Hmmm....
Well, comp will only do so much. The original sound is where the power and the fullness comes from. If it aint there to start with not much will change this.
I have always taken the simple approach to creation. it is my way as it is so more challenging and eye opening. Basically I found that if you start off with the bassline and then add the kicks (maybe two or three kicks to make one) so that they completement each other rather than cancel you can get very full sounds. Running comp and dynamics over this will clarify it and help to highlight parts you want. Comp will sharpen and add to the already full sound depending on what sort of effect you are after.

The best trick is working out how to add multiple kicks to make one good kick.