Is this already implemented for 6D joints?

Only for wheels. For 6D joints you can just apply torque directly. But we'll add motors for 6D joints also in one of the next updates.

Any plans for cloth and softbody physics soon? There were working prototypes it wouldnot be so hard?
http://www.youtube.com/watch?v=HMKsdos0g44

No, it would in fact be rather easy - so easy that we're hoping that other people implement that before we have to do it. Our engine plans for the next time are the long-overdue OpenAL library, then the final shooter template, and after that, various feature improvements like cloth and softbody physics. If no user has done that inbetween.

I hope somebody will do it soon (softbody I meant).
Maybe somebody has a solution or ready plugin, pls post me.
I red about FastSLM and bulletphysics - very intresting but I do not now how to use it in 3dgs.

>>>>> some help needed <<<<<<

And sorry for my bad enlish