Represent entity with multiple points

Every book I’ve read about game development explains how to create an entity using a single point in the space that represents its position. This position is then changed using other forces.
If I want to represent a person using multiple points (for example 2 points for the feet, 1 for the center of gravity and 1 for the head) how can I do? Do you know any resources that explain something like that?
N.B. I’m not interested in creating a graphic 3d visualization