Irregular body shapes:

• Create it 'manually' by code
• Use some kind of tool to generate polygon body definitions from sprite.

1. Creating Bodies manually.

If body shape won't be really complex (ex. body composed of few basic fixtures, for example few squares and some sensors) it might be quite easy way, but if you want to create really complex bodies, its rather better to use some kind of tool (more info about such tools below) you will save some time, and what's more important, reduce stress - trust me :)! If you want to use this way, you for sure should use PHYSICS DEBUG RENDERER (click to check article) So you will basically be able to view those bodies, so it will be much simpler to create advanced body shapes. If you want to check code example, of creating irregular body shapes, please refer to this AndEngine Example: CLICK. There are examples how to create ex. Hexagon body shape etc.

2. Using special tools:

• Physics Editor by Andreas Löw (paid, but free trial) - CLICK.

• Vertex Helper by ZAN (free to download and use) - CLICK.

Its obviously up to you to decide which way to use, depends on your game complexity, needs and obviously your will to make it yourself instead. Hopefully this article will be useful for you to provide some ways to handle this task. Thanks! I personally recommend PhysicalEditor, making custom bodies is really simple, takes few seconds to do.