Our modern sensibilities are shocked perhaps by the explicit nature of a lot of medieval writing!
The medieval person was not hung-up about sex and anatomy the way we are today; our "prudish" attitude, as some have called it, to human sexuality and anatomy, or our attitude that it is not "polite" is a decidedly modern phenomena (which is a fascinating discussion of its own) rooted in Victorian culture of the 18th and 19th centuries. Most cultures prior to this were very open about human sexuality, not in an ideological way, but in what is best described as a mystical way.
There are plenty of drawings from the Middle Ages that exhibit human anatomy, both male and female, in both its "glory" and "shame". For example, (if you have the stomach for it!) this picture of a man's infected (presumably through an STD) genitals here >.
We will discuss the Medieval concept of shame in another post. But for now, "shame" does NOT mean what it means today ("embarrassment") but rather "confusion".
I'd love to hear your theories on this!