bullet-2.77 compiling without cmake (ubuntu-10.10)

[merlin]

hi
i'm newbie on bullet.
in the moment i working under ubuntu-10.10 with the Kinect-System (libfreenect, c/c++) and Wiimote (wiiuse_v0.12)
the bullet-software are install and running (demos and the singleDemo RagDollDemo)

on the
demos i am interessting : RagDollDemo.cpp
now i want make a integrations (port) from bullet and Kinect and Wiimote.

aka:
compiling kinect + wiiuse: OK (8)
g++ -fPIC -g -Wall -I../src/ -I/usr/local/include/opencv -L /usr/local/lib -lcxcore -lcv -lhighgui -lcvaux -lml -L../src/ -lwiiuse -o okwiitest4 okwiitest4.cpp -lfreenect -lm
or
g++ -fPIC -g -Wall -I/usr/include/GL -I/usr/local/include/opencv -L /usr/local/lib -lcxcore -lcv -lhighgui -lcvaux -lml -I../src/ -I/usr/X11R6/include -L/usr/X11R6/lib -L../src/ -lm -lwiiuse -o genStickman3 genStickman3.c -lfreenect -lfreenect_sync -lglui -lglut -lGLU

out is (exe): a system with Kinect / Wiimote / opengl / opencv

how can i integrate bullet on this compile ???
on the forum and on google nothing found
have somebody experinece with this stuff ???
thanks for help hints and improvements
regards merlin

for this i want compile the whole stuff with: g++ without cmake......