Physijs
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Future: Concave shape decomposition.
"It would be awesome to have concave shape decomposition"
I was looking into this for Box2D a few days ago actually, this is 2D but it can probably be improved to work in 3D.
Please see the swf example. http://www.emanueleferonato.com/2011/09/12/create-non-convex-complex-shapes-with-box2d/