Вот пример создания простого статического тела в 2.1а

Код AS3:
public static function create(x:int, y:int, w:int, h:int, world:b2World, ratio:Number, centered:Boolean = false):void {
var shape: b2PolygonShape = new b2PolygonShape();
var bodyDef: b2BodyDef = new b2BodyDef();
var body: b2Body;
var fixture: b2FixtureDef = new b2FixtureDef();
fixture.shape = shape;
if (centered) bodyDef.position.Set(x / ratio, y / ratio);
else bodyDef.position.Set((x + w / 2) / ratio, (y + h / 2) / ratio);
shape.SetAsBox(w / 2 / ratio, h / 2 / ratio);
body = world.CreateBody(bodyDef);
body.CreateFixture(fixture);
}