Walking with physics

[galok]

i'm tried as hard as i can translate simulation parameters to box2d, i translated object sizes, mass, inertia and positions of joints, after this i created fixed step loop procedure (200 iterations with Dt = 0.00005) and run simulations in zero gravity to step 33, but results is still far from good, i think i'm mistaken somewhere...

and values of variables are different
(torque hash, root velocity, relative angles)

Simbicon:
--- 33 ---


384,45


0,47 -0,09


-1,80
-0,23
-0,70
-0,01
-30,86
1,43
-0,01

Box2D:
--- 33 ---


287,05


0,40 -0,07


-1,48
0,10
0,79
0,46
-31,42
14,11
9,78