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One of the more noticeable changes in Sonic Adventure DX was the shift to higher polygon models for most of the main characters.
Sonic was made to more closely resembles his Sonic Adventure 2 counterpart, albeit with classic (and now rounded) shoes.
Tails has become more rounded, with more white fur on his chest area.
Knuckles' forehead has been dramatically shrunk. Unfortunately he is the only echidna to receive this treatment, so the difference can look quite jarring when travelling to Mystic Ruins' past.
Amy's changes are less noticeable, save for the addition of more polygons.
Big is almost identical between the two games. DX rounds out his feet and models each finger individually similarly to the above characters.
The E-102 model is identical between Dreamcast and DX, though the DX versions render his front white light incorrectly.
Super Sonic is very different, losing the metallic texture.
Jumping/rolling models for Sonic, Tails and Knuckles were not replaced, but use the DX textures.