There is a program called MotioninJoy. It used to require extensive work because the drivers were not digitally signed, and you ran a good risk of disabling all your usb ports (which was a huge pita to fix). However, now the drivers are digitally signed, although it only works if you are connected to the internet for some reason. There is an offline version so if your internet crashes your program wont, but you have to google search for it (its not on the mij site)
The program is very simple to use, and it emulates ps1, ps2, ps3, and 360 controllers (and you can even set up your own configuration). Rumble works perfectly playing PC games that have controller support, and works with my ps2 emulator, for the most part. You simply download it, install it, click drivers, and load all drivers. Make sure your ps3 controller is plugged in though so it can find it.