This is a port of Szymon's mesh_view program to Qt 4.0+ and libQGLViewer. Download the required libraries if you don't already have them:
Get the source:
Then you should be able to compile and run qtmeshview like so:
./qtmeshview <some models>
I realize that libQGLViewer is another library to find and keep track of. However, I have found it useful and easy to use. It provides a large amount of functionality that I'd rather not implement myself, such as camera keyframing, multiple object selection, basic scenegraph functionality, .jpeg and .png screenshots, and an arcball manipulator.