okay, looking like working... :-)
now, question about upVector

when i add
Code:
  
NewtonJoint* m_upVector;
m_upVector = NewtonConstraintCreateUpVector (nworld, vector(0,1,0), MH.NewtonChar);

, model falls down through floor...

1st prize: Lite-C and Newton 2.17 by Vasilenko Vitaliy

Newton2 videos: http://tinyurl.com/NewtonVideos
LiteC+Newton2 discussion: http://tinyurl.com/NewtonWrapperDiscussion
Latest LiteC+Newton2 version(v23, from 29.10.2009): http://depositfiles.com/files/ae1l0tpro