With OpenGL it is at least a fairly short code to achieve joint behavior. Some kind of pseudo-code:
Code:
character.Transform;
Torso.Transform;
Torso.Render;
PushState;
  Head.Transform;
  Head.Render;
PopState;
PushState;
  LeftShoulder.Transform;
  LeftShoulder.Render;
  LeftArm.Transform;
  LeftArm.Render;
  ...
PopState
...
RightShoulder...
LeftThigh...
RightThigh...
In basics that's it, but you are better off try make the character in some editor so that you can do the same in a general form
Code:
procedure Render(const node: TJoint);
var i: integer;
begin
  glPushMatrix;
  node.Transform;
  node.Render;
  for i:=0 to node.Count-1 do
    Render(node.child[i]);
  glPopMatrix;
end;

Render(character.root);