diff --git a/CHANGELOG.md b/CHANGELOG.md
index 88bcf97a..4a2264a2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,11 @@
 
 ## Unreleased
 
+### Modified
+
+- The `point_in_poly2d` now handles arbitrary (convex and non-convex) polygons. The previous implementation
+  that only supported convex polygons has been renamed `point_in_convex_poly2d`.
+
 ### Fixed
 
 - Fix a crash in `Qbvh::refit` that results from the QBVH tree becoming increasingly imbalanced.
diff --git a/src/utils/mod.rs b/src/utils/mod.rs
index c6001272..6dbfe227 100644
--- a/src/utils/mod.rs
+++ b/src/utils/mod.rs
@@ -14,7 +14,7 @@ pub use self::median::median;
 pub use self::point_cloud_support_point::{
     point_cloud_support_point, point_cloud_support_point_id,
 };
-pub use self::point_in_poly2d::point_in_poly2d;
+pub use self::point_in_poly2d::{point_in_convex_poly2d, point_in_poly2d};
 pub use self::sdp_matrix::{SdpMatrix2, SdpMatrix3};
 
 pub use self::array::{Array1, Array2, DefaultStorage};
diff --git a/src/utils/point_in_poly2d.rs b/src/utils/point_in_poly2d.rs
index b14633d4..aaf19006 100644
--- a/src/utils/point_in_poly2d.rs
+++ b/src/utils/point_in_poly2d.rs
@@ -2,8 +2,11 @@ use crate::math::Real;
 use na::Point2;
 use num::Zero;
 
-/// Tests if the given point is inside of a polygon with arbitrary orientation.
-pub fn point_in_poly2d(pt: &Point2<Real>, poly: &[Point2<Real>]) -> bool {
+/// Tests if the given point is inside a convex polygon with arbitrary orientation.
+///
+/// The polygon is assumed to be closed, i.e., first and last point of the polygon are implicitly
+/// assumed to be connected by an edge.
+pub fn point_in_convex_poly2d(pt: &Point2<Real>, poly: &[Point2<Real>]) -> bool {
     if poly.is_empty() {
         false
     } else {
@@ -25,3 +28,108 @@ pub fn point_in_poly2d(pt: &Point2<Real>, poly: &[Point2<Real>]) -> bool {
         true
     }
 }
+
+/// Tests if the given point is inside an arbitrary closed polygon with arbitrary orientation,
+/// using a counting winding strategy.
+///
+/// The polygon is assumed to be closed, i.e., first and last point of the polygon are implicitly
+/// assumed to be connected by an edge.
+///
+/// This handles concave polygons. For a function dedicated to convex polygons, see [`point_in_convex_poly2d`].
+pub fn point_in_poly2d(pt: &Point2<Real>, poly: &[Point2<Real>]) -> bool {
+    if poly.is_empty() {
+        return false;
+    }
+
+    let mut winding = 0i32;
+
+    for (i, a) in poly.iter().enumerate() {
+        let b = poly[(i + 1) % poly.len()];
+        let seg_dir = b - a;
+        let dpt = pt - a;
+        let perp = dpt.perp(&seg_dir);
+        winding += match (dpt.y > 0.0, b.y > pt.y) {
+            (true, true) if perp < 0.0 => 1,
+            (false, false) if perp > 0.0 => -1,
+            _ => 0,
+        };
+    }
+
+    winding != 0
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn point_in_poly2d_concave() {
+        let poly = [
+            [615.4741821289063, 279.4120788574219],
+            [617.95947265625, 281.8973693847656],
+            [624.1727294921875, 288.73193359375],
+            [626.6580200195313, 292.4598693847656],
+            [634.7352294921875, 302.40106201171875],
+            [637.8418579101563, 306.7503356933594],
+            [642.8124389648438, 312.96356201171875],
+            [652.7536010742188, 330.98193359375],
+            [654.6176147460938, 334.7098693847656],
+            [661.4521484375, 349.0003356933594],
+            [666.4227294921875, 360.18414306640625],
+            [670.1506958007813, 367.6400451660156],
+            [675.1212768554688, 381.30914306640625],
+            [678.2279052734375, 391.2503356933594],
+            [681.33447265625, 402.43414306640625],
+            [683.81982421875, 414.23931884765625],
+            [685.0624389648438, 422.3165283203125],
+            [685.6837768554688, 431.0150146484375],
+            [686.3051147460938, 442.8201904296875],
+            [685.6837768554688, 454.0040283203125],
+            [683.81982421875, 460.83856201171875],
+            [679.4705200195313, 470.77972412109375],
+            [674.4999389648438, 480.720947265625],
+            [670.1506958007813, 486.93414306640625],
+            [662.073486328125, 497.49664306640625],
+            [659.5881958007813, 499.36065673828125],
+            [653.3749389648438, 503.70989990234375],
+            [647.7830200195313, 506.1951904296875],
+            [642.8124389648438, 507.43780517578125],
+            [631.6286010742188, 508.05914306640625],
+            [621.0661010742188, 508.05914306640625],
+            [605.5330200195313, 508.05914306640625],
+            [596.2131958007813, 508.05914306640625],
+            [586.893310546875, 508.05914306640625],
+            [578.8161010742188, 508.05914306640625],
+            [571.3602294921875, 506.1951904296875],
+            [559.5551147460938, 499.36065673828125],
+            [557.0697631835938, 497.49664306640625],
+            [542.1580200195313, 484.4488525390625],
+            [534.7021484375, 476.37164306640625],
+            [532.8381958007813, 473.8863525390625],
+            [527.2462768554688, 466.43048095703125],
+            [522.2756958007813, 450.89739990234375],
+            [521.6543579101563, 444.06280517578125],
+            [521.0330200195313, 431.6363525390625],
+            [521.6543579101563, 422.93780517578125],
+            [523.518310546875, 409.26873779296875],
+            [527.2462768554688, 397.46356201171875],
+            [532.8381958007813, 385.6584167480469],
+            [540.9154052734375, 373.23193359375],
+            [547.1286010742188, 365.77606201171875],
+            [559.5551147460938, 354.59222412109375],
+            [573.2241821289063, 342.165771484375],
+            [575.70947265625, 339.68048095703125],
+            [584.4080200195313, 331.603271484375],
+            [597.455810546875, 317.3128356933594],
+            [601.8051147460938, 311.7209167480469],
+            [607.39697265625, 303.6437072753906],
+            [611.7462768554688, 296.1878356933594],
+            [614.2315673828125, 288.1106262207031],
+            [615.4741821289063, 280.65472412109375],
+            [615.4741821289063, 279.4120788574219],
+        ]
+        .map(Point2::from);
+        let pt = Point2::from([596.0181884765625, 427.9162902832031]);
+        assert!(point_in_poly2d(&pt, &poly));
+    }
+}