TriangleMeshShape for animated mesh

I have an animated mesh and I build the collision body with TriangleMeshShape. Is there a possible way to animate it? or control this trianglemeshshape with skeleton?

Not with a triangle mesh no.

If it's a human body or an animal, you could do something similar with rag dolls and use a separate actor per bone joined together to make a simple skeleton, then move each actor based on the animation.

The process is probably old as well....old, but I haven't seen it done properly in a physics engine yet.