LIBS += -L$${BULLET_LOCATION}/lib
LIBS += -L$${BULLET_LOCATION}/lib  -lBulletDynamics -lBulletCollision -lLinearMath

LIBS += -L$${QWT_LOCATION}/lib \
     -lqwtd

Покажите ошибки с самого начала.

C++ (Qt)
#include <QCoreApplication>
#include <btBulletDynamicsCommon.h>
#include <iostream>
 
int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);
 
    btBroadphaseInterface* broadphase = new btDbvtBroadphase();
 
    btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
    btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
 
    btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
 
    btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
 
    dynamicsWorld->setGravity(btVector3(0,-10,0));
 
 
    btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),1);
 
    btCollisionShape* fallShape = new btSphereShape(1);
 
 
    btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,-1,0)));
    btRigidBody::btRigidBodyConstructionInfo
            groundRigidBodyCI(0,groundMotionState,groundShape,btVector3(0,0,0));
    btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI);
    dynamicsWorld->addRigidBody(groundRigidBody);
 
 
    btDefaultMotionState* fallMotionState =
            new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,50,0)));
    btScalar mass = 1;
    btVector3 fallInertia(0,0,0);
    fallShape->calculateLocalInertia(mass,fallInertia);
    btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(mass,fallMotionState,fallShape,fallInertia);
    btRigidBody* fallRigidBody = new btRigidBody(fallRigidBodyCI);
    dynamicsWorld->addRigidBody(fallRigidBody);
 
 
    for (int i=0 ; i<300 ; i++) {
        dynamicsWorld->stepSimulation(1/60.f,10);
 
        btTransform trans;
        fallRigidBody->getMotionState()->getWorldTransform(trans);
 
        std::cout << "sphere height: " << trans.getOrigin().getY() << std::endl;
    }
 
    dynamicsWorld->removeRigidBody(fallRigidBody);
    delete fallRigidBody->getMotionState();
    delete fallRigidBody;
 
    dynamicsWorld->removeRigidBody(groundRigidBody);
    delete groundRigidBody->getMotionState();
    delete groundRigidBody;
 
    delete fallShape;
    delete groundShape;
 
    delete dynamicsWorld;
    delete solver;
    delete collisionConfiguration;
    delete dispatcher;
    delete broadphase;
 
    return a.exec();
}
 

17:46:53: Running steps for project HelloBullet...
17:46:53: Configuration unchanged, skipping qmake step.
17:46:53: Starting: "C:\Qt\Qt5.2.1\Tools\mingw48_32\bin\mingw32-make.exe"
C:/Qt/Qt5.2.1/Tools/mingw48_32/bin/mingw32-make -f Makefile.Debug
mingw32-make[1]: Entering directory 'D:/Documents/Qt/QtBullet/build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug'
g++ -Wl,-subsystem,console -mthreads -o debug/HelloBullet.exe debug/main.o  -LC:/cygwin64/usr/local/lib -lBulletDynamics -lBulletCollision -lLinearMath -lBulletSoftBody -LC:\Qt\Qt5.2.1\5.2.1\mingw48_32\lib -lQt5Cored
debug/main.o: In function `main':
D:\Documents\Qt\QtBullet\build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug/../HelloBullet/main.cpp:9: undefined reference to `btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache*)'
D:\Documents\Qt\QtBullet\build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug/../HelloBullet/main.cpp:11: undefined reference to `btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btDefaultCollisionConstructionInfo const&)'
D:\Documents\Qt\QtBullet\build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug/../HelloBullet/main.cpp:12: undefined reference to `btCollisionDispatcher::btCollisionDispatcher(btCollisionConfiguration*)'
D:\Documents\Qt\QtBullet\build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug/../HelloBullet/main.cpp:14: undefined reference to `btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()'
D:\Documents\Qt\QtBullet\build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug/../HelloBullet/main.cpp:16: undefined reference to `btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher*, btBroadphaseInterface*, btConstraintSolver*, btCollisionConfiguration*)'
D:\Documents\Qt\QtBullet\build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug/../HelloBullet/main.cpp:21: undefined reference to `btStaticPlaneShape::btStaticPlaneShape(btVector3 const&, float)'
D:\Documents\Qt\QtBullet\build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug/../HelloBullet/main.cpp:29: undefined reference to `btRigidBody::btRigidBody(btRigidBody::btRigidBodyConstructionInfo const&)'
D:\Documents\Qt\QtBullet\build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug/../HelloBullet/main.cpp:39: undefined reference to `btRigidBody::btRigidBody(btRigidBody::btRigidBodyConstructionInfo const&)'
debug/main.o: In function `ZN17btCollisionObjectnwEj':
C:/cygwin64/usr/local/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h:123: undefined reference to `btAlignedAllocInternal(unsigned int, int)'
debug/main.o: In function `ZN17btCollisionObjectdlEPv':
C:/cygwin64/usr/local/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h:123: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN13btSphereShapenwEj':
C:/cygwin64/usr/local/include/bullet/BulletCollision/CollisionShapes/btSphereShape.h:27: undefined reference to `btAlignedAllocInternal(unsigned int, int)'
debug/main.o: In function `ZN13btSphereShapedlEPv':
C:/cygwin64/usr/local/include/bullet/BulletCollision/CollisionShapes/btSphereShape.h:27: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN13btSphereShapeC1Ef':
C:/cygwin64/usr/local/include/bullet/BulletCollision/CollisionShapes/btSphereShape.h:29: undefined reference to `btConvexInternalShape::btConvexInternalShape()'
C:/cygwin64/usr/local/include/bullet/BulletCollision/CollisionShapes/btSphereShape.h:29: undefined reference to `vtable for btSphereShape'
debug/main.o: In function `ZN18btStaticPlaneShapenwEj':
C:/cygwin64/usr/local/include/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h:34: undefined reference to `btAlignedAllocInternal(unsigned int, int)'
debug/main.o: In function `ZN18btStaticPlaneShapedlEPv':
C:/cygwin64/usr/local/include/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h:34: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN20btDefaultMotionStatenwEj':
C:/cygwin64/usr/local/include/bullet/LinearMath/btDefaultMotionState.h:14: undefined reference to `btAlignedAllocInternal(unsigned int, int)'
debug/main.o: In function `ZN20btDefaultMotionStatedlEPv':
C:/cygwin64/usr/local/include/bullet/LinearMath/btDefaultMotionState.h:14: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN23btDiscreteDynamicsWorldnwEj':
C:/cygwin64/usr/local/include/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h:99: undefined reference to `btAlignedAllocInternal(unsigned int, int)'
debug/main.o: In function `ZN23btDiscreteDynamicsWorlddlEPv':
C:/cygwin64/usr/local/include/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h:99: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN17btTypedConstraintdlEPv':
C:/cygwin64/usr/local/include/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h:112: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN35btSequentialImpulseConstraintSolvernwEj':
C:/cygwin64/usr/local/include/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h:112: undefined reference to `btAlignedAllocInternal(unsigned int, int)'
debug/main.o: In function `ZN35btSequentialImpulseConstraintSolverdlEPv':
C:/cygwin64/usr/local/include/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h:112: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN18btAlignedAllocatorIiLj16EE10deallocateEPi':
Makefile.Debug:77: recipe for target 'debug/HelloBullet.exe' failed
mingw32-make[1]: Leaving directory 'D:/Documents/Qt/QtBullet/build-HelloBullet-Desktop_Qt_5_2_1_MinGW_32bit-Debug'
makefile:34: recipe for target 'debug' failed
C:/cygwin64/usr/local/include/bullet/LinearMath/btAlignedAllocator.h:90: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN18btAlignedAllocatorI9btHashIntLj16EE10deallocateEPS0_':
C:/cygwin64/usr/local/include/bullet/LinearMath/btAlignedAllocator.h:90: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o: In function `ZN18btAlignedAllocatorI14btTriangleInfoLj16EE10deallocateEPS0_':
C:/cygwin64/usr/local/include/bullet/LinearMath/btAlignedAllocator.h:90: undefined reference to `btAlignedFreeInternal(void*)'
debug/main.o:main.cpp:(.rdata$_ZTV17btTypedConstraint[__ZTV17btTypedConstraint]+0x30): undefined reference to `btTypedConstraint::serialize(void*, btSerializer*) const'
collect2.exe: error: ld returned 1 exit status
mingw32-make[1]: *** [debug/HelloBullet.exe] Error 1
mingw32-make: *** [debug] Error 2
17:46:54: The process "C:\Qt\Qt5.2.1\Tools\mingw48_32\bin\mingw32-make.exe" exited with code 2.
Error while building/deploying project HelloBullet (kit: Desktop Qt 5.2.1 MinGW 32bit)
When executing step 'Make'
17:46:54: Elapsed time: 00:01.

Получается, что там тоже самое, что и на картинке.