Pokopom is an imput plugin that supports many emulators like PCSX, PCSX2, PJ64,
nullDC, Chankast, etc. Started as a XInput only plugin for X360 controllers, but
now it supports linux too (also for X360 controllers) though GUI less. Supports
rumble, though it depends on emulator/device.

 

DualShock3 are supported on Windows by using Scarlet.Crush's driver:
http://tiny.cc/msp11w

 

Also for ePSXe, Shark would be needed:
Shark: http://ngemu.com/threads/epsxe-shark.142361/
Shark Enhanced: http://ngemu.com/threads/epsxe-shark-enhanced-by-tapeq.154634/

File contains both 32bit and 64bit versions.