diff --git a/trunk/fcl/include/fcl/broad_phase_collision.h b/trunk/fcl/include/fcl/broad_phase_collision.h
index b301b60977d393ba3a9d0e5cd2bbf33ec76e84dc..b99359cbc78ca0cd99dc0c5f9c18881456bba6b8 100644
--- a/trunk/fcl/include/fcl/broad_phase_collision.h
+++ b/trunk/fcl/include/fcl/broad_phase_collision.h
@@ -84,9 +84,6 @@ public:
   /** \brief perform collision test for the objects belonging to the manager (i.e., N^2 self collision) */
   virtual void collide(void* cdata, CollisionCallBack callback) const = 0;
 
-  /** \brief perform collision test for all pairs of objects belonging to the \e other manager */
-  virtual void collide(const BroadPhaseCollisionManager *other, void* cdata, CollisionCallBack callback) const;
-  
   /** \brief whether the manager is empty */
   virtual bool empty() const = 0;
   
diff --git a/trunk/fcl/src/broad_phase_collision.cpp b/trunk/fcl/src/broad_phase_collision.cpp
index 5888f55c6ca5ec524700e09a72eadacf7de3643d..d259f0a2cfd8db99fd4832efa3586714ae8da961 100644
--- a/trunk/fcl/src/broad_phase_collision.cpp
+++ b/trunk/fcl/src/broad_phase_collision.cpp
@@ -69,19 +69,6 @@ bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, void* cd
   return cdata->done;
 }
 
-void BroadPhaseCollisionManager::collide(const BroadPhaseCollisionManager *other, void* cdata, CollisionCallBack callback) const
-{
-  if (other->size() < size())
-    other->collide(this, cdata, callback);
-  else
-  {
-    std::vector<CollisionObject*> objs;
-    getObjects(objs);
-    for (std::size_t i = 0 ; i < objs.size() ; ++i)
-      other->collide(objs[i], cdata, callback);
-  }
-}
-
 void NaiveCollisionManager::unregisterObject(CollisionObject* obj)
 {
   objs.remove(obj);