We present the evaluation of a haptic rendering algorithm based on the Voxmap-Pointshell algorithm which was integrated in the physics engine Bullet. Our algorithm uses voxelized distance fields and multi-resolution point-sampled representations and it is able to compute collision forces between arbitrary complex bodies at 1 kHz. Current experiments show that the integrated algorithm outperforms standard collision detection engines in Bullet in terms of speed if high resolutions and accuracies are required, enabling physically more realistic behaviors.