diff --git a/test/benchmark/ccd_benchmark_test.cc b/test/benchmark/ccd_benchmark_test.cc
index f9da456b..1ea8ce37 100644
--- a/test/benchmark/ccd_benchmark_test.cc
+++ b/test/benchmark/ccd_benchmark_test.cc
@@ -35,6 +35,8 @@ static const int kBatchSize = 50;
 
 static const char kBoxMeshPath[] =
     "../test/engine/testdata/collision_convex/perf/boxmesh.xml";
+static const char kBoxBoxPath[] =
+    "../test/engine/testdata/collision_convex/perf/box.xml";
 static const char kEllipsoidPath[] =
   "../test/engine/testdata/collision_convex/perf/ellipsoid.xml";
 static const char kMixedPath[] =
@@ -113,6 +115,12 @@ void ABSL_ATTRIBUTE_NO_TAIL_CALL
 }
 BENCHMARK(BM_BoxMesh_LibCCD);
 
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_BoxBox(benchmark::State& state) {
+  static TestHarness harness(kBoxBoxPath, "box.xml (BoxBox)");
+  harness.RunBenchmark(state);
+}
+BENCHMARK(BM_BoxBox);
+
 void ABSL_ATTRIBUTE_NO_TAIL_CALL
     BM_Ellipsoid_NativeCCD(benchmark::State& state) {
   static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (nativeccd)");