In addition to FMV nudity in the full game, the demo for Noctropolis concluded with a video of Succubus that contained a brief (one frame) nipple shot.
This demo was included on the August 1995 PC Gamer Magazine CD and is (to the best of my knowledge) the only "real" nudity to be found in the 10 year run of that magazine.
The Game-CD also contains the soundtrack as redbook audio! It's a very good, atmospheric one - try it!!!
When released this game caused some measure of controversy because of its violence (which isn't that much really) and sexual situations. Also this game is the only "mainstream" game (at least to my knowledge) to include a live-action video sequence with a topless actress (your admitedly very hot partner, Stilleto) in addition to other suggestive/erotic sequences.