Sorry I wasn't really clear :
In my level, I have these wheeling plateform, and another part where there is many rectwall with a fixed size. ([a][b][c][d])
If I use a rectangle body for my player, the wheel works fine, friction "freeze" player on the mouving plateform, but in the "tile walls" part, the player got stuck between junction and sometimes jump in the air (as it's happen frequently
in 3D engine were overlapping objects start to shake then are propulsed).
On the contrary if I set a circle body, the "tile walls" work fine, but wheel friction can't stop him (point contact instead of surface contact).
I use a trivial bodyfactory.rect (and geom), with an applyforce at every update depending on the input,...
If there is a way to correct the rectangle problem it would be awesome, or at least, I can use the two geometries with specific collisioncategories but it sounds really bad to me.