Tokamak includes a variety of collision zone shapes which can be combined to fit over a mesh fairly tightly
Yes, in Tokamak you create a rigidbody and attach primitives to it to define it's collision volume.
You can attach several primitives to one single body.
Currently three primitives are supported.
Sphere, Box and Cylinder(however, the cylinder ain't really a cylinder but a capsule)
You should be able to setup Tokamak to only supply collisioninfo for you by disabling collisionresponses and use zero gravity. That way no forces are acting on the bodies except external forces triggered by you.
You would have to set the position and orientation of the body.
To make the body collide with static scenery like a terrain you can feed tokamak with the terrains vertices.
Note: The collisioninfo and terrainstuff i'm talking about isn't included in the wrapper yet, but I intend to wrap every function of tokamak.