diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 931e06d4d8193373f2bad11124b7122a127b789a..5e05a114f55bed4e86f207ab903e2feb8115ecb0 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -3563,92 +3563,6 @@ BOOST_AUTO_TEST_CASE(conecone)
 
 
 
-template<typename S1, typename S2>
-void testReversibleShapeIntersection(const S1& s1, const S2& s2, FCL_REAL distance)
-{
-  Transform3f tf1(Vec3f(-0.5 * distance, 0.0, 0.0));
-  Transform3f tf2(Vec3f(+0.5 * distance, 0.0, 0.0));
-
-  Vec3f contactA;
-  Vec3f contactB;
-  FCL_REAL depthA;
-  FCL_REAL depthB;
-  Vec3f normalA;
-  Vec3f normalB;
-
-  bool resA;
-  bool resB;
-
-  const double tol = 1e-6;
-
-  resA = solver1.shapeIntersect(s1, tf1, s2, tf2, &contactA, &depthA, &normalA);
-  resB = solver1.shapeIntersect(s2, tf2, s1, tf1, &contactB, &depthB, &normalB);
-
-  BOOST_CHECK(resA);
-  BOOST_CHECK(resB);
-  BOOST_CHECK(isEqual(normalA, -normalB, tol));  // normal should be opposite
-  BOOST_CHECK_CLOSE(depthA, depthB, tol);  // penetration depth should be same
-
-  resA = solver2.shapeIntersect(s1, tf1, s2, tf2, &contactA, &depthA, &normalA);
-  resB = solver2.shapeIntersect(s2, tf2, s1, tf1, &contactB, &depthB, &normalB);
-
-  BOOST_CHECK(resA);
-  BOOST_CHECK(resB);
-  BOOST_CHECK(isEqual(normalA, -normalB, tol));
-  BOOST_CHECK_CLOSE(depthA, depthB, tol);
-}
-
-BOOST_AUTO_TEST_CASE(reversibleShapeIntersection_allshapes)
-{
-  // This test check whether a shape intersection algorithm is called for the
-  // reverse case as well. For example, if FCL has sphere-capsule intersection
-  // algorithm, then this algorithm should be called for capsule-sphere case.
-
-  // Prepare all kinds of primitive shapes (7) -- box, sphere, capsule, cone, cylinder, plane, halfspace
-  Box box(10, 10, 10);
-  Sphere sphere(5);
-  Capsule capsule(5, 10);
-  Cone cone(5, 10);
-  Cylinder cylinder(5, 10);
-  Plane plane(Vec3f(), 0.0);
-  Halfspace halfspace(Vec3f(), 0.0);
-
-  // Use sufficiently short distance so that all the primitive shapes can intersect
-  FCL_REAL distance = 5.0;
-
-  // If new shape intersection algorithm is added for two distinct primitive
-  // shapes, uncomment associated lines. For example, box-sphere intersection
-  // algorithm is added, then uncomment box-sphere.
-
-//  testReversibleShapeIntersection(box, sphere, distance);
-//  testReversibleShapeIntersection(box, capsule, distance);
-//  testReversibleShapeIntersection(box, cone, distance);
-//  testReversibleShapeIntersection(box, cylinder, distance);
-  testReversibleShapeIntersection(box, plane, distance);
-  testReversibleShapeIntersection(box, halfspace, distance);
-
-  testReversibleShapeIntersection(sphere, capsule, distance);
-//  testReversibleShapeIntersection(sphere, cone, distance);
-//  testReversibleShapeIntersection(sphere, cylinder, distance);
-  testReversibleShapeIntersection(sphere, plane, distance);
-  testReversibleShapeIntersection(sphere, halfspace, distance);
-
-//  testReversibleShapeIntersection(capsule, cone, distance);
-//  testReversibleShapeIntersection(capsule, cylinder, distance);
-  testReversibleShapeIntersection(capsule, plane, distance);
-  testReversibleShapeIntersection(capsule, halfspace, distance);
-
-//  testReversibleShapeIntersection(cone, cylinder, distance);
-  testReversibleShapeIntersection(cone, plane, distance);
-  testReversibleShapeIntersection(cone, halfspace, distance);
-
-  testReversibleShapeIntersection(cylinder, plane, distance);
-  testReversibleShapeIntersection(cylinder, halfspace, distance);
-
-  // TODO no contact, penetration depth and normal return for this pair
-  // testReversibleShapeIntersection(plane, halfspace, distance);
-}
-
 template<typename S1, typename S2>
 void testReversibleShapeDistance(const S1& s1, const S2& s2, FCL_REAL distance)
 {