'Cold contact' is something I've struggled with most of my life, and can relate with what OP is saying. The times I've ever felt genuine confidence have been while I was engaged in performing music or solving a mechanical issue and in those cases I've been approached first, so it's rather paradoxical in a sense. Otherwise I feel it's too creepy to approach anyone; I analyze things I could possibly say then panic at the thought of what to say next and even if the thoughts>words>brain>mouth>ears will complete the journey successfully
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Let's go on out and take a moped ride, and all your friends will thing your brain is fried, but you can't live your life too dirty, 'cause in the the end you're born to go 30