NearCallback in ode anyone?

I wrote a callback and implemented a test using aurora.

Strict
Import "Aurora.bmx"
Import "Ode.bmx"

Const Max_Contacts = 40
Global ode_actworld,ode_actGroup
Function NearCallBack( data:Byte Ptr,o1:Int,o2:Int )
	Local b1:Int,b2:Int
	 b1 = dGeomGetBody(o1);
	 b2 = dGeomGetBody(o2);

	If b1 And b2 And dAreConnectedExcluding( b1,b2,dJointTypeContact)
		Return 
	End If
	Local cons:dContact[Max_Contacts]
	For Local i=0 Until Max_Contacts
		cons[i] = New dContact
		cons[i].mode = dContactBounce | dContactSoftCFM
		cons[i].mu = dInfinity
		cons[i].mu2 = 0
		cons[i].bounce = 0.1
		cons[i].bounce_vel = 0.1
		cons[i].soft_cfm = 0.01
	Next
	
	Local numc:Int = dCollide( o1,o2,max_contacts,Byte Ptr(cons[0]),SizeOf(dContact) )
	Print "Collisions:"+numc
	If numc
		
		For Local i:Int = 0 Until numc
			Local jid = dJointCreateContact( ode_actworld,ode_actgroup,Byte Ptr(cons[i]) )
			dJointAttach( jid,b1,b2 )
		Next
	EndIf
	
End Function


Local fp:Byte Ptr = Byte Ptr( nearcallback )

Local Display:TDisplay = TDisplay.Create()
Display.OpenScreen()

Global World        : Int
Global Space        : Int

Global BoxBody      : Int
Global BoxMass      : dMass
Global BoxGeom      : Int
Local BoxM:TEntity 

Global PlaneGeom    : Int
Global PlaneMesh    : TEntity

Global Camera       : TCamera = tCamera.Create()

Global Position     : Float Ptr



' Erstelle Welt
World = dWorldCreate()
dWorldSetGravity(World, 0.0, -0.01, 0.0)

' Erstelle Raum
Space = dHashSpaceCreate(0)

' Erstelle Box
BoxBody = dBodyCreate(World)
dBodySetPosition(BoxBody, 0.0, 40.0, 0.0)

BoxMass = New dMass
dMassSetBoxTotal(BoxMass, 0.01, 2.0, 2.0, 2.0)
dBodySetMass(BoxBody, BoxMass)

BoxGeom = dCreateBox(Space, 2.0, 2.0, 2.0)
dGeomSetBody(BoxGeom, BoxBody)

BoxM = TEntity.CreateMesh("box.mesh")
BoxM.Scale(2.0, 2.0, 2.0)
BoxM.Position(0.0, 40.0, 0.0)

' Erstelle Boden
PlaneGeom = dCreatePlane(Space, 0.0, 1.0, 0.0, 0.0)
PlaneMesh = TPrefab.Plane(100,100)

ode_actgroup = dJointGroupCreate( 0 )
ode_actworld = world 

' Erstelle Kamera
Camera.Position(0.0, 10.0, 50.0)
Camera.LookAt( 0,0,0 )

'PlaneMesh.SetMaterial("dirt")

BoxM.setmaterial("dirt")

While Not KeyDown(KEY_ESCAPE)
	dSpaceCollide( space,Null,fp )
	dWorldQuickStep(World, 0.1)
	dJointGroupEmpty( ode_actGroup) 
	If dBodyIsEnabled(BoxBody) Then
		Position = dGeomGetPosition(BoxGeom)
		BoxM.Position(Position[0],Position[1],Position[2])
	EndIf
	
	Render3D()
	CaptureInput()



Wend

But it fails in the callback on the joint creation saying Dnormalize4 was based a zero value.