Half hard🍆 . please help

🎀Sam🎀
Why is my bf alwayshalf hard during sex? Are we not stretching out foreplay?? When we are kissing and touching each other he rips my panties off and makes me get on top as if ges ready but as soon as i start sitting on his dick it bends!! 😯 its so frustrating. And it wont go in when it starts bending. And my pussy will start to get dry and he will feel me drying up and go even more soft. Trying to figure out how to get my bf hard ALL THE WAY. He doesnt care to get his dick suck as it does nothing for him. Any tips?? Like maybe jerking him off with lotion?. A sexy massage while im kissing on him...thank you in advance.