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

[SilverWarior]

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

[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