The Juggler3D "screensaver" https://linux.die.net/man/6/juggler3d can also be run manually with a pattern, and it will attempt to show a stick figure juggling with that pattern.
I first saw this through xscreensaver and was very impressed. At least as it's packaged for Arch, xscreensaver brings in loads of weird, fun, mind-expanding screensavers. It's always a surprise. I'm not sure if other distributions' packages pull in the full set of screensavers by default, but I imagine you can find them regardless.
I hadn't seen this in OpenGL... it's nice to see some good open source simulators. I do remember a much older (than 2009 or even 2002) version called Juggle that ran on HPUX, but it may have been written in pascal and it certainly didn't render the man.
