diff --git a/sw/simulator/scilab/q3d/povray/Makefile b/sw/simulator/scilab/q3d/povray/Makefile
new file mode 100644
index 0000000000..48e70b6cc0
--- /dev/null
+++ b/sw/simulator/scilab/q3d/povray/Makefile
@@ -0,0 +1,2 @@
+clean:
+	rm -f *~ foo*.png test.avi q3d.pov 
\ No newline at end of file
diff --git a/sw/simulator/scilab/q3d/povray/q3d.inc b/sw/simulator/scilab/q3d/povray/q3d.inc
new file mode 100644
index 0000000000..d9c3e57af8
--- /dev/null
+++ b/sw/simulator/scilab/q3d/povray/q3d.inc
@@ -0,0 +1,78 @@
+
+//POVRay include files
+#include "arrays.inc"
+#include "chars.inc"
+#include "colors.inc"
+#include "finish.inc"
+#include "glass.inc"
+#include "golds.inc"
+#include "math.inc"
+#include "metals.inc"
+#include "rand.inc"
+#include "shapes.inc"
+#include "shapes2.inc"
+#include "shapesq.inc"
+#include "skies.inc"
+#include "stoneold.inc"
+#include "stones.inc"
+#include "stones1.inc"
+#include "stones2.inc"
+#include "strings.inc"
+#include "textures.inc"
+#include "transforms.inc"
+
+
+#macro Q3D()
+union {
+  box{<-250,-10,-10><250,10,10> texture{pigment{Red}}}
+  cylinder{<-250,10,0><-250,15,0>  125 texture{pigment{Green}}}
+  cylinder{<250,10,0><250,15,0>   125 texture{pigment{Green}}}
+
+  box{<-10,-10,-250><10,10,250> texture{pigment{Red}}}
+  cylinder{<0,10,-250><0,15,-250>  125 texture{pigment{Green}}}
+  cylinder{<0,10, 250><0,15, 250>   125 texture{pigment{Green}}}
+
+}
+#end
+
+#declare cam_x = 0;
+#declare cam_y = 5000;
+#declare cam_z = 20000;
+
+#declare cam_look_x = 0;
+#declare cam_look_y = 0;
+#declare cam_look_z = 0;
+
+//#declare cam_a = 32;
+#declare cam_a = 10;
+
+camera
+{
+	location <cam_x,cam_y,cam_z>
+	look_at <cam_look_x,cam_look_y,cam_look_z>
+	angle cam_a
+}
+
+#local lgt1_pos_x = 340;
+#local lgt1_pos_y = 510;
+#local lgt1_pos_z = 260;
+#local lgt1_intense = 0.763488;
+#local lgt2_pos_x = -340;
+#local lgt2_pos_y = 510;
+#local lgt2_pos_z = 260;
+#local lgt2_intense = 0.763488;
+#local lgt3_pos_x = 340;
+#local lgt3_pos_y = 510;
+#local lgt3_pos_z = -170;
+#local lgt3_intense = 0.763488;
+#local lgt4_pos_x = -340;
+#local lgt4_pos_y = 510;
+#local lgt4_pos_z = -170;
+#local lgt4_intense = 0.763488;
+
+light_source{<lgt1_pos_x,lgt1_pos_y,lgt1_pos_z> White*lgt1_intense}
+light_source{<lgt2_pos_x,lgt2_pos_y,lgt2_pos_z> White*lgt2_intense}
+light_source{<lgt3_pos_x,lgt3_pos_y,lgt3_pos_z> White*lgt3_intense}
+light_source{<lgt4_pos_x,lgt4_pos_y,lgt4_pos_z> White*lgt4_intense}
+
+background{Gray50}
\ No newline at end of file
diff --git a/sw/simulator/scilab/q3d/q3d_povray.sci b/sw/simulator/scilab/q3d/q3d_povray.sci
new file mode 100644
index 0000000000..dea28bf0cd
--- /dev/null
+++ b/sw/simulator/scilab/q3d/q3d_povray.sci
@@ -0,0 +1,31 @@
+
+function povray_draw( time, diff_flat_ref )
+
+  dt_display = 1/25;
+
+  t_idx = 1;
+  f_idx = 1;
+  t = time(t_idx);
+  while (t_idx<length(time))
+    printf('drawing %d (%f)\n', f_idx, time(t_idx));
+    x = -1000*diff_flat_ref(FDM_SX,t_idx);
+    y = 1000*diff_flat_ref(FDM_SZ,t_idx);
+    alpha =  deg_of_rad(-diff_flat_ref(FDM_STHETA,t_idx));
+//    printf('( %f %f %f)\n', x, y, alpha);
+    fid = mopen('povray/q3d.pov', "w");
+    mfprintf(fid, "#include ""povray/q3d.inc""\n");
+    mfprintf(fid, "object { Q3D()  rotate z*%f translate <%f,%f,0>}",alpha,x,y);
+    mclose(fid);
+    cmd = sprintf('povray povray/q3d.pov +Opovray/foo%04d.png Display=false +W800 +H600 +Q9 +A0.3 +R5', f_idx);
+    a = unix_g(cmd);
+    while (t_idx<length(time) & time(t_idx) < f_idx*dt_display)
+      t_idx = t_idx + 1;
+    end
+    f_idx = f_idx + 1;
+  end
+
+  mplayer_cmd = "mencoder ""mf://povray/foo*.png"" -mf fps=25 -o povray/test.avi -ovc lavc -lavcopts vcodec=msmpeg4v2:vbitrate=800";
+  unix_g(mplayer_cmd);
+  
+endfunction
+
diff --git a/sw/simulator/scilab/q3d/test_stop_stop.sce b/sw/simulator/scilab/q3d/test_stop_stop.sce
index b0f2ae2547..e6de63272c 100644
--- a/sw/simulator/scilab/q3d/test_stop_stop.sce
+++ b/sw/simulator/scilab/q3d/test_stop_stop.sce
@@ -23,7 +23,7 @@ if (0)
   [fo_traj] = poly_gen_traj(time, coefs);
 else
 // differential equation
-  [fo_traj] = sbb_gen_traj(time, 5, rad_of_deg(29.983325), [0 0], [5 0]);
+  [fo_traj] = sbb_gen_traj(time, 5, rad_of_deg(29.983325), [-1 0], [1 0]);
   printf('xfinal:%f\n',fo_traj(1,1,$)); 
 
 end
@@ -45,7 +45,7 @@ for i=2:length(time)
 end
 
 
-//povray_draw(time, diff_flat_ref);
+povray_draw(time, diff_flat_ref);
 
 set("current_figure",0);
 clf();