XSLT question

<?xml version="1.0" encoding="UTF-8"?>
<rootElement>

<elementOne>one</elementOne>
<elementTwo>two</elementTwo>
<elementThree>three</elementThree>
<complexOne>
<comChildOne>comChildOneVal</comChildOne>
<comChildTwo>comChildTwoVal</comChildTwo>
</complexOne>

<complexOne>
<comChildOne>comChildOneVal2</comChildOne>
<comChildTwo>comChildTwoVal2</comChildTwo>
</complexOne>

<complexTwo>
<comChildOne>comChildOneVal3</comChildOne>
<comChildTwo>comChildTwoVal3</comChildTwo>
</complexTwo>

<complexTwo>
<comChildOne>comChildOneVal4</comChildOne>
<comChildTwo>comChildTwoVal4</comChildTwo>
</complexTwo>

</rootElement>

i need to get an output of the form:
elementOne,elementTwo,elementThree,complexOne,complexTwo
one,two,three,comChildOneVal-comChildTwoVal~comChildOneVal2-comChildTwoVal2,comChildOneVal3-comChildTwoVal3~comChildOneVal4-comChildTwoVal4

Is it possible with XSLT?

Thanks!

p.s. I would like this to be a generic stylesheet so that if i added another complex type (complexThree) then no code changes would be required. I know its trivial to do it so that the stylesheet has to change if I add another element.