int AddStaticMesh(LPD3DXMESH &m, const char *name)
{
	//The newton collision object
        NewtonCollision* collision;
	//The vertex data pointer
        char *pVertices;
        //Vertex size and temporary face
	int vert_size;
	D3DXVECTOR3 face[3];
        //Number of faces
	int faces;
        //Vertex declaration array
	D3DVERTEXELEMENT9 pDecl[MAX_FVF_DECL_SIZE];

	//Get the vertex declaration and number of faces from the mesh
        m->GetDeclaration(pDecl);
	faces = m->GetNumFaces();

	//Parse through the mesh to build collision data
	//Lock vertex buffer
	if(FAILED(m->LockVertexBuffer(D3DLOCK_READONLY, (LPVOID*)&pVertices)))
		return FALSE;

        //Initialize the collision object
	collision = NewtonCreateTreeCollision(nWorld, NULL);
	NewtonTreeCollisionBeginBuild(collision);

        //get the vertex size
	vert_size = D3DXGetDeclVertexSize(pDecl,0);

        //Now loop through the faces
	for(int i=0;i<faces;i++)
	{
		//Get vertex 1 and advance the buffer
		sGenericVertex *tempVert = (sGenericVertex*) pVertices;
		face[0] = tempVert->vecPos;
		pVertices+=vert_size;
		//Get vertex 2 and advance the buffer
		sGenericVertex *tempVert2 = (sGenericVertex*) pVertices;
		face[1] = tempVert2->vecPos;
		pVertices+=vert_size;
		//Get vertex 3 and advance the buffer
		sGenericVertex *tempVert3 = (sGenericVertex*) pVertices;
		face[2] = tempVert3->vecPos;
		pVertices+=vert_size;

		//Add the face to the collision tree
		NewtonTreeCollisionAddFace(collision, 3, (dFloat*)face, sizeof(dFloat)*3, 0);
	}

        //Finished building the tree
	NewtonTreeCollisionEndBuild(collision, 0);

	//Unlock vertex buffer
	m->UnlockVertexBuffer();

	//Push back collision
	collisions.push_back(collision);

	return collisions.size()-1;
}