try a brick mate, that should do the trick.....
if u have a plastic strap(box straps), about 1 meter on it, fold in half and place the loop end between the glass and the window seal. slide it down about half a meter, and slide over to close to the door handle. then slow pull both end out off the door....if u do it right the loop with latch onto the release lever and u should be able to open the door.........may take awhile if u don't know what ur doin.
also u could try other car key, hyuandai door locks are not very complicated, so u may find that other car keys may unlock it.