BASS
Behavioral Animation Studio Software was a semester-long project I did for Computer Graphics II at the University of Calgary. The software allows you to design and view behavioral animations. It was written on an IRIX system using FLTK and OpenGL; it may compile on other Unix-like operating systems, but I havn't tried.
There is more information about behavioral animation and the software itself available at the site. My TA was Mark Tigges and my professor was Dr. Brian Wyvill.
You can just download thecode directly if you like.