diff --git a/include/fcl/narrowphase/narrowphase.h b/include/fcl/narrowphase/narrowphase.h
index fbb5ff0a1c475f5ea8494e1c6eeccc8f8b9865c4..6361dec8c6e3f1957d19ea18f01a7088fd5a2d46 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/fcl/narrowphase/narrowphase.h
@@ -125,9 +125,6 @@ struct GJKSolver_libccd
                                      max_distance_iterations, distance_tolerance,
                                      dist, p1, p2);
 
-    if(p1) *p1 = inverse(tf1).transform(*p1);
-    if(p2) *p2 = inverse(tf2).transform(*p2);
-
     details::GJKInitializer<S1>::deleteGJKObject(o1);
     details::GJKInitializer<S2>::deleteGJKObject(o2);