Directly from the IRRLicht site:
Currently supported mesh file formats:
Animated objects:
•B3D files (.b3d, r, skeleton)
•Microsoft DirectX (.x, r) (binary & text, skeleton)
•Milkshape (.ms3d, r, skeleton)
•Quake 3 models (.md3, r, morph)
•Quake 2 models (.md2, r, morph)
Static objects:
•Irrlicht scenes (.irr, r/w)
•Irrlicht static meshes (.irrmesh, r/w)
•3D Studio meshes (.3ds, r)
•Alias Wavefront Maya (.obj, r/w)
•Lightwave Objects (.lwo, r)
•COLLADA 1.4 (.xml, .dae, r/w)
•OGRE meshes (.mesh, r)
•My3DTools 3 (.my3D, r)
•Pulsar LMTools (.lmts, r)
•Quake 3 levels (.bsp, r)
•DeleD (.dmf, r)
•FSRad oct (.oct, r)
•Cartography shop 4 (.csm, r)
•STL 3D files (.stl, r/w)
•PLY 3D files (.ply, r/w)
By now there are a bunch of free tools that can export in 3ds or x or even convert them.
I have done some working in 3d long ago, mostly to draw *spaceships* so not very handy to draw cars.