diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index ab80770fff42ac5232e1841b2bf9bc0f18a8cfff..a54333ef23d3675cae4f4a57857d16bae4cb5d46 100644
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -526,9 +526,9 @@ bool GJKSolver_indep::shapeTriangleInteraction
 // +------------+-----+--------+---------+------+----------+-------+------------+----------+
 // |            | box | sphere | capsule | cone | cylinder | plane | half-space | triangle |
 // +------------+-----+--------+---------+------+----------+-------+------------+----------+
-// | box        |     |        |         |      |          |       |            |          |
+// | box        |     |   O    |         |      |          |       |            |          |
 // +------------+-----+--------+---------+------+----------+-------+------------+----------+
-// | sphere     |/////|   O    |    O    |      |          |       |            |    O     |
+// | sphere     |/////|   O    |    O    |      |          |       |            |          |
 // +------------+-----+--------+---------+------+----------+-------+------------+----------+
 // | capsule    |/////|////////|    O    |      |          |       |            |          |
 // +------------+-----+--------+---------+------+----------+-------+------------+----------+
diff --git a/test/test_fcl_collision.cpp b/test/test_fcl_collision.cpp
index 6b9f29c92501b3900f799dcd519bceb9de53e646..8a4e28a10c82b16a98a8f020c624b363dea47258 100644
--- a/test/test_fcl_collision.cpp
+++ b/test/test_fcl_collision.cpp
@@ -858,7 +858,7 @@ bool collide_Test2(const Transform3f& tf,
   MeshCollisionTraversalNode<BV> node (request);
 
   bool success = initialize <BV> (node, m1, pose1, m2, pose2, local_result);
-  assert (success);
+  BOOST_REQUIRE (success);
 
   node.enable_statistics = verbose;
 
@@ -977,7 +977,7 @@ bool collide_Test_Oriented(const Transform3f& tf,
   TraversalNode node (request);
   bool success = initialize (node, (const BVHModel<BV>&)m1, pose1,
                              (const BVHModel<BV>&)m2, pose2, local_result);
-  assert (success);
+  BOOST_REQUIRE (success);
 
   node.enable_statistics = verbose;
 
diff --git a/test/test_fcl_frontlist.cpp b/test/test_fcl_frontlist.cpp
index 36a5c312423916e04fb09c648c74f81baac85d1e..02bba6949e27a6f02c0e89d75f7eb8942d4f9011 100644
--- a/test/test_fcl_frontlist.cpp
+++ b/test/test_fcl_frontlist.cpp
@@ -233,7 +233,7 @@ bool collide_front_list_Test(const Transform3f& tf1, const Transform3f& tf2,
   MeshCollisionTraversalNode<BV> node (request);
 
   bool success = initialize <BV>(node, m1, pose1, m2, pose2, local_result);
-  assert (success);
+  BOOST_REQUIRE (success);
 
   node.enable_statistics = verbose;
 
@@ -297,7 +297,7 @@ bool collide_front_list_Test_Oriented(const Transform3f& tf1, const Transform3f&
 
   bool success = initialize (node, (const BVHModel<BV>&)m1, pose1,
                              (const BVHModel<BV>&)m2, pose2, local_result);
-  assert (success);
+  BOOST_REQUIRE (success);
 
   node.enable_statistics = verbose;
 
@@ -310,7 +310,7 @@ bool collide_front_list_Test_Oriented(const Transform3f& tf1, const Transform3f&
   pose1 = tf2;
   success = initialize (node, (const BVHModel<BV>&)m1, pose1,
                         (const BVHModel<BV>&)m2, pose2, local_result);
-  assert (success);
+  BOOST_REQUIRE (success);
 
   local_result.clear();
   collide(&node, request, local_result, &front_list);
@@ -347,7 +347,7 @@ bool collide_Test(const Transform3f& tf,
   MeshCollisionTraversalNode<BV> node (request);
 
   bool success = initialize <BV>(node, m1, pose1, m2, pose2, local_result);
-  assert (success);
+  BOOST_REQUIRE (success);
 
   node.enable_statistics = verbose;