Blender addon to export physics setups from Rigid Body Bones by Pauan which can be used to create and test physics setups in blender.
 
Build and test your SMP physics setup in blender using that addon.
When you are done and satisfied export it all to SMP .xmls through file->export->Skinned Mesh Physics (SMP) .xml
 
Collision meshes (per-vertex-shape and per-triangle-shape) meshes can be defined by making those meshes rigid bodies set to "passive" and options can be set in the rigid body physics side panel under "SMPRigidBodies"
 
The latest version will be on github, posting here for visibility.
 
https://github.com/OpheliaComplex/SMPRigidBodies
 
Basic functionality is there but some things likely need to be improved.