No I dont use the Tricollider, u'll have to create a new collider class.
I'm using Delphi but u can find the source code here:
http://www.clancommunity.com/chroma/Delphi_TV_ODE.zipCheck the demo Buggy+Landscape and look at the function "CustomColliderFnSphere". It will show u how to generate contact points for a sphere colliding a heightmap.
There is also some code to collide a box against a heightmap.
Hope this helps..
Chroma