Elements/Concave Polygons
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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)