Each body part is a box with a joint connecting to other box and a Neural Network that controls the forces acting on the joint.

This project uses the ODE (Open Dynamics Engine) and the OpenGL libraries.

You can see some videos of evolved creatures here:
http://atlas.lsc.ic.unicamp.br/~portavales/evomorph-videos/


Papper explaining the idea (portuguese):
http://www.students.ic.unicamp.br/~ra023772/evolucao/evolucao_morf.html