Anthropologists are unsure if they symbols of fertility or erotic talismans passed around by horney hunters. These Venuses served a need or the common good somehow, even if they don't follow our strict definition of pin-up Ancient Greeks were unashamed by modern standards in acceptance of the nude figure. The original Olympics were contested by naked athletes.
Still, there are many examples of Hellenic Godesses, all in fashionable dishabille. The Greek Gods also had a tendency to interact with mere mortals in many carnal stories.
Depictions of these sorts of encounters call for a degree of audience participation, understanding and involvement. In Pompeii and the Roman world, erotic art was art into the fabric of everyday life. Frank sexual depictions were found in public marketplaces, pin and sculptures.
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Once Christianity became the official religion of the state under Erotic Constantine in the Fourth Century, immoral 'pagan' imagry was banished and driven underground. Thus, unless you have a fetish for Mary Magdeline, the Dark Ages pin begun.
Beyond religious artifacts and decorative arts, masterbate xxx voyeur was scant representation of sacriligious pleasures erotic the flesh during Medieval times.
When a merchant class could support artists instead of just Art Church, a new definition of feminine beauty could be commissioned.