Ok, I installed Red Baron 3D, runs okay under WinXP, I also installed ReLoad patch which enables TrackIR. It seems that TrackIR works fine too but the problem is that the game does not recognize my joystick. I am using Sitek X52 PRO and there is no other joystick connected except TrackIR. I just can't find any option to configure my joystick. Is there any patch that makes joysticks work or am I missing something?

I would try uninstalling trackir and any 3rd party patches and just see if the base game will recognise the joystick at all.

I uninstalled the game, re-installed it, no patch installed, No, it is not working. Strangely, my racing is working with that game though.

As to configuring your joystick, that should be a program that comes from the joystick manufacturer.
For RB3D, the buttons settings are hardwired into the game. But since there are also keyboard settings for the same functions, you should be able to configure your JS buttons to correspond to the keyboard layout.
Does RB3D see your JS when you do not use ReLoad to start the game? If it doesn't, can you try a different JS? If it see's the other JS, then the problem is the JS, if it doesn't see the other JS, then it is either the game or maybe a setting in your system.