The project contains a small library that connects the Bullet Physics Engine to the Horde3D Graphics Engine.

The source code contains also a little example application and a patch for the Collada Converter of the Horde3D Engine version 0.11 that allows the usage of basic features of the Collada Physics extension.

This text is also available in german. A local cached copy of the source/demo is available too.
http://mm-werkstatt.informatik.uni-augsburg.de/project_details.php?id=43