diff --git a/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h b/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
index 3bb3cc3d54185a33c9aff8c8b457cb198e45f95f..f015079da9ed8ac1c4868bf00320691d6d14c924 100644
--- a/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
+++ b/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
@@ -148,7 +148,7 @@ public:
   void leafTesting(int, int) const
   {
     FCL_REAL distance;
-    nsolver->shapeDistance(*model1, tf1, *model2, tf2, &distance);
+    !nsolver->shapeDistance(*model1, tf1, *model2, tf2, &distance);
     result->update(distance, model1, model2, DistanceResult::NONE, DistanceResult::NONE);
   }
 
diff --git a/trunk/fcl/src/ccd/taylor_model.cpp b/trunk/fcl/src/ccd/taylor_model.cpp
index 0851ed88950e5b0a368d6569931e88d1719bef92..769985ab024aa70c56d20b079b7472e9e6923239 100644
--- a/trunk/fcl/src/ccd/taylor_model.cpp
+++ b/trunk/fcl/src/ccd/taylor_model.cpp
@@ -98,7 +98,6 @@ TaylorModel TaylorModel::operator + (FCL_REAL d) const
 TaylorModel& TaylorModel::operator += (FCL_REAL d)
 {
   coeffs_[0] += d;
-  return *this;
 }
 
 TaylorModel TaylorModel::operator + (const TaylorModel& other) const
diff --git a/trunk/fcl/src/narrowphase/gjk.cpp b/trunk/fcl/src/narrowphase/gjk.cpp
index 8419d0103951c7b485aca20a478ff25a01e99dff..2813b2f14e170c4c0b81af99ff6d828402f7e4da 100644
--- a/trunk/fcl/src/narrowphase/gjk.cpp
+++ b/trunk/fcl/src/narrowphase/gjk.cpp
@@ -158,8 +158,6 @@ Vec3f getSupport(const ShapeBase* shape, const Vec3f& dir)
       return Vec3f(0, 0, 0);
     }
     break;
-  default:
-    ; // nothing
   }
 
   return Vec3f(0, 0, 0);