There's a new Shape in Box2D called an "Edge". (currently in SVN)
It basically allows you to create complex shapes using multiple connected edges. Take a look at the new examples to see it in action : staticedges, dynamicedges, pyramidstaticedges.
I'm not entirely sure how the use of this new shape affects calculations (compared to a standard polygon shape), as the documentation is sparse at the moment - given that this is a completely new feature.
However, it looks like it will make creating some more interesting shapes a bit easier - especially of the "concave" variety.
It basically allows you to create complex shapes using multiple connected edges. Take a look at the new examples to see it in action : staticedges, dynamicedges, pyramidstaticedges.
I'm not entirely sure how the use of this new shape affects calculations (compared to a standard polygon shape), as the documentation is sparse at the moment - given that this is a completely new feature.
However, it looks like it will make creating some more interesting shapes a bit easier - especially of the "concave" variety.