Icing is a 3D Creature Generator (Instil Creature Generator) written in Java/Java3D. The project comprises an API and a full application for development and usage of arbitrarily articulated creatures.

Using the bones technique, the API allows for easy definition of animations using key-frames and interpolation on quaternion space of rotations. This means you can only specify a small number of animation frames, and the program does the rest for you.

I am currently working on making this project user friendly, and I registered it on sourceforge, at http://sourceforge.net/projects/icing.

Here are some snapshots

Crab-like creature	Humanoid frame 1	Humanoid frame 2	Humanoid frame 3	Snorkel simple

And a small video of a simple animation.