Combining animation, collision detection and manipulation

[julia]

Hello,

i want to be able to animate something like a worm with a correct (self) collision detection and still be able to manipulate it interactively. You can find an example how this should look in the following video:

http://www.youtube.com/watch?v=G_AfjwDnGCE

Does anyone have an idea how to combine the animation, collision detection and manipulation using Bullet?

Thank you very much.

Julia