Exactly. In about 2002 I worked on a PS2 game where you played a dog (Yes you could do a turd. No you couldn't lick your balls). I spent ages tuning the code t

Exactly. In about 2002 I worked on a PS2 game where you played a dog (Yes you could do a turd. No you couldn't lick your balls). I spent ages tuning the code that determined how high to place the dog's centroid above the ground. I gained a lot of respect for the amount of geometry calculations a real dog has to do in order to keep its face out of the floor when running. The code needed to start reacting to a probable landscape collision hundreds of milliseconds before it happened in order to prevent the need for unnaturally large forces.