diff --git a/CHANGELOG.md b/CHANGELOG.md
index 59d35eec..4eef481a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,9 @@
+## Unreleased
+
+### Fixed
+
+- Fix contact manifold voxels cached key overflowing. ([#346](https://github.com/dimforge/parry/pull/346))
+
 # 0.22.0-beta.1
 
 ### Fixed
diff --git a/src/query/contact_manifolds/contact_manifolds_voxels_shape.rs b/src/query/contact_manifolds/contact_manifolds_voxels_shape.rs
index 9532b5df..e38f214a 100644
--- a/src/query/contact_manifolds/contact_manifolds_voxels_shape.rs
+++ b/src/query/contact_manifolds/contact_manifolds_voxels_shape.rs
@@ -316,6 +316,7 @@ pub fn contact_manifolds_voxels_shape<ManifoldData, ContactData>(
 #[derive(Copy, Clone, Debug)]
 pub(crate) struct CanonicalVoxelShape {
     pub range: [Point<i32>; 2],
+    /// See [Self::linear_index_for_dimensions]
     pub workspace_key: Vector2<u32>,
 }
 
@@ -348,15 +349,32 @@ impl CanonicalVoxelShape {
             adjust_canon(AxisMask::Z_NEG, 2, &mut key_low, mins[2]);
         }
 
+        let mut domain_dilated: [Point<i32>; 2] = voxels.domain().map(|v| *v);
+        domain_dilated[0].coords -= Vector::repeat(1);
         Self {
             range: [key_low, key_high],
             workspace_key: Vector2::new(
-                voxels.linear_index(key_low),
-                voxels.linear_index(key_high),
+                Self::linear_index_for_dimensions(key_low, domain_dilated[0], domain_dilated[1]),
+                Self::linear_index_for_dimensions(key_high, domain_dilated[0], domain_dilated[1]),
             ),
         }
     }
 
+    /// The linearized index associated to the given voxel key.
+    ///
+    /// This function allows to override the dimensions, that would lead to out of bounds index.
+    ///
+    /// It can be useful to keep a cache on voxels information when it would not fit the original dimension.
+    pub fn linear_index_for_dimensions(
+        voxel_key: Point<i32>,
+        domain_mins: Point<i32>,
+        domain_maxs: Point<i32>,
+    ) -> u32 {
+        let dims = (domain_maxs - domain_mins).map(|e| e as u32);
+        let rel_key = voxel_key - domain_mins;
+        (rel_key.x + rel_key.y * dims[0] as i32) as u32
+    }
+
     pub fn cuboid(
         &self,
         voxels: &Voxels,