(Game here is Parasite Eve 2)
It didn't happen in every game but often enough that it's noticeable. They're usually not shot as straight-up titillation, instead going for a tasteful nudity kind of thing and intended to fulfill some kind of storytelling or characterisation purpose
"You see, you gotta show them being vulnerable. They may be badass, but they're still girls, after all" 
-90s game director, probably
Ubisoft's been a pioneer of the style since at least the first Assassin's Creed. A Muslim order of assassins fighting against Crusaders is a bit too spicy for a Western audience six years after 9/11, better change them to
RELIGIOUSLY UNAFFILIATED PARKOUR NINJAS WHO FIGHT FOR CONTROL OVER ANCIENT ALIEN MCGUFFINS