Motion on different types of surface and liquid

I want to experiment with motion on different types of surface (asphalt, sand) and motion through liquids (water, oil).
It is possible to do it in OgreODE?
I didn't found wiki or help on this question. May be somebody can give me advice?
May be somebody made similar work?

I don't know if there are some open sources about buoyancy or specific surface. If there's not, you will have to do this yourself because all you've got on a collision is the OgreOde::Contact object (position and penetration depth ).

In OgreODE there is possibility to add force to body. I try to set this force thus it work as Archimedean power in liquids.
But, as I understood, power work in one moment.
May I add constant power to body?