Ok, I did find a solution to play it using WineD3D for Windows here:
[RESOLVED] star trek new worlds: runtime error

But after I bought a nvidia GTX1660s, wined3d solution will show a black screen when any mission loads. So I wonder, is it possible to make dgvoodoo2 working for Star Trek New Worlds?

How to install:
1.Install game in a winxp VirtualMachine, and copy game folder to your system.
2.Copy Movies folder in the cdrom to any of your harddrive, e.g. D:\.
3.Create a registry at [HKEY_LOCAL_MACHINE\SOFTWARE\Wow6432Node\Interplay\StarTrekNewWorlds\1.0.0]
"CDRom"="D:\\"
(Change D: to where you placed Movies folder.)

How to play
1.Copy ddraw.dll, d3dimm.dll, dgvoodoo.conf from dgvoodoo package to game folder.
2.Start STNW.exe
3.Press Esc to skip intro movies, but I do recommend watching for once. It's quite good!
4.At main screen, press Singleplayer Campaign.
5.Choose any mission, but only a runtime error dialog will be shown. (It will show even you don't use wrapper.)

It seems all ddraw to directx wrapper will display this error. I have a debug log attached.