3 files changed, 4 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index 9d75830..514434b 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -207,7 +207,7 @@ impl VelocityConstraint {
                 constraint.dir1 = force_dir1;
                 constraint.im1 = rb1.effective_inv_mass;
                 constraint.im2 = rb2.effective_inv_mass;
-                constraint.limit = manifold.data.friction;
+                constraint.limit = 0.0;
                 constraint.mj_lambda1 = mj_lambda1;
                 constraint.mj_lambda2 = mj_lambda2;
                 constraint.manifold_id = manifold_id;
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs
index 49bb465..20642ec 100644
--- a/src/dynamics/solver/velocity_ground_constraint.rs
+++ b/src/dynamics/solver/velocity_ground_constraint.rs
@@ -130,7 +130,7 @@ impl VelocityGroundConstraint {
             {
                 constraint.dir1 = force_dir1;
                 constraint.im2 = rb2.effective_inv_mass;
-                constraint.limit = manifold.data.friction;
+                constraint.limit = 0.0;
                 constraint.mj_lambda2 = mj_lambda2;
                 constraint.manifold_id = manifold_id;
                 constraint.manifold_contact_id = l * MAX_MANIFOLD_POINTS;
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index 9323ffc..9666589 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -87,11 +87,13 @@ pub(crate) use self::narrow_phase::ContactManifoldIndex;
 pub(crate) use cdl::partitioning::SimdQuadTree;
 pub use cdl::shape::*;
 
+#[cfg(feature = "serde-serialize")]
 pub(crate) fn default_persistent_query_dispatcher(
 ) -> std::sync::Arc<dyn cdl::query::PersistentQueryDispatcher<ContactManifoldData, ContactData>> {
     std::sync::Arc::new(cdl::query::DefaultQueryDispatcher)
 }
 
+#[cfg(feature = "serde-serialize")]
 pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn cdl::query::QueryDispatcher> {
     std::sync::Arc::new(cdl::query::DefaultQueryDispatcher)
 }