diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 0abfc32d4df15fc780b4a313b6f21d8d89556010..ef349770d92caece58a3d6faf67cff0baf4c6516 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -688,8 +688,8 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_spheretriangle)
 
   Transform3f transform;
   generateRandomTransform(extents, transform);
-  Transform3f identity;
 
+  Vec3f normal;
   bool res;
 
   res = solver1.shapeTriangleIntersect(s, Transform3f(), t[0], t[1], t[2], NULL, NULL, NULL);
@@ -707,6 +707,14 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_spheretriangle)
 
   res =  solver1.shapeTriangleIntersect(s, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
   BOOST_CHECK(res);
+
+  res = solver1.shapeTriangleIntersect(s, Transform3f(), t[0], t[1], t[2], NULL, NULL, &normal);
+  BOOST_CHECK(res);
+  BOOST_CHECK(normal.equal(Vec3f(1, 0, 0), 1e-9));
+
+  res =  solver1.shapeTriangleIntersect(s, transform, t[0], t[1], t[2], transform, NULL, NULL, &normal);
+  BOOST_CHECK(res);
+  BOOST_CHECK(normal.equal(transform.getRotation() * Vec3f(1, 0, 0), 1e-9));
 }
 
 BOOST_AUTO_TEST_CASE(shapeIntersection_halfspacesphere)