Having trouble with collision

[finnwrt]

Hi I'm just trying to do a simple collision between two cubes but there seems be be no colliding, I was wondering if anyone could see a problem in my code?

    physicsWorld = physicsCommon.createPhysicsWorld();
    physicsWorld->setGravity(rp3d::Vector3(0.0f, -0.1f, 0.0f));

    Vector3 floorPosition(0.0f, 0.0f, 0.0f);
    Quaternion floorOrientation = Quaternion::identity();
    Transform floorTransform(floorPosition, floorOrientation);
    floor = physicsWorld->createRigidBody(floorTransform);
    floor->setType(BodyType::STATIC);
    rp3d::Vector3 floorHalfExtents(0.5, 0.05, 0.5); // Floor is (1, 0.1, 1)
    floorShape = physicsCommon.createBoxShape(floorHalfExtents);
    floor->addCollider(floorShape, floorTransform);

    rp3d::Vector3 cubePosition(0.5, 1.0, 0.5);
    rp3d::Quaternion cubeOrientation = rp3d::Quaternion::identity();
    rp3d::Transform cubeTransform(cubePosition, cubeOrientation);
    cube = terrain.physicsWorld->createRigidBody(cubeTransform);
    cube->setType(rp3d::BodyType::DYNAMIC);
    rp3d::Vector3 cubeHalfExtents(0.25, 0.25, 0.25); // Cube is 0.5, 0.5, 0.5
    cubeShape = terrain.physicsCommon.createBoxShape(cubeHalfExtents);
    cube->addCollider(cubeShape, cubeTransform);
    cube->setMass(1.0f);

Then I call the update method at 60hz and draw the cube at the new position. The gravity works and my cube falls but it goes straight through the floor to infinity. Thanks