diff --git a/include/gz/rendering/Marker.hh b/include/gz/rendering/Marker.hh
index 4342072d8..e7e0f38b6 100644
--- a/include/gz/rendering/Marker.hh
+++ b/include/gz/rendering/Marker.hh
@@ -68,6 +68,9 @@ namespace gz
 
       /// \brief Capsule geometry
       MT_CAPSULE        = 11,
+
+      /// \brief Cone geometry
+      MT_CONE           = 12,
     };
 
     /// \class Marker Marker.hh gz/rendering/Marker
diff --git a/include/gz/rendering/ParticleEmitter.hh b/include/gz/rendering/ParticleEmitter.hh
index 2698a3fc2..cd7e78ee7 100644
--- a/include/gz/rendering/ParticleEmitter.hh
+++ b/include/gz/rendering/ParticleEmitter.hh
@@ -47,8 +47,11 @@ namespace gz
       /// \brief Ellipsoid emitter.
       EM_ELLIPSOID        = 3,
 
+      /// \brief Cone emitter.
+      EM_CONE             = 4,
+
       /// \brief Total number of emitters (keep always at the end).
-      EM_NUM_EMITTERS     = 4,
+      EM_NUM_EMITTERS     = 5,
     };
 
     /// \class ParticleEmitter ParticleEmitter.hh
@@ -86,8 +89,10 @@ namespace gz
       /// the emmiter type:
       ///   - EM_POINT: The area is ignored.
       ///   - EM_BOX: The area is interpreted as width X height X depth.
+      ///   - EM_CONE: The area is interpreted as the bounding box of the
+      ///                  cone. The cone is oriented along the Z-axis.
       ///   - EM_CYLINDER: The area is interpreted as the bounding box of the
-      ///                  cilinder. The cylinder is oriented along the Z-axis.
+      ///                  cylinder. The cylinder is oriented along the Z-axis.
       ///   - EM_ELLIPSOID: The area is interpreted as the bounding box of an
       ///                   ellipsoid shaped area, i.e. a sphere or
       ///                   squashed-sphere area. The parameters are again
diff --git a/ogre/src/OgreMarker.cc b/ogre/src/OgreMarker.cc
index 0375b2dbb..8cb3e22bf 100644
--- a/ogre/src/OgreMarker.cc
+++ b/ogre/src/OgreMarker.cc
@@ -107,6 +107,7 @@ Ogre::MovableObject *OgreMarker::OgreObject() const
       return nullptr;
     case MT_BOX:
     case MT_CAPSULE:
+    case MT_CONE:
     case MT_CYLINDER:
     case MT_SPHERE:
     {
@@ -184,6 +185,7 @@ void OgreMarker::SetMaterial(MaterialPtr _material, bool _unique)
       break;
     case MT_BOX:
     case MT_CAPSULE:
+    case MT_CONE:
     case MT_CYLINDER:
     case MT_SPHERE:
     {
@@ -257,6 +259,10 @@ void OgreMarker::SetType(MarkerType _markerType)
       this->dataPtr->geom =
         std::dynamic_pointer_cast<OgreGeometry>(this->scene->CreateCapsule());
       break;
+    case MT_CONE:
+      this->dataPtr->geom =
+        std::dynamic_pointer_cast<OgreGeometry>(this->scene->CreateCone());
+      break;
     case MT_CYLINDER:
       this->dataPtr->geom =
         std::dynamic_pointer_cast<OgreGeometry>(this->scene->CreateCylinder());
diff --git a/ogre2/src/Ogre2Marker.cc b/ogre2/src/Ogre2Marker.cc
index f63b79225..6c379205b 100644
--- a/ogre2/src/Ogre2Marker.cc
+++ b/ogre2/src/Ogre2Marker.cc
@@ -155,6 +155,7 @@ Ogre::MovableObject *Ogre2Marker::OgreObject() const
       return nullptr;
     case MT_BOX:
     case MT_CAPSULE:
+    case MT_CONE:
     case MT_CYLINDER:
     case MT_SPHERE:
     {
@@ -236,6 +237,7 @@ void Ogre2Marker::SetMaterial(MaterialPtr _material, bool _unique)
       break;
     case MT_BOX:
     case MT_CAPSULE:
+    case MT_CONE:
     case MT_CYLINDER:
     case MT_SPHERE:
     {
@@ -342,6 +344,10 @@ void Ogre2Marker::SetType(MarkerType _markerType)
       isGeom = true;
       newGeom = this->scene->CreateCapsule();
       break;
+    case MT_CONE:
+      isGeom = true;
+      newGeom = this->scene->CreateCone();
+      break;
     case MT_CYLINDER:
       isGeom = true;
       newGeom = this->scene->CreateCylinder();
diff --git a/ogre2/src/Ogre2ParticleEmitter.cc b/ogre2/src/Ogre2ParticleEmitter.cc
index 1a0fc7b2f..a8a10b95f 100644
--- a/ogre2/src/Ogre2ParticleEmitter.cc
+++ b/ogre2/src/Ogre2ParticleEmitter.cc
@@ -75,6 +75,7 @@ static const std::array<std::string, EmitterType::EM_NUM_EMITTERS>
       {
         "Point",
         "Box",
+        "Cone",
         "Cylinder",
         "Ellipsoid",
       };
@@ -154,6 +155,7 @@ void Ogre2ParticleEmitter::SetEmitterSize(const gz::math::Vector3d &_size)
       break;
     }
     case EmitterType::EM_BOX:
+    case EmitterType::EM_CONE:
     case EmitterType::EM_CYLINDER:
     case EmitterType::EM_ELLIPSOID:
     {