Dogs penises are completely hidden in their sheath, so are horses, cats and almost every other mammal, obviously not including when they are aroused but human penises freely hang and flop around all the time. We accept animal nudity and there are no laws to keep their sheath hidden, we even laugh when a dog has an erection.

I noticed that not including "certain cultures" humans find it EXTREMELY unacceptable to see or be around a naked male. If humans had penises EXACTLY like a dog and only their balls were visible at all times, would public nudity be more acceptable?

Why can we go to a zoo and laugh at animals having sex or animals with erections and giggle when our dog shows his "red rocket" but a male human becomes an outcast from society for walking around naked?

In a world where all males has sheaths and pointy penises, would nudity be more accepted?