Revise myself on that, I thought I had left out the BulletSim library, but it is there with the config, so it will load and collide fine, but you cannot rezz anything and if it does it is pure luck.
For some reason bulletsim use OpenGL coordinates from the viewer to place objects in the scene (rezzing) and since the PI only has OpenGL ES support it does not work as expected by the library.
I have not tested it for a year, and Raspbian have added some support for OpenGL 2.1 since but it is not complete. Perhaps a recompile of bullet will make it work, but I am going to leave that for the upcoming 64-bit Raspbian.