diff --git a/include/fcl/narrowphase/narrowphase.h b/include/fcl/narrowphase/narrowphase.h
index 54e3459a1542cd9d3c1ca78ac3f808521139b4f3..9f3862e94ba717ee7b24d885cd378b9a46e19ea7 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/fcl/narrowphase/narrowphase.h
@@ -598,6 +598,11 @@ struct GJKSolver_indep
   FCL_REAL gjk_max_iterations;
 };
 
+template<>
+bool GJKSolver_indep::shapeIntersect<Sphere, Capsule>(const Sphere &s1, const Transform3f& tf1,
+                                                       const Capsule &s2, const Transform3f& tf2,
+                                                       Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
+
 /// @brief Fast implementation for sphere-sphere collision                                            
 template<>
 bool GJKSolver_indep::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
@@ -699,6 +704,11 @@ bool GJKSolver_indep::shapeTriangleIntersect(const Plane& s, const Transform3f&
                                               const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
 
 
+template<>
+bool GJKSolver_indep::shapeDistance<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,
+                                                    const Capsule& s2, const Transform3f& tf2,
+                                                    FCL_REAL* dist) const;
+
 /// @brief Fast implementation for sphere-sphere distance
 template<>
 bool GJKSolver_indep::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
diff --git a/test/test_fcl_sphere_capsule.cpp b/test/test_fcl_sphere_capsule.cpp
index eb4a421d3c5268f3d290624f6e5895e1143a4a2f..5da0def053516bafb865d1fb716e57205150533e 100644
--- a/test/test_fcl_sphere_capsule.cpp
+++ b/test/test_fcl_sphere_capsule.cpp
@@ -41,6 +41,10 @@
 #include "fcl/shape/geometric_shapes.h"
 #include "fcl/narrowphase/narrowphase.h"
 
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
 using namespace fcl;
 
 BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z)