I'm making my own simple 2D-Game's engine and I want to use Separating Axis Theorem to detect collisions but it requires objects to be convex polygons and I would really love to be able to create these polygons in an easy way because every physical object in my game will be required to have its own polygon mapped to it so it would be very painful to create these polygons by hand (by providing pixel coordinates of every vertex of a polygon) for every object.
Is there any better way to do this?