If anybody will want to do the integration of Bullet with OpenHaptics, and to manipulate bodies with the Phantom arm, then here are some links:
1. My blog: http://xmight.blogspot.com, and the latest video with what I have done: http://www.youtube.com/watch?v=rKmphq3LJcU
2. The blog of a person whose code I used to understand how OpenHaptics can be used with Bullet. I thank him very much. http://somapanam.wordpress.com.
In my case, I will post the code if I will be allowed. I don't know when though...
Have a nice day and week everybody
P.S. I am a beginner in all this, so please be tolerant...