New lower price for Axon II ($78) and Axon Mote ($58).
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Someone else coded one (python): http://principialabs.com/joystick-control-of-a-servo/. On another note, it's probably easier to program it PC side than on the NXT... your computer has at least 100x the processing power and 10000x the memory.
A good multipurpose/multiplatform utility that I use is RoboRealm which works with Lego Mindstorms(Both RCX and NXT), you can get a free 30-day trial on it.http://www.roborealm.com/index.phpBut you could also try NQC(I use it too), it has a direct control feature built-in(And its free):http://bricxcc.sourceforge.net/
I don't know any utility that you could just drop in, but writing code for a joystick on the PC (yes I know you said you weren't interested) is really simple and well documented and might be the best solution.
BrixCC (the IDE for NXC) has a utility for controlling the NXT...Go into BrixCC (make sure the brick is turned on)--->Tools--->Brick Joystick or RemoteEither one will do
You could still try RoboRealm and give their free trial a whirl, it does support joysticks and communicating with your NXT. That's 'bout the closest utility for your purposes.Other than that you could just try googling "Controlling an NXT with C", and you'll be very happy to know that Microsoft offers a free IDE(Integrated Dev Enviroment) for C++, called Visual Studio C++, which is very similar to NXC.
You could also use LabView. Here's a link on monitoring a joystick or a mouse using LabView. In addition you can configure it to transmit/receive serial data over com ports pretty easily. I understand you can also use it for Bluetooth communication, but I haven't worked with it yet. Here's a link to get you started with Bluetooth.
I figured as much. Thats why it wasn't my first suggestion . Although I've been playing with LabView (haven't done any NXT or stuff myself) and I'm liking it a lot so far.