I have done lots of custom physics and haptics demos in the past using Nvidia Physx and Havok libraries.
This is my haptic Bullet demo which uses Bullet v 2.76 and OpenHaptics v3.0 (http://www.sensable.com/products-openha ... oolkit.htm) from SensAble technologies.
Two "6DOF input / 3DOF force feedback" Phantom Desktop haptic devices ( http://www.sensable.com/haptic-phantom-desktop.htm) from SensAble technologies were used.
You can touch, push around and manipulate all objects in the scene and feel high fidelity forces in 3 DOF X, Y and Z. The torques due to the rotations of the objects were resolved and converted to x, y and z forces.
Here is a video of the demo.
http://www.youtube.com/watch?v=nW-b21s-kFU
The demo will be posted soon on my website at http://somapanam.wordpress.com/
Thanks for all the help provided by the forum folks.
PS: This demo is running on a very old CPU with 64 MB Nvidia graphics card. The Physics loop is stepped at a very high rate to provide smooth haptic / force feedback.