Elements/Concave Polygons
There is some effort towards this ability here: http://www.box2d.org/forum/viewtopic.php?f=4&t=83&st=0&sk=t&sd=a&start=50 It includes some working code: http://www.box2d.org/forum/download/file.php?id=63
jminor 16:55, 24 March 2008 (EDT)
Just a heads up - I'm the one working on the concave decomposition for Box2d, I'm going to be putting out a new version very soon with several bugfixes from the linked one above. The interface will change slightly, so I would not get this stuff integrated too tightly with other code until then. I'll post a note when it's ready - it should show up in the Box2d trunk at some point, too.
ewjordan 03:48, 01 April 2008 (EDT)
Great! Just in case you need it, here is a reference to an O(n log n) algorithm that includes C source code (not sure about the license)
http://www.cs.unc.edu/~dm/CODE/GEM/chapter.html
jminor 03:30, 10 April 2008 (EDT)
Interesting