we're having trouble with complex bodies getting stuck inside each other when spawning in a similar position, or being dragged over each other
http://developer.anscamobile.com/forum/2010/11/19/complex-shapes-layering-over-top-one-another
this may relate to the topics here.. although i see no specific solutions. setting a groupIndex collision filter doesnt seem to help
http://www.box2d.org/forum/viewtopic.php?f=8&t=47
http://www.box2d.org/forum/viewtopic.php?f=3&t=1054&start=0