diff --git a/src/query/intersection_test/intersection_test_composite_shape_shape.rs b/src/query/intersection_test/intersection_test_composite_shape_shape.rs
index 3bf4df59..c3a61375 100644
--- a/src/query/intersection_test/intersection_test_composite_shape_shape.rs
+++ b/src/query/intersection_test/intersection_test_composite_shape_shape.rs
@@ -1,14 +1,10 @@
-#![allow(deprecated)] // Silence warning until we actually remove IntersectionCompositeShapeShapeBestFirstVisitor
-
 use crate::bounding_volume::SimdAabb;
-use crate::math::{Isometry, Real, SimdReal, Vector, SIMD_WIDTH};
-use crate::partitioning::{
-    SimdBestFirstVisitStatus, SimdBestFirstVisitor, SimdVisitStatus, SimdVisitor,
-};
+use crate::math::{Isometry, Real, SIMD_WIDTH};
+use crate::partitioning::{SimdVisitStatus, SimdVisitor};
 use crate::query::QueryDispatcher;
 use crate::shape::{Shape, TypedSimdCompositeShape};
 use crate::utils::IsometryOpt;
-use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
+use simba::simd::SimdBool as _;
 
 /// Intersection test between a composite shape (`Mesh`, `Compound`) and any other shape.
 pub fn intersection_test_composite_shape_shape<D, G1>(
@@ -118,92 +114,3 @@ where
         SimdVisitStatus::MaybeContinue(mask)
     }
 }
-
-/// A visitor for checking if a composite-shape and a shape intersect.
-#[deprecated(note = "Use IntersectionCompositeShapeShapeVisitor instead.")]
-pub struct IntersectionCompositeShapeShapeBestFirstVisitor<'a, D: ?Sized, G1: ?Sized + 'a> {
-    msum_shift: Vector<SimdReal>,
-    msum_margin: Vector<SimdReal>,
-
-    dispatcher: &'a D,
-    pos12: &'a Isometry<Real>,
-    g1: &'a G1,
-    g2: &'a dyn Shape,
-}
-
-impl<'a, D, G1> IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1>
-where
-    D: ?Sized + QueryDispatcher,
-    G1: ?Sized + TypedSimdCompositeShape,
-{
-    /// Initialize a visitor for checking if a composite-shape and a shape intersect.
-    pub fn new(
-        dispatcher: &'a D,
-        pos12: &'a Isometry<Real>,
-        g1: &'a G1,
-        g2: &'a dyn Shape,
-    ) -> IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1> {
-        let ls_aabb2 = g2.compute_aabb(pos12);
-
-        IntersectionCompositeShapeShapeBestFirstVisitor {
-            dispatcher,
-            msum_shift: Vector::splat(-ls_aabb2.center().coords),
-            msum_margin: Vector::splat(ls_aabb2.half_extents()),
-            pos12,
-            g1,
-            g2,
-        }
-    }
-}
-
-impl<'a, D, G1> SimdBestFirstVisitor<G1::PartId, SimdAabb>
-    for IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1>
-where
-    D: ?Sized + QueryDispatcher,
-    G1: ?Sized + TypedSimdCompositeShape,
-{
-    type Result = (G1::PartId, bool);
-
-    fn visit(
-        &mut self,
-        best: Real,
-        bv: &SimdAabb,
-        data: Option<[Option<&G1::PartId>; SIMD_WIDTH]>,
-    ) -> SimdBestFirstVisitStatus<Self::Result> {
-        // Compute the minkowski sum of the two Aabbs.
-        let msum = SimdAabb {
-            mins: bv.mins + self.msum_shift + (-self.msum_margin),
-            maxs: bv.maxs + self.msum_shift + self.msum_margin,
-        };
-        let dist = msum.distance_to_origin();
-        let mask = dist.simd_lt(SimdReal::splat(best));
-
-        if let Some(data) = data {
-            let bitmask = mask.bitmask();
-            let mut found_intersection = false;
-
-            for (ii, data) in data.into_iter().enumerate() {
-                if (bitmask & (1 << ii)) != 0 && data.is_some() {
-                    let part_id = *data.unwrap();
-                    self.g1.map_untyped_part_at(part_id, |part_pos1, g1, _| {
-                        found_intersection = self.dispatcher.intersection_test(
-                            &part_pos1.inv_mul(self.pos12),
-                            g1,
-                            self.g2,
-                        ) == Ok(true);
-                    });
-
-                    if found_intersection {
-                        return SimdBestFirstVisitStatus::ExitEarly(Some((part_id, true)));
-                    }
-                }
-            }
-        }
-
-        SimdBestFirstVisitStatus::MaybeContinue {
-            weights: dist,
-            mask,
-            results: [None; SIMD_WIDTH],
-        }
-    }
-}
diff --git a/src/query/intersection_test/mod.rs b/src/query/intersection_test/mod.rs
index fceb5383..a3efc8de 100644
--- a/src/query/intersection_test/mod.rs
+++ b/src/query/intersection_test/mod.rs
@@ -6,11 +6,9 @@ pub use self::intersection_test_ball_point_query::{
     intersection_test_ball_point_query, intersection_test_point_query_ball,
 };
 #[cfg(feature = "std")]
-// TODO: remove this once we get rid of IntersectionCompositeShapeShapeBestFirstVisitor
-#[allow(deprecated)]
 pub use self::intersection_test_composite_shape_shape::{
     intersection_test_composite_shape_shape, intersection_test_shape_composite_shape,
-    IntersectionCompositeShapeShapeBestFirstVisitor, IntersectionCompositeShapeShapeVisitor,
+    IntersectionCompositeShapeShapeVisitor,
 };
 pub use self::intersection_test_cuboid_cuboid::intersection_test_cuboid_cuboid;
 pub use self::intersection_test_cuboid_segment::{