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This paper focuses on modeling the behavior of virtual agents living in a virtual 3D world. Our aim is to apply the most typical human behavior features to our virtual agents so that they behave as realistic as possible. To this end, a new architecture for the behavioral engine that incorporates a number of these typical characteristics of human behavior is introduced. This new proposal allows the virtual agents to interact among them and with the environment in a quite realistic way. The main features of this new architecture, such as perception, knowledge management, motion control and action selection (using internal states, world information, goals, and others) are carefully analyzed in the paper. Finally, some relevant functions (those describing sensations such as tiredness, agent's resistance and recovery capacities, happiness and anxiety) and parameters (those determining the vision range or sociability) are also described in the paper.