I'm working to develop this game in Unreal Engine 4. It's based on a game jam that I built in 2016. We've decided that because there was such a positive response to it that we should take it forward into a complete experience.
I built this experiment in Unreal Engine 4. The core of the gameplay revolves around a rolling physics-enabled quadropus with physically simulated tentacles. The simulation is driven by Unreal's built-in physics with some changes. The robustness of the simulation comes from very careful tuning and setup.