;creates the mesh to collide with
Function ODECollisionMesh(mesh)
	tris_count% = 0
	vert_count% = 0
	For i = 1 To CountSurfaces(mesh)
		tris_count = tris_count + CountTriangles(GetSurface(mesh, i))
		vert_count = vert_count + CountVertices(GetSurface(mesh, i))
	Next
;	DebugLog "Tris count: " + tris_count
;	DebugLog "Vertices count: " + vert_count
;	DebugLog "surface count: "+CountSurfaces(mesh)
	vertices_bank% = CreateBank(vert_count * 4 * 4)
	indices_bank% = CreateBank(tris_count * 3 * 4)

	offset% = 0
	offset_tris% = 0
	baseverts=0
	For i = 1 To CountSurfaces(mesh)
		sf = GetSurface(mesh, i)
		For v = 0 To CountVertices(sf) - 1
			PokeFloat vertices_bank, offset, VertexX(sf, v)
			offset = offset + 4
			PokeFloat vertices_bank, offset, VertexY(sf, v)
			offset = offset + 4
			PokeFloat vertices_bank, offset, VertexZ(sf, v)
			offset = offset + 8
		Next
		For t = 0 To CountTriangles(sf) - 1
			For j = 0 To 2
				v = TriangleVertex(sf, t, j)+baseverts
				PokeInt indices_bank, offset_tris, v
				offset_tris = offset_tris + 4
			Next
		Next
		baseverts=baseverts+CountVertices(sf)
	Next
	
	t_data = ODE_dGeomTriMeshDataCreate()
	ODE_dGeomTriMeshDataBuildSimple(t_data, vertices_bank, vert_count, indices_bank, tris_count * 3)
 
	Return ODE_dCreateTriMesh(ODE, t_data)
	
End Function