Bones, Muscle, Dynamic Skin

• going beyond a rigid-body heirarchy requires a skeleton/skin ("bones") approach
• Darwin3D has example code for Real-time Skeletal Deformation as a companion to their article in Game Developer magazine
• living structures employ tensegrity structures as described in The Architecture of Life, Scientific American (January 1998)
• Animal Modeling and Animation using bones, muscle and skin is being done by Jane Wilhelms at the UCSC Visualization Laboratory
• Reflex7™ models humans with bones, muscle, tendons, cartilage and fat
• flesh distortion - flesh needs to sag in the direction of gravity and momentum, and distort when collided with - i.e. is needs to be subject to the force simulation engine.