Future: Concave shape decomposition.

[LiamKarlMitchell]

"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/