My best friend went out with this guy who only really wanted to get physical. She was just starting to fall for him, then he dumped her. She is still interested in him, and I think he may have developed feelings for her, but he is currently seeing someone else. If she just sits around and waits for something to happen, then she may never know if he wanted to get back together with her. Maybe even talk to him and see if he really does have feelings for her.
Someone needs to take the first step if anything is going to happen, but they both have to want it.
As for your situation, ask him out only if you think you won't be crossing over any boundaries with your friend. There is no reason she should object. I'm having a long distance relationship, my boyfriend being in Malaysia while I'm here in Australia. I talk to him everyday on IRC, but we seem to be fighting almost every time we talk. He said that he doesn't feel my love, and he thinks that I don't care.