spongehammer, Waltuo, totoyan - thanks! And yes, you could make up a body of different densities by joining different objects with different densities using the assimilate joint (join them as fixtures). There's no way otherwise to set the center of gravity, but you can get it.
Platform behavior is coming along. I expect it'll be ready in a couple of weeks if I can find time to work on it. If there's going to be a further delay then I'll release the main plugin and promise to follow up with the helpers asap.