How can i make a complex shape in pBox2d using only in Rectangles?

I have been reading the pbox2d code for complex shapes.

I need to make a shape like the one shown here

I think I need to create a horizontal rectangle and add vertical rectangles to each end of the horiztontal rectangle, but I'm not sure how to create each and attach them.

I was trying to use this code as a reference, that uses a circle and a rectangle, but haven't been able to change it's characteristics into just rectangles or polygons.

Reference Code

class Lollipop {

// We need to keep track of a Body and a width and height Body body; float w; float h; float r;

// Constructor Lollipop(float x, float y) { w = 8; h = 24; r = 8; // Add the box to the box2d world makeBody(new Vec2(x, y)); }

// This function removes the particle from the box2d world void killBody() { box2d.destroyBody(body); }

// Is the particle ready for deletion? boolean done() { // Let's find the screen position of the particle Vec2 pos = box2d.getBodyPixelCoord(body); // Is it off the bottom of the screen? if (pos.y > height+w*h) { killBody(); return true; } return false; }

// Drawing the lollipop void display() { // We look at each body and get its screen position Vec2 pos = box2d.getBodyPixelCoord(body); // Get its angle of rotation float a = body.getAngle();

rectMode(CENTER);
pushMatrix();
translate(pos.x, pos.y);
rotate(-a);
fill(127);
stroke(0);
strokeWeight(2);

rect(0,0,w,h);
ellipse(0, -h/2, r*2, r*2);
popMatrix();

}

// This function adds the rectangle to the box2d world void makeBody(Vec2 center) {

// Define the body and make it from the shape
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(box2d.coordPixelsToWorld(center));
body = box2d.createBody(bd);

CircleShape circle = new CircleShape();
circle.m_radius = box2d.scalarPixelsToWorld(r);
Vec2 offset = new Vec2(0,-h/2);
offset = box2d.vectorPixelsToWorld(offset);
circle.m_p.set(offset.x,offset.y);

PolygonShape ps = new PolygonShape();
float box2dW = box2d.scalarPixelsToWorld(w/2);
float box2dH = box2d.scalarPixelsToWorld(h/2);
ps.setAsBox(box2dW, box2dH);

body.createFixture(ps,1.0);
body.createFixture(circle, 1.0);

// Give it some initial random velocity
body.setLinearVelocity(new Vec2(random(-5, 5), random(2, 5)));
body.setAngularVelocity(random(-5, 5));

} }

Thank you