Hey, so I have some tools available, and my college semester is letting up. I'd rather animate than program. I am really hoping this is a middle ground, but if anyone has place to start with this, let me know?
Ah, so BDSM. In that case there's any number of engines you can use. Easiest is probably ren'py but unity and UE4 are also good options. Art can be made using daz, koikatsu/honey select/etc, blender/zbrush/etc, hand drawn, live 2d cubism. If you're looking more to just animate rather than code I'd suggest ren'py and either daz or koikatsu depending on what art style you want. There'll be coding in any option but ren'py does most of the work for you especially if you're keeping it simple.