It sounds like you need to break a window.
I don't know of any way to get into the car if the drivers side door is not working from the outside.
If I remember, the other doors won't unlock without power even by pulling on the inside door handle. I could be wrong, but I remember this being the case when my brothers X5 died. He couldn't open any doors from the inside even once he got in.
One would hope you could figure out a way to open the hood so you could put power to the vehicle using the jump points.
It's a horrible video, but this may help?
https://www.youtube.com/watch?v=veh1eGTWZ7M