FromVert bodies are able to rotate though each other.

[brendenderp]

In the image above I have two bodies made from verticies. As you can see the larger Grey body encapsulates the other body while still being a closed loop. The large body is not set to be static but has a large mass of 20,000 while the smaller body had a mass of about 8. Applying a torque rapidly via console (or withing a game loop using phaserJS) the body is able to rotate though the larger body.

This is the case when setting the torque value directly. Or setting angularVelocity.

What I'd expect to happen is the point that dips into the other body would experience a force equivalent to the depth it dips in that forces it in the opposite direction.

I haven't tested this with static bodies or other bodies aside from with fromVertice bodies.