The closest thing to a body condom has arrived! It's called the Scroguard. It's a condom for the scrotum and the entire penis.
The problem with condoms is they don't protect against HPV or herpes infection. Both STD's are transmitted from skin-to-skin contact and while a condom can protect a woman's cervix from an unknowingly infected man's penis, the base of the penis and the surrounding skin is not covered. This comes into contact with her vulva during intercourse where the penis is of a size where it can be fully inserted.
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