diff --git a/dart/collision/Contact.cpp b/dart/collision/Contact.cpp
index 98f4269fbc0e8..57a825822bb1b 100644
--- a/dart/collision/Contact.cpp
+++ b/dart/collision/Contact.cpp
@@ -3,6 +3,7 @@
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>
+ *            Michael X. Grey <mxgrey@gatech.edu>
  *
  * Georgia Tech Graphics Lab and Humanoid Robotics Lab
  *
@@ -39,5 +40,21 @@
 namespace dart {
 namespace collision {
 
+//==============================================================================
+Contact::Contact()
+  : point(Eigen::Vector3d::Zero()),
+    normal(Eigen::Vector3d::Zero()),
+    force(Eigen::Vector3d::Zero()),
+    collisionObject1(nullptr),
+    collisionObject2(nullptr),
+    penetrationDepth(0),
+    triID1(0),
+    triID2(0),
+    userData(nullptr)
+{
+  // TODO(MXG): Consider using NaN instead of zero for uninitialized quantities
+  // Do nothing
+}
+
 }  // namespace collision
 }  // namespace dart
diff --git a/dart/collision/Contact.h b/dart/collision/Contact.h
index 7d3f5a51f5c0b..5a7416377d850 100644
--- a/dart/collision/Contact.h
+++ b/dart/collision/Contact.h
@@ -47,6 +47,9 @@ namespace collision {
 /// Contact information
 struct Contact
 {
+  /// Default constructor
+  Contact();
+
   /// Contact point w.r.t. the world frame
   Eigen::Vector3d point;
 
diff --git a/dart/collision/Result.cpp b/dart/collision/Result.cpp
index 55333262fb879..485af81942a8f 100644
--- a/dart/collision/Result.cpp
+++ b/dart/collision/Result.cpp
@@ -35,6 +35,11 @@
  */
 
 #include "dart/collision/Result.h"
+#include "dart/collision/CollisionObject.h"
+
+#include "dart/dynamics/ShapeFrame.h"
+#include "dart/dynamics/ShapeNode.h"
+#include "dart/dynamics/BodyNode.h"
 
 namespace dart {
 namespace collision {
@@ -43,6 +48,8 @@ namespace collision {
 void CollisionResult::addContact(const Contact& contact)
 {
   mContacts.push_back(contact);
+  addObject(contact.collisionObject1);
+  addObject(contact.collisionObject2);
 }
 
 //==============================================================================
@@ -73,16 +80,74 @@ const std::vector<Contact>& CollisionResult::getContacts() const
   return mContacts;
 }
 
+//==============================================================================
+const std::unordered_set<const dynamics::BodyNode*>
+CollisionResult::getCollidingBodyNodes() const
+{
+  return mCollidingBodyNodes;
+}
+
+//==============================================================================
+const std::unordered_set<const dynamics::ShapeFrame*>
+CollisionResult::getCollidingShapeFrames() const
+{
+  return mCollidingShapeFrames;
+}
+
+//==============================================================================
+bool CollisionResult::inCollision(const dynamics::BodyNode* bn) const
+{
+  return (mCollidingBodyNodes.find(bn) != mCollidingBodyNodes.end());
+}
+
+//==============================================================================
+bool CollisionResult::inCollision(const dynamics::ShapeFrame* frame) const
+{
+  return (mCollidingShapeFrames.find(frame) != mCollidingShapeFrames.end());
+}
+
 //==============================================================================
 bool CollisionResult::isCollision() const
 {
   return !mContacts.empty();
 }
 
+//==============================================================================
+CollisionResult::operator bool() const
+{
+  return isCollision();
+}
+
 //==============================================================================
 void CollisionResult::clear()
 {
   mContacts.clear();
+  mCollidingShapeFrames.clear();
+  mCollidingBodyNodes.clear();
+}
+
+//==============================================================================
+void CollisionResult::addObject(CollisionObject* object)
+{
+  if(!object)
+  {
+    dterr << "[CollisionResult::addObject] Attempting to add a collision with "
+          << "a nullptr object to a CollisionResult instance. This is not "
+          << "allowed. Please report this as a bug!";
+    assert(false);
+    return;
+  }
+
+  const dynamics::ShapeFrame* frame = object->getShapeFrame();
+  mCollidingShapeFrames.insert(frame);
+
+  if(frame->isShapeNode())
+  {
+    const dynamics::ShapeNode* node =
+        dynamic_cast<const dynamics::ShapeNode*>(frame);
+
+    mCollidingBodyNodes.insert(node->getBodyNodePtr());
+  }
 }
 
 }  // namespace collision
diff --git a/dart/collision/Result.h b/dart/collision/Result.h
index 4e3ded8970193..053a05a117ec3 100644
--- a/dart/collision/Result.h
+++ b/dart/collision/Result.h
@@ -38,9 +38,18 @@
 #define DART_COLLISION_RESULT_H_
 
 #include <vector>
+#include <unordered_set>
 #include "dart/collision/Contact.h"
 
 namespace dart {
+
+namespace dynamics {
+
+class BodyNode;
+class ShapeFrame;
+
+} // namespace dynamics
+
 namespace collision {
 
 class CollisionResult
@@ -62,17 +71,42 @@ class CollisionResult
   /// Return contacts
   const std::vector<Contact>& getContacts() const;
 
+  /// Return the set of BodyNodes that are in collision
+  const std::unordered_set<const dynamics::BodyNode*>
+  getCollidingBodyNodes() const;
+
+  /// Return the set of ShapeFrames that are in collision
+  const std::unordered_set<const dynamics::ShapeFrame*>
+  getCollidingShapeFrames() const;
+
+  /// Returns true if the given BodyNode is in collision
+  bool inCollision(const dynamics::BodyNode* bn) const;
+
+  /// Returns true if the given ShapeFrame is in collision
+  bool inCollision(const dynamics::ShapeFrame* frame) const;
+
   /// Return binary collision result
   bool isCollision() const;
 
+  /// Implicitly converts this CollisionResult to the value of isCollision()
+  operator bool() const;
+
   /// Clear all the contacts
   void clear();
 
 protected:
 
+  void addObject(CollisionObject* object);
+
   /// List of contact information for each contact
   std::vector<Contact> mContacts;
 
+  /// Set of BodyNodes that are colliding
+  std::unordered_set<const dynamics::BodyNode*> mCollidingBodyNodes;
+
+  /// Set of ShapeFrames that are colliding
+  std::unordered_set<const dynamics::ShapeFrame*> mCollidingShapeFrames;
+
 };
 
 }  // namespace collision
diff --git a/dart/collision/dart/DARTCollide.cpp b/dart/collision/dart/DARTCollide.cpp
index 9e7da65946a12..d9bc7ae8fae5c 100644
--- a/dart/collision/dart/DARTCollide.cpp
+++ b/dart/collision/dart/DARTCollide.cpp
@@ -35,6 +35,7 @@
  */
 
 #include "dart/collision/dart/DARTCollide.h"
+#include "dart/collision/CollisionObject.h"
 
 #include <memory>
 
@@ -417,7 +418,8 @@ void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
 // `contact' and `skip' are the contact array information provided to the
 // collision functions. this function only fills in the position and depth
 // fields.
-int dBoxBox(const dVector3 p1, const dMatrix3 R1, const dVector3 side1,
+int dBoxBox(CollisionObject* o1, CollisionObject* o2,
+            const dVector3 p1, const dMatrix3 R1, const dVector3 side1,
             const dVector3 p2, const dMatrix3 R2, const dVector3 side2,
             CollisionResult& result)
 {
@@ -583,6 +585,8 @@ int dBoxBox(const dVector3 p1, const dMatrix3 R1, const dVector3 side1,
       penetration = -s;
 
       Contact contact;
+      contact.collisionObject1 = o1;
+      contact.collisionObject2 = o2;
       contact.point = point_vec;
       contact.normal = normal;
       contact.penetrationDepth = penetration;
@@ -764,6 +768,8 @@ int dBoxBox(const dVector3 p1, const dMatrix3 R1, const dVector3 side1,
       point_vec << point[j*3+0] + pa[0], point[j*3+1] + pa[1], point[j*3+2] + pa[2];
 
       Contact contact;
+      contact.collisionObject1 = o1;
+      contact.collisionObject2 = o2;
       contact.point = point_vec;
       contact.normal = normal;
       contact.penetrationDepth = dep[j];
@@ -791,6 +797,8 @@ int dBoxBox(const dVector3 p1, const dMatrix3 R1, const dVector3 side1,
       point_vec << point[iret[j]*3+0] + pa[0], point[iret[j]*3+1] + pa[1], point[iret[j]*3+2] + pa[2];
 
       Contact contact;
+      contact.collisionObject1 = o1;
+      contact.collisionObject2 = o2;
       contact.point = point_vec;
       contact.normal = normal;
       contact.penetrationDepth = dep[iret[j]];
@@ -800,7 +808,8 @@ int dBoxBox(const dVector3 p1, const dMatrix3 R1, const dVector3 side1,
   return cnum;
 }
 
-int collideBoxBox(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
+int collideBoxBox(CollisionObject* o1, CollisionObject* o2,
+                  const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
                   const Eigen::Vector3d& size1, const Eigen::Isometry3d& T1,
                   CollisionResult& result)
 {
@@ -821,10 +830,11 @@ int collideBoxBox(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
   convVector(T0.translation(), p0);
   convVector(T1.translation(), p1);
 
-  return dBoxBox(p1, R1, halfSize1, p0, R0, halfSize0, result);
+  return dBoxBox(o1, o2, p1, R1, halfSize1, p0, R0, halfSize0, result);
 }
 
-int	collideBoxSphere(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
+int	collideBoxSphere(CollisionObject* o1, CollisionObject* o2,
+                     const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
                      const double& r1, const Eigen::Isometry3d& T1,
                      CollisionResult& result)
 {
@@ -874,6 +884,8 @@ int	collideBoxSphere(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
     penetration = min + r1;
 
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.point = c0;
     contact.normal = normal;
     contact.penetrationDepth = penetration;
@@ -897,6 +909,8 @@ int	collideBoxSphere(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
     normal *= (1.0/mag);
 
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.point = contactpt;
     contact.normal = normal;
     contact.penetrationDepth = penetration;
@@ -925,6 +939,8 @@ int	collideBoxSphere(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
     normal = T0.linear() * normal;
 
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.point = contactpt;
     contact.normal = normal;
     contact.penetrationDepth = penetration;
@@ -933,7 +949,8 @@ int	collideBoxSphere(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
   return 1;
 }
 
-int collideSphereBox(const double& r0, const Eigen::Isometry3d& T0,
+int collideSphereBox(CollisionObject* o1, CollisionObject* o2,
+                     const double& r0, const Eigen::Isometry3d& T0,
                      const Eigen::Vector3d& size1, const Eigen::Isometry3d& T1,
                      CollisionResult& result)
 {
@@ -981,6 +998,8 @@ int collideSphereBox(const double& r0, const Eigen::Isometry3d& T0,
     penetration = min + r0;
 
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.point = c0;
     contact.normal = normal;
     contact.penetrationDepth = penetration;
@@ -1004,10 +1023,13 @@ int collideSphereBox(const double& r0, const Eigen::Isometry3d& T0,
     normal *= (1.0/mag);
 
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.point = contactpt;
     contact.normal = normal;
     contact.penetrationDepth = penetration;
-    result.addContact(contact);}
+    result.addContact(contact);
+  }
   else
   {
     double min = size[0] - std::abs(p[0]);
@@ -1030,6 +1052,8 @@ int collideSphereBox(const double& r0, const Eigen::Isometry3d& T0,
     normal = T1.linear() * normal;
 
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.point = contactpt;
     contact.normal = normal;
     contact.penetrationDepth = penetration;
@@ -1038,7 +1062,7 @@ int collideSphereBox(const double& r0, const Eigen::Isometry3d& T0,
   return 1;
 }
 
-int collideSphereSphere(const double& _r0, const Eigen::Isometry3d& c0,
+int collideSphereSphere(CollisionObject* o1, CollisionObject* o2, const double& _r0, const Eigen::Isometry3d& c0,
                         const double& _r1, const Eigen::Isometry3d& c1,
                         CollisionResult& result)
 {
@@ -1065,6 +1089,8 @@ int collideSphereSphere(const double& _r0, const Eigen::Isometry3d& c0,
     penetration = rsum;
 
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.point = point;
     contact.normal = normal;
     contact.penetrationDepth = penetration;
@@ -1077,6 +1103,8 @@ int collideSphereSphere(const double& _r0, const Eigen::Isometry3d& c0,
   penetration = rsum - normal_sqr;
 
   Contact contact;
+  contact.collisionObject1 = o1;
+  contact.collisionObject2 = o2;
   contact.point = point;
   contact.normal = normal;
   contact.penetrationDepth = penetration;
@@ -1085,7 +1113,7 @@ int collideSphereSphere(const double& _r0, const Eigen::Isometry3d& c0,
 
 }
 
-int collideCylinderSphere(const double& cyl_rad, const double& half_height, const Eigen::Isometry3d& T0,
+int collideCylinderSphere(CollisionObject* o1, CollisionObject* o2, const double& cyl_rad, const double& half_height, const Eigen::Isometry3d& T0,
                           const double& sphere_rad, const Eigen::Isometry3d& T1,
                           CollisionResult& result)
 {
@@ -1096,6 +1124,8 @@ int collideCylinderSphere(const double& cyl_rad, const double& half_height, cons
   if ( dist < cyl_rad && std::abs(center[2]) < half_height + sphere_rad )
   {
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.penetrationDepth = 0.5 * (half_height + sphere_rad - math::sign(center[2]) * center[2]);
     contact.point = T0 * Eigen::Vector3d(center[0], center[1], half_height - contact.penetrationDepth);
     contact.normal = T0.linear() * Eigen::Vector3d(0.0, 0.0, math::sign(center[2]));
@@ -1120,6 +1150,8 @@ int collideCylinderSphere(const double& cyl_rad, const double& half_height, cons
         if (penetration > 0.0)
         {
           Contact contact;
+          contact.collisionObject1 = o1;
+          contact.collisionObject2 = o2;
           contact.point = point;
           contact.normal = normal;
           contact.penetrationDepth = penetration;
@@ -1136,6 +1168,8 @@ int collideCylinderSphere(const double& cyl_rad, const double& half_height, cons
         point = T0 * point;
 
         Contact contact;
+        contact.collisionObject1 = o1;
+        contact.collisionObject2 = o2;
         contact.point = point;
         contact.normal = normal;
         contact.penetrationDepth = penetration;
@@ -1147,7 +1181,7 @@ int collideCylinderSphere(const double& cyl_rad, const double& half_height, cons
   return 0;
 }
 
-int collideCylinderPlane(const double& cyl_rad, const double& half_height, const Eigen::Isometry3d& T0,
+int collideCylinderPlane(CollisionObject* o1, CollisionObject* o2, const double& cyl_rad, const double& half_height, const Eigen::Isometry3d& T0,
                          const Eigen::Vector3d& plane_normal, const Eigen::Isometry3d& T1,
                          CollisionResult& result)
 {
@@ -1206,6 +1240,8 @@ int collideCylinderPlane(const double& cyl_rad, const double& half_height, const
   if (penetration > 0.0)
   {
     Contact contact;
+    contact.collisionObject1 = o1;
+    contact.collisionObject2 = o2;
     contact.point = point;
     contact.normal = normal;
     contact.penetrationDepth = penetration;
@@ -1217,10 +1253,13 @@ int collideCylinderPlane(const double& cyl_rad, const double& half_height, const
 }
 
 //==============================================================================
-int collide(dynamics::ConstShapePtr shape0, const Eigen::Isometry3d& T0,
-            dynamics::ConstShapePtr shape1, const Eigen::Isometry3d& T1,
-            CollisionResult& result)
+int collide(CollisionObject* o1, CollisionObject* o2, CollisionResult& result)
 {
+  const dynamics::ConstShapePtr& shape0 = o1->getShape();
+  const dynamics::ConstShapePtr& shape1 = o2->getShape();
+  const Eigen::Isometry3d& T0 = o1->getTransform();
+  const Eigen::Isometry3d& T1 = o2->getTransform();
+
   dynamics::Shape::ShapeType LeftType = shape0->getShapeType();
   dynamics::Shape::ShapeType RightType = shape1->getShapeType();
 
@@ -1235,13 +1274,15 @@ int collide(dynamics::ConstShapePtr shape0, const Eigen::Isometry3d& T0,
         case dynamics::Shape::BOX:
         {
           const dynamics::BoxShape* box1 = static_cast<const dynamics::BoxShape*>(shape1.get());
-          return collideBoxBox(box0->getSize(), T0,
+          return collideBoxBox(o1, o2,
+                               box0->getSize(), T0,
                                box1->getSize(), T1, result);
         }
         case dynamics::Shape::ELLIPSOID:
         {
           const dynamics::EllipsoidShape* ellipsoid1 = static_cast<const dynamics::EllipsoidShape*>(shape1.get());
-          return collideBoxSphere(box0->getSize(), T0,
+          return collideBoxSphere(o1, o2,
+                                  box0->getSize(), T0,
                                   ellipsoid1->getSize()[0] * 0.5, T1,
               result);
         }
@@ -1264,14 +1305,16 @@ int collide(dynamics::ConstShapePtr shape0, const Eigen::Isometry3d& T0,
         case dynamics::Shape::BOX:
         {
           const dynamics::BoxShape* box1 = static_cast<const dynamics::BoxShape*>(shape1.get());
-          return collideSphereBox(ellipsoid0->getSize()[0] * 0.5, T0,
+          return collideSphereBox(o1, o2,
+                                  ellipsoid0->getSize()[0] * 0.5, T0,
                                   box1->getSize(), T1,
                                   result);
         }
         case dynamics::Shape::ELLIPSOID:
         {
           const dynamics::EllipsoidShape* ellipsoid1 = static_cast<const dynamics::EllipsoidShape*>(shape1.get());
-          return collideSphereSphere(ellipsoid0->getSize()[0] * 0.5, T0,
+          return collideSphereSphere(o1, o2,
+                                     ellipsoid0->getSize()[0] * 0.5, T0,
                                      ellipsoid1->getSize()[0] * 0.5, T1,
                                      result);
         }
@@ -1288,6 +1331,8 @@ int collide(dynamics::ConstShapePtr shape0, const Eigen::Isometry3d& T0,
 
       break;
   }
+
+  return false;
 }
 
 } // namespace collision
diff --git a/dart/collision/dart/DARTCollide.h b/dart/collision/dart/DARTCollide.h
index 4a676c0c168a2..06ce1fb279cec 100644
--- a/dart/collision/dart/DARTCollide.h
+++ b/dart/collision/dart/DARTCollide.h
@@ -53,33 +53,38 @@ class Shape;
 namespace dart {
 namespace collision {
 
-int collide(dart::dynamics::ConstShapePtr shape0, const Eigen::Isometry3d& T0,
-            dart::dynamics::ConstShapePtr shape1, const Eigen::Isometry3d& T1,
+int collide(CollisionObject* o1, CollisionObject* o2,
             CollisionResult& result);
 
-int collideBoxBox(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
+int collideBoxBox(CollisionObject* o1, CollisionObject* o2,
+                  const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
                   const Eigen::Vector3d& size1, const Eigen::Isometry3d& T1,
                   CollisionResult& result);
 
-int collideBoxSphere(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
+int collideBoxSphere(CollisionObject* o1, CollisionObject* o2,
+                     const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
                      const double& r1, const Eigen::Isometry3d& T1,
                      CollisionResult& result);
 
-int collideSphereBox(const double& r0, const Eigen::Isometry3d& T0,
+int collideSphereBox(CollisionObject* o1, CollisionObject* o2,
+                     const double& r0, const Eigen::Isometry3d& T0,
                      const Eigen::Vector3d& size1, const Eigen::Isometry3d& T1,
                      CollisionResult& result);
 
-int collideSphereSphere(const double& r0, const Eigen::Isometry3d& c0,
+int collideSphereSphere(CollisionObject* o1, CollisionObject* o2,
+                        const double& r0, const Eigen::Isometry3d& c0,
                         const double& r1, const Eigen::Isometry3d& c1,
                         CollisionResult& result);
 
 int collideCylinderSphere(
+    CollisionObject* o1, CollisionObject* o2,
     const double& cyl_rad, const double& half_height,
     const Eigen::Isometry3d& T0,
     const double& sphere_rad, const Eigen::Isometry3d& T1,
     CollisionResult& result);
 
 int collideCylinderPlane(
+    CollisionObject* o1, CollisionObject* o2,
     const double& cyl_rad, const double& half_height,
     const Eigen::Isometry3d& T0,
     const Eigen::Vector3d& plane_normal, const Eigen::Isometry3d& T1,
diff --git a/dart/collision/dart/DARTCollisionDetector.cpp b/dart/collision/dart/DARTCollisionDetector.cpp
index ba4d3a9d599d8..4bdcc6740bba6 100644
--- a/dart/collision/dart/DARTCollisionDetector.cpp
+++ b/dart/collision/dart/DARTCollisionDetector.cpp
@@ -254,9 +254,7 @@ bool checkPair(CollisionObject* o1, CollisionObject* o2,
   CollisionResult pairResult;
 
   // Perform narrow-phase detection
-  auto colliding = collide(o1->getShape(), o1->getTransform(),
-                           o2->getShape(), o2->getTransform(),
-                           pairResult);
+  auto colliding = collide(o1, o2, pairResult);
 
   postProcess(o1, o2, option, result, pairResult);
 
diff --git a/dart/dynamics/BodyNode.h b/dart/dynamics/BodyNode.h
index f5507da750220..97179a22902c8 100644
--- a/dart/dynamics/BodyNode.h
+++ b/dart/dynamics/BodyNode.h
@@ -711,10 +711,12 @@ class BodyNode :
   /// this status is set by the constraint solver during dynamics simulation but
   /// not by collision detector.
   /// \param[in] True if this body node is colliding.
+  DEPRECATED(6.0)
   void setColliding(bool _isColliding);
 
   /// Return whether this body node is set to be colliding with other objects.
   /// \return True if this body node is colliding.
+  DEPRECATED(6.0)
   bool isColliding();
 
   /// Add applying linear Cartesian forces to this node
@@ -1033,6 +1035,7 @@ class BodyNode :
   UniqueProperties mBodyP;
 
   /// Whether the node is currently in collision with another node.
+  DEPRECATED(6.0)
   bool mIsColliding;
 
   //--------------------------------------------------------------------------
diff --git a/dart/dynamics/MetaSkeleton.h b/dart/dynamics/MetaSkeleton.h
index 0b8c816fcc4d6..53e4aa36fce5c 100644
--- a/dart/dynamics/MetaSkeleton.h
+++ b/dart/dynamics/MetaSkeleton.h
@@ -538,6 +538,7 @@ class MetaSkeleton : public common::Subject
   virtual double getPotentialEnergy() const = 0;
 
   /// Clear collision flags of the BodyNodes in this MetaSkeleton
+  DEPRECATED(6.0)
   virtual void clearCollidingBodies() = 0;
 
   /// \}
diff --git a/dart/dynamics/ReferentialSkeleton.h b/dart/dynamics/ReferentialSkeleton.h
index d7a44d24ed891..fc69bad483f07 100644
--- a/dart/dynamics/ReferentialSkeleton.h
+++ b/dart/dynamics/ReferentialSkeleton.h
@@ -274,6 +274,7 @@ class ReferentialSkeleton : public MetaSkeleton
   double getPotentialEnergy() const override;
 
   // Documentation inherited
+  DEPRECATED(6.0)
   void clearCollidingBodies() override;
 
   /// \}
diff --git a/dart/dynamics/Skeleton.h b/dart/dynamics/Skeleton.h
index 2bf283e515019..c65a5431f0512 100644
--- a/dart/dynamics/Skeleton.h
+++ b/dart/dynamics/Skeleton.h
@@ -879,6 +879,7 @@ class Skeleton :
   double getPotentialEnergy() const override;
 
   // Documentation inherited
+  DEPRECATED(6.0)
   void clearCollidingBodies() override;
 
   /// \}