libmd3_mesh* meshp;
  meshp = GetModel()->meshes;
 
  int* tri;
  dVector3* triVert;  
 
  tri = (int*) malloc (meshp->mesh_header->triangle_count*sizeof(int));
  triVert = (dVector3*) malloc (meshp->mesh_header->vertex_count*sizeof(dVector3));
 
  std::cout << meshp->mesh_header->triangle_count << std::endl;
  std::cout << meshp->mesh_header->vertex_count << std::endl;
  std::cout << "Faces: ";
  for (int i=0;i < meshp->mesh_header->triangle_count*3; i+=3){
    tri[i+0]=meshp->triangles[i+1];
    tri[i+1]=meshp->triangles[i+2];
    tri[i+2]=meshp->triangles[i+0];
    std::cout << tri[i] << " ";
    std::cout << tri[i+1] << " ";
    std::cout << tri[i+2] << " - ";    
  }
 
  std::cout << " Verts: ";
  for (int i=0;i < meshp->mesh_header->vertex_count; i++){
    triVert[i][0]=meshp->vertices[i*3]*scaleFactor; 
    triVert[i][1]=meshp->vertices[i*3+1]*scaleFactor; 
    triVert[i][2]=meshp->vertices[i*3+2]*scaleFactor; 
    std::cout << "(" << triVert[i][0] << " ";
    std::cout << triVert[i][1] << " ";
    std::cout << triVert[i][2] << ") - ";
 
  }
 
  mtriMesh = dGeomTriMeshDataCreate();
  dGeomTriMeshDataBuildSimple(mtriMesh, (dReal*)triVert, meshp->mesh_header->vertex_count, tri, \
			      meshp->mesh_header->triangle_count);
  mOdeGeom = dCreateTriMesh(sSpace, mtriMesh, NULL, NULL, NULL);
  dGeomSetData(mOdeGeom, (void*)"md3");

lista([]).
lista([_]).
lista([_|_]).
 
concatenar([],X,X).
concatenar([H|T],X,[H|Z]) :- lista(X),concatenar(T,X,Z).
 
invertir([],[]).
invertir([H|T],X) :- lista(X),invertir(T,Y),concatenar(Y,[H],X).
 
longitud([],0).
longitud([H|T],L) :- longitud(T,N), L is N+1.
 
mayor(X,X,X).
mayor(X,Y,X) :- X>Y.
mayor(X,Y,Y) :- Y>X.
 
primero([H|T],H).
 
el_mayor([H|[]],H).
el_mayor([H|T],X) :- el_mayor(T,Z),mayor(H,Z,X).