PHP script to automatically convert sitemap.xml to well formatted clickable sitemap.html?

I have the sitemap of my website in an XML file in this format:

<?xml version="1.0" encoding="utf-8"?>
<urlset xmlns:xhtml="http://ift.tt/lH0Osb" xmlns:xsi="http://ift.tt/ra1lAU" xsi:schemaLocation="http://ift.tt/xwbjRF http://ift.tt/Av6BHN" xmlns="http://ift.tt/xwbjRF">
  <url>
    <loc>http://ift.tt/1oDikgS;
    <lastmod>2014-08-16</lastmod>
    <priority>0.5</priority>
  </url>
  <url>
// ... etc.

So how can I AUTOMATICALLY create an HTML page from this XML file containing a WELL FORMATTED nice-looking clickable sitemap for the visitors of my website? Ideally this should be a PHP script which outputs the desired HTML to the browser.