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You can create complex models and shapes using Blender or Sketchup and exporting the mesh as a .dae file. Then you would need to create a folder for the model in your models directory and include a model.config and model.sdf files. You can view the structure of these files here: http://gazebosim.org/tutorials?tut=model_structure&cat=build_robot

For example, take a look at the mcity model in the car_demo repo: https://github.com/osrf/car_demo/tree/master/car_demo/models/mcity

Once you create your model folder and files, you can just include them at their position in the world file.

Related question: https://answers.ros.org/question/220484/how-to-create-custom-models-and-include-that-in-world-file/