diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 1e06285c6ef68c9b2a027d932d6fd5867f75463e..7c8a1d0419f79c4029609734bf5377d1bb646401 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -2,6 +2,7 @@ macro(add_fcl_test test_name)
add_executable(${ARGV})
target_link_libraries(${test_name}
fcl
+ ${TINYXML_LIBRARY_DIRS}
${Boost_SYSTEM_LIBRARY}
${Boost_THREAD_LIBRARY}
${Boost_DATE_TIME_LIBRARY}
@@ -29,7 +30,12 @@ add_fcl_test(test_fcl_math test_fcl_math.cpp test_fcl_utility.cpp)
add_fcl_test(test_fcl_sphere_capsule test_fcl_sphere_capsule.cpp)
add_fcl_test(test_fcl_simple test_fcl_simple.cpp)
+add_fcl_test(test_fcl_global_penetration test_fcl_global_penetration.cpp libsvm/svm.cpp test_fcl_utility.cpp)
if (FCL_HAVE_OCTOMAP)
add_fcl_test(test_fcl_octomap test_fcl_octomap.cpp test_fcl_utility.cpp)
endif()
+
+if (FCL_HAVE_TINYXML)
+ add_fcl_test(test_fcl_xmldata test_fcl_xmldata.cpp test_fcl_utility.cpp libsvm/svm.cpp)
+endif()
diff --git a/test/fcl_resources/scenario-1-2-3/Contact model library.pptx b/test/fcl_resources/scenario-1-2-3/Contact model library.pptx
new file mode 100644
index 0000000000000000000000000000000000000000..2ff6f91e1b68c8c426372f30a8e53cb62463ea50
Binary files /dev/null and b/test/fcl_resources/scenario-1-2-3/Contact model library.pptx differ
diff --git a/test/fcl_resources/scenario-1-2-3/Model_1_Scenario_1.txt b/test/fcl_resources/scenario-1-2-3/Model_1_Scenario_1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35d814cceaef18ccd0b345885228837391ec8d89
--- /dev/null
+++ b/test/fcl_resources/scenario-1-2-3/Model_1_Scenario_1.txt
@@ -0,0 +1,8015 @@
+<MODEL>
+ <OBJECT id="1">
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diff --git a/test/fcl_resources/scenario-1-2-3/Model_1_Scenario_2.txt b/test/fcl_resources/scenario-1-2-3/Model_1_Scenario_2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52e600bfdbb8a3e4005a2907ec2c73f8b3e4a860
--- /dev/null
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diff --git a/test/fcl_resources/scenario-1-2-3/Model_1_Scenario_3.txt b/test/fcl_resources/scenario-1-2-3/Model_1_Scenario_3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..337b083dc0730e79582d6e8a1c87969e5ddc605b
--- /dev/null
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+</MODEL>
+
+<MOTION>
+ <FRAME
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+ time="0.010298"
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+ obj2_pos="0.000000 2.000000 -8.000000"
+ obj1_dc="0.999981 0.000000 -0.006118 0.000000 1.000000 0.000000 0.006118 -0.000000 0.999981"
+ obj2_dc="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000"
+ />
+ <FRAME
+ id="2"
+ time="0.012298"
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+ obj2_pos="0.000000 2.000000 -8.000000"
+ obj1_dc="0.999967 0.000000 -0.008092 0.000000 1.000000 0.000000 0.008092 0.000000 0.999967"
+ obj2_dc="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000"
+ />
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diff --git a/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_1.txt b/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e20f4a0a58f787038fe2d3be667f54a0a3a2259
--- /dev/null
+++ b/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_1.txt
@@ -0,0 +1,4047 @@
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diff --git a/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_2.txt b/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..957b6cdeeb4b66b2575d390e47b2ecc8d657a922
--- /dev/null
+++ b/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_2.txt
@@ -0,0 +1,4047 @@
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diff --git a/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_3.txt b/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2d2778fccfeed8327f5878dd34db7f1b7c62f1e
--- /dev/null
+++ b/test/fcl_resources/scenario-1-2-3/Model_2_Scenario_3.txt
@@ -0,0 +1,30206 @@
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diff --git a/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_1.txt b/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ca3dcce31666857d3104a7a276995fce91b51b7
--- /dev/null
+++ b/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_1.txt
@@ -0,0 +1,16144 @@
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diff --git a/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_2.txt b/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0fb2239223c76dcf156b06c858a48fc5b0b8bcd
--- /dev/null
+++ b/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_2.txt
@@ -0,0 +1,16144 @@
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diff --git a/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_3.txt b/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da7034c06979eeae927011a2707050c87b89f4c6
--- /dev/null
+++ b/test/fcl_resources/scenario-1-2-3/Model_3_Scenario_3.txt
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