diff --git a/src/broadphase/broadphase_SSaP.cpp b/src/broadphase/broadphase_SSaP.cpp
index b372bd89ab34050af4187e796e1ac2ca0fb8f8fb..df1d0bd65e4e85721a099d7aaf590cdbb5965de0 100644
--- a/src/broadphase/broadphase_SSaP.cpp
+++ b/src/broadphase/broadphase_SSaP.cpp
@@ -432,7 +432,7 @@ void SSaPCollisionManager::distance(void* cdata, DistanceCallBack callback) cons
   if(size() == 0) return;
 
   std::vector<CollisionObject*>::const_iterator it, it_end;
-  size_t axis = selectOptimalAxis(objs_x, objs_y, objs_z, it, it_end);
+  selectOptimalAxis(objs_x, objs_y, objs_z, it, it_end);
 
   FCL_REAL min_dist = std::numeric_limits<FCL_REAL>::max();
   for(; it != it_end; ++it)
diff --git a/test/test_fcl_shape_mesh_consistency.cpp b/test/test_fcl_shape_mesh_consistency.cpp
index cc15cad4b5776da15393abdc6fb92ea2310f990a..9fc9e9a46931aae1e86c766886ec8a0ab58b3931 100644
--- a/test/test_fcl_shape_mesh_consistency.cpp
+++ b/test/test_fcl_shape_mesh_consistency.cpp
@@ -890,19 +890,19 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_libccd)
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2_obb, pose_obb, &s1, Transform3f(), request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1, Transform3f(), &s2_aabb, pose_aabb, request, result) > 0);
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1, Transform3f(), &s2_obb, pose_obb, request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2, pose, &s1_aabb, Transform3f(), request, result) > 0);
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2, pose, &s1_obb, Transform3f(), request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1_aabb, Transform3f(), &s2, pose, request, result) > 0);
   BOOST_CHECK_FALSE(res);
@@ -987,19 +987,19 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_libccd)
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2_obb, pose_obb, &s1, Transform3f(), request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1, Transform3f(), &s2_aabb, pose_aabb, request, result) > 0);
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1, Transform3f(), &s2_obb, pose_obb, request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2, pose, &s1_aabb, Transform3f(), request, result) > 0);
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2, pose, &s1_obb, Transform3f(), request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1_aabb, Transform3f(), &s2, pose, request, result) > 0);
   BOOST_CHECK_FALSE(res);
@@ -1590,19 +1590,19 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_GJK)
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2_obb, pose_obb, &s1, Transform3f(), request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1, Transform3f(), &s2_aabb, pose_aabb, request, result) > 0);
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1, Transform3f(), &s2_obb, pose_obb, request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2, pose, &s1_aabb, Transform3f(), request, result) > 0);
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2, pose, &s1_obb, Transform3f(), request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1_aabb, Transform3f(), &s2, pose, request, result) > 0);
   BOOST_CHECK_FALSE(res);
@@ -1687,19 +1687,19 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_GJK)
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2_obb, pose_obb, &s1, Transform3f(), request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1, Transform3f(), &s2_aabb, pose_aabb, request, result) > 0);
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1, Transform3f(), &s2_obb, pose_obb, request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2, pose, &s1_aabb, Transform3f(), request, result) > 0);
   BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s2, pose, &s1_obb, Transform3f(), request, result) > 0);
-  BOOST_CHECK(res);
+  BOOST_CHECK_FALSE(res);
   result.clear();
   res = (collide(&s1_aabb, Transform3f(), &s2, pose, request, result) > 0);
   BOOST_CHECK_FALSE(res);