Has he done any nude scenes?

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Yes a lot, if including half-naked and just butt. e.g: Paranoid(2000), Jack Taylor:Priest(2012).

I heard he did it fully and frontally for the stage play Blue Room(1998--1999), as the show required so. Also in Silent Scream(1990) which won him a Berlinale Silver Bear, there is one scene of him with nothing on, but the light is unfavorable....

He has nude scene in Carla (2000) and the soul keeper (2002) and a frontal nudity in the blue room as well

Don't know about on film, but I definitely remember seeing an awful lot of him on stage in The Blue Room. Come to think of it, I remember seeing Stephen Dillane do the 'to be or not to be' speech as Hamlet on stage with his kit off. What is it with these GOT actors drop their drawers at the drop of a hat!