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I created a sample project which shows how you could create a complex body out of a sprite with the Farseer Physics Engine and add it to the Penumbra Component as a Hull.
See feature request #3
Please take a look at this site and README.md
https://github.com/sqrMin1/penumbra/tree/master/Samples/FarseerPhysics
Edit: The generated Hulls have a simple structure because I made use of the "Simplifying Tools" of the Farseer Physics Engine (in the case of the sample project it's the "douglas peucker simplifier" (https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm). There are also other simplifying algorithms available in the Farseer Physics Engine. This makes it a perfomant solution.