This paper presents a new approach combining the 3D elements composing the environment of mobile agents with semantic descriptors from Building Information Models. Our proposal is based on the IFC standard, which is used in the field of Civil Engineering to build digital models of buildings during the design phase. The semantic of IFC objects composing the 3D environment is used to select and set up 3D objects and elements of simulation scenarios. The result of this process dynamically generates the input files for the JaSIM environment that performs the simulation. These files deserve the representation of the virtual environment in which the simulation is running. It is represented by two separate files: a COLLADA file for the geometry and a RDF file for its semantics. Both files are generated according to the data extracted and selected from an IFC file by the user.