diff --git a/AABB_tree/benchmark/AABB_tree/test.cpp b/AABB_tree/benchmark/AABB_tree/test.cpp
index e01307974706..623b608da019 100644
--- a/AABB_tree/benchmark/AABB_tree/test.cpp
+++ b/AABB_tree/benchmark/AABB_tree/test.cpp
@@ -1,4 +1,4 @@
-#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
+#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
 #include <CGAL/Surface_mesh.h>
 
 #include <CGAL/Polygon_mesh_processing/intersection.h>
@@ -7,7 +7,7 @@
 #include <CGAL/boost/graph/copy_face_graph.h>
 #include <CGAL/AABB_tree.h>
 #include <CGAL/AABB_traits_3.h>
-#include <CGAL/Polygon_mesh_processing/internal/AABB_traversal_traits_with_transformation.h>
+#include <CGAL/Rigid_triangle_mesh_collision_detection.h>
 #include <CGAL/AABB_face_graph_triangle_primitive.h>
 #include <CGAL/Side_of_triangle_mesh.h>
 
@@ -19,12 +19,11 @@ typedef CGAL::Surface_mesh<K::Point_3>             Surface_mesh;
 
 typedef CGAL::AABB_face_graph_triangle_primitive<Surface_mesh> Primitive;
 typedef CGAL::AABB_traits_3<K, Primitive> Traits;
-//typedef CGAL::AABB_do_intersect_transform_traits<K, Primitive> Traits;
 typedef CGAL::AABB_tree<Traits> Tree;
 
 namespace PMP = CGAL::Polygon_mesh_processing;
 
-void naive_test(int k, const char* fname,
+void naive_test(int k, const std::string& fname,
                 int& nb_inter, int& nb_no_inter, int& nb_include)
 {
   std::ifstream input(fname);
@@ -34,7 +33,7 @@ void naive_test(int k, const char* fname,
   CGAL::Aff_transformation_3<K> init1(CGAL::SCALING, 6.0);
   PMP::transform(init1, tm);
   CGAL::Bbox_3 box = PMP::bbox(tm);
-  typedef CGAL::AABB_tree<Traits> Tree;
+
   Tree tmTree(tm.faces_begin(), tm.faces_end(), tm);
   Tree tmTree2(tm2.faces_begin(), tm2.faces_end(), tm2);
   CGAL::Aff_transformation_3<K> init2(CGAL::TRANSLATION, - K::Vector_3(
@@ -87,7 +86,8 @@ void naive_test(int k, const char* fname,
     T0 = CGAL::Aff_transformation_3<K>(CGAL::TRANSLATION, -i*unit_vec);
   }
 }
-void test_no_collision(int k, const char* fname,
+
+void test_no_collision(int k, const std::string &fname,
                        int& nb_inter, int& nb_no_inter, int& nb_include)
 {
   std::ifstream input(fname);
@@ -98,9 +98,11 @@ void test_no_collision(int k, const char* fname,
   PMP::transform(init1, tm);
   CGAL::Bbox_3 box = PMP::bbox(tm);
   Tree tmTree(tm.faces_begin(), tm.faces_end(), tm);
+
   Tree tmTree2(tm2.faces_begin(), tm2.faces_end(), tm2);
   CGAL::Aff_transformation_3<K> init2(CGAL::TRANSLATION, - K::Vector_3(
                                         (box.xmax()-box.xmin()),0,0));
+
   PMP::transform(init2, tm2);
 
   tmTree.build();
@@ -114,6 +116,12 @@ void test_no_collision(int k, const char* fname,
 
   CGAL::Side_of_triangle_mesh<Surface_mesh, K,
       VPM, Tree> sotm1(tmTree);
+
+  CGAL::Rigid_triangle_mesh_collision_detection<Surface_mesh> collision_detection;
+
+  collision_detection.add_mesh(tm);
+  collision_detection.add_mesh(tm2);
+
   for(int i=1; i<k+1; ++i)
   {
     K::FT rot[9];
@@ -131,34 +139,24 @@ void test_no_collision(int k, const char* fname,
         rot[6], rot[7], rot[8]);
     CGAL::Aff_transformation_3<K> T1 = CGAL::Aff_transformation_3<K>(CGAL::TRANSLATION, i*unit_vec);
     CGAL::Aff_transformation_3<K> transfo = R*T1;
-    tmTree2.traits().set_transformation(transfo);
-    CGAL::Interval_nt_advanced::Protector protector;
-    if(tmTree2.do_intersect(tmTree))
+
+    collision_detection.set_transformation(1, transfo);
+
+    std::vector< std::pair<std::size_t, bool> > res = collision_detection.get_all_intersections_and_inclusions(0);
+
+    if (res.empty())
+      nb_no_inter++;
+    else if(!res[0].second)
       ++nb_inter;
     else
-    {
-      if(sotm1(transfo.transform(vpm2[*tm2.vertices().begin()])) != CGAL::ON_UNBOUNDED_SIDE)
-      {
-        ++nb_include;
-      }
-      else
-      {
-        CGAL::Side_of_triangle_mesh<Surface_mesh, K,
-            VPM, Tree> sotm2(tmTree2);
-        if(sotm2(tm.point(*tm.vertices().begin())) != CGAL::ON_UNBOUNDED_SIDE)
-          ++nb_include;
-        else
-          ++nb_no_inter;
-      }
-    }
+      ++nb_include;
   }
 }
 
 int main(int argc, const char** argv)
 {
-  int k = (argc>1) ? atoi(argv[1]) : 10;
-  const char* path = (argc>2)?argv[2]:"data/handle"
-                                      ".off";
+  int k = (argc>1) ? atoi(argv[1]) : 20;
+  std::string path = (argc>2)?argv[2]: CGAL::data_file_path("meshes/handle.off");
 
   std::cout<< k<<" steps in "<<path<<std::endl;
   int nb_inter(0), nb_no_inter(0), nb_include(0),
@@ -166,12 +164,12 @@ int main(int argc, const char** argv)
   auto start = std::chrono::steady_clock::now();
   naive_test(k, path, naive_inter, naive_no_inter, naive_include);
   auto end = std::chrono::steady_clock::now();
-  std::cout<<"Naive test            :"<<naive_inter<<" collisions, "<<naive_include<<" inclusions, "<<naive_no_inter<<" no collision, calculated in "
-          <<std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() << "μs." << std::endl;
+  std::cout<<"Naive test           : "<<naive_inter<<" collisions, "<<naive_include<<" inclusions, "<<naive_no_inter<<" no collision, calculated in "
+          <<std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << " ms." << std::endl;
   start = std::chrono::steady_clock::now();
   test_no_collision(k, path,nb_inter, nb_no_inter, nb_include);
   end = std::chrono::steady_clock::now();
   std::cout<<"With transform_traits: "<<nb_inter<<" collisions, "<<nb_include<<" inclusions, "<<nb_no_inter<<" no collision, calculated in "
-          <<std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() << "μs." << std::endl;
+          <<std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << " ms." << std::endl;
     return 0;
 }