return false;
+  };
+  result.clear();
+  cd->raycast(
+      group.get(),
+      Eigen::Vector3d(-5, 0, 0),
+      Eigen::Vector3d(5, 0, 0),
+      option,
+      &result);
+  EXPECT_FALSE(result.hasHit());
+  EXPECT_TRUE(result.mRayHits.empty());
+}
+
+//==============================================================================
+TEST(Raycast, testFilters)
+{
+#if HAVE_BULLET
+  auto bullet = BulletCollisionDetector::create();
+  testFilters(bullet);
+#else
+  GTEST_SKIP() << "Bullet collision detector not available.";
+#endif
+}