Congratulations to NASA on Orion EFT-1 Mission Success
While this was a great demonstration flight, I don't agree with some NASA people who say this is our future spacecraft to Mars. If all goes well, and there are doubts that all will go well, Orion won't be flying again for at least the next two years. The next flight is scheduled for 2017, when it and the SpaceX crewed Dragon vehicle will hopefully start sending crews to ISS under the Commercial Crew Transportation Capability (CCtCap) contract. SpaceX, meanwhile, will be flying at least 10 more Dragon missions to ISS and space in general. So SpaceX will have quite a bit more experience with their craft before Orion flies again.
Also, it's important to keep in mind that Elon Musk himself is fixated or perhaps obsessed with going to Mars, and he is not dogged by temperamental congresses and their hot/cold space program funding cycles. I wouldn't be at all surprised if the astronauts on the first NASA Mars mission are welcomed to Mars by Elon and members of the SpaceX staff when they get arrive their.