TiTS: Trials in Tainted Space

From the introduction: Trials in Tainted Space is an erotic, ultimately customizable, roleplaying adventure game. It's a game as much about changing your character and those you meet as it is about exploration and adventure. You play as a personalized Player Character bent on making his or her fortune among the stars, starting out with only a ship, a crew of fellow adventurers, and a heart full of wanderlust. From there, you plunder the mysteries of the universe... particularly if they're curvy, well hung, or both. It's about discovering the exotic and the erotic.