Please try my demo http://home.planet.nl/~woute890/2dphysics.zip and let me know what you think of it.
Alan
2d concave polygons demo
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It's not opensource. I wrote almost everything myself.
check this for some source code, mine is similar but probably worse: http://www.continuousphysics.com/Bullet ... .php?t=273
check this for some source code, mine is similar but probably worse: http://www.continuousphysics.com/Bullet ... .php?t=273