If you use a unique entity type for each compound object it is relatively easy to enumerate per object all collisions that happen to an entity and it's children.
The trick is building in some rigid body code so that each collision affects both inertia and rotational inertia of the entire object, ie your wish for simple sliding is not really relevant for rigid bodys that have non uniform roll.
The trick is building in some rigid body code so that each collision affects both inertia and rotational inertia of the entire object, ie your wish for simple sliding is not really relevant for rigid bodys that have non uniform roll.