Obviously there's a wealth of knowledge being thrown here but looking at Mark's lean it does look to me like his leg is out, the bike is leaned over but look at his head - it's still above the petrol tank. The centre of mass of the body should be hanging in towards the centre of the arc. That way the bike doesn't have to lean so far.
I've attached a pic of Loris Capirossi to demonstrate - his knee is no where near the tarmac but he is kissing where his mirror would be (something DMNTD told me to do) as he enters a corner.
My point? there's more weight in your gut than in your knee cap.
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