my oldest was like that. he slept on a hardwood floor more than in his beds. he had a toddler bed and a twin size bed in his room because we felt the same way and bought both when he kept sleeping on the floor. We would find him anywhere, on the floor in the middle of his room, in the hallway, on the living room floor. He never took his blanket or pillow with him, just slept on the hard floor. Well he is 18 now and still prefers the floor over his bed. Our other 2 kids ages 15 and 10 don't mind the floor either and on weekends they always prefer to sleep on the floor in the living room instead of their own beds. It is the highlight of their week to have sleeping bag night on the living room floor on Friday nights and watch movies. They have TVs and DVD players in their rooms but rarely use them. In fact the boys feel that beds in their rooms are taking up space and if they had their way there wouldn't be beds in their rooms but I have seen too many families in trouble with DFS for not having beds for their kids so I told them they have to keep their beds because we would get in trouble if they didn't have a bed to sleep on. We bought them really nice thick, pillow top mattresses so it's not like their beds aren't comfortable. They just prefer the floor.
I just didn't push the issue of where they sleep--in their bed or on the floor-- as long as they get a good nights sleep.