Ivy is endowed with moon-boobs, demonstrating skeletal motion tracking + ODE physics/collision. Any model can be set up with ragdoll/IK joint modifiers, which are applied in realtime on top of the motion data. Noesis: http://oasis.xentax.com/index.php?content=downloads Note: This is a physics simulation of 2 capsules on dual-axis hinges, with high bounce and barely-existent gravity factors.