diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index f6b34d17644fea6f601df8e6f3808632b0aed6cb..7fbbd4e9fd94b49fa252cc84aba61dd32598ae9e 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -3053,6 +3053,9 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spheretriangle)
   Transform3f transform;
   generateRandomTransform(extents, transform);
 
+  // Vec3f point;
+  // FCL_REAL depth;
+  Vec3f normal;
   bool res;
 
   res = solver2.shapeTriangleIntersect(s, Transform3f(), t[0], t[1], t[2], NULL, NULL, NULL);
@@ -3069,6 +3072,14 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spheretriangle)
 
   res =  solver2.shapeTriangleIntersect(s, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
   BOOST_CHECK(res);
+
+  res = solver2.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 =  solver2.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));
 }