[ODE] Why doesn't the ship it the floor?

[lfcsimoes]

One more complete newb question:
 
I have the following code defining a ship and a plane (floor). I just want
the ship to fall and hit the floor (and probably bounce a little over it).
The ship falls but never stops!!

I think I might be doing some confusion on geoms and bodies. 

The essential code is the following:

	bool frameStarted(const FrameEvent& evt)
    {
		if (evt.timeSinceLastFrame>0) {
			dWorldStep( world,evt.timeSinceLastFrame);
			pos = new dReal(3);
			pos = dBodyGetPosition(dship);
			mShipNode->setPosition(pos[0],pos[1],pos[2]);
		}	
		return true;
    }

……

class game3Application : public ExampleApplication
{
	protected:
		void game3Application::createScene(void)
		{
			// Create a skybox
			mSceneMgr->setSkyBox(true, "Examples/SpaceSkyBox");

			//Create a ship
   			mShip = mSceneMgr->createEntity("razor",
"razor.mesh");
			mShipNode =
static_cast<SceneNode*>(mSceneMgr->getRootSceneNode()->createChild());
			mShipNode->attachObject(mShip);
			
			// ODE settings
			world=dWorldCreate();
			dWorldSetGravity (world,0,-9.8f,0);
			//dWorldSetCFM (world,1e-5);
			//dWorldSetAutoDisableFlag (world,1);

			//Create a space
			space = dHashSpaceCreate (0); 

			//Create the floor
			floor = dCreatePlane(space, 0, 1, 0, 0);

			//Create a ship body 300 units over the floor
			dship = dBodyCreate(world);
			dBodySetPosition(dship,0,300,0);
			
			//Create a geom. for the ship
			dgship = dCreateBox(space,50,50,50);
			//associate geom. and body
			dGeomSetBody(dgship,dship);


			//ambient light
			mSceneMgr->setAmbientLight(ColourValue(0.5, 0.5,
0.5));

			//camera settings
	
mCamera->setAutoTracking(true,mShipNode,Vector3::UNIT_Y);
			mCamera->setPosition(100,0,100);
		}

Thank you very much.

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