Walking with physics

[galok]

The cause might be in different floating point precision between your and original program.

I tried to do less iteration in order to decrease precision error, 20 iterations with 0.0005 Dt give same results. simbicon use single precision float for calculations. i'm not sure, but it seems box2D use single precision float as well.

i tweak simbicon a little and the only way i got something that looks like what i've seen in box2d is when i manually decrease left shin torque by 10 times, don't know what this mean