Rocl is correct, the Mhachi built the Void Ark. Apparently, from what I've gathered from in game NPC conversations, the Mhachi civilization was predominantly concerned with exploring, enslaving, and tapping into various Voidal powers. As I recall, they were in direct opposition to the Amdapori civilization, which is why Diabolos was sealed by white magic, until we, as adventurers, broke the seal and released him into Eorzea (oops). The World of Darkness is a separate plane of existence that exists within a portion of the Void, as I recall, but the Void connects all planes to one another. Common FF multiverse theory is that the Void connects all the FF worlds to one another, a theory reinforced by Gilgamesh, who wanders the void attempting to find the world from FFV and kind of bouncing everywhere else instead.
Slightly rusty on my ff multiverse lore, so if anyone can offer speculation, that would be cool.