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Low-level access to triangle faces of mesh

Is there any API to access triangle faces of a particular mesh ?

I want to implement a boat dynamics plugin that realistically deals with water-hull interaction.

Specifically, I want to mimic water interaction model for boats in video games. My idea is to compute water-hull interaction forces and apply it as wrench to the root link element of the boat model.

Here water is just going to be a grid of points that move up and down. The faces constructed by joining them serves as the uneven water surface. The hull of the boat is going to be a V shaped extrusion (much like a business card bent in half).

If Gazebo does not provide such functions, are there any robotics oriented simulator that may suit my needs.