Thank you to everybody for your help...
I really appreciate your advice, but I have to do it as my thesis and I have to do what my supervisor want...
He told me that we can work on it one or two years ...
In this case what do you think about my questions?
Which engine is better if I want to work in c++?
Isn't there a good engine that have c++ as scripting language?
At the moment we are looking to these engine:
Irrlicht Ogre OSG UDK Quest3d C4 Torque 3dGameStudio Unity(He doesn't want it because it isn't in c++) VegaPrime
I think we will chose between them
As geon states, C++ is not really a "scripting language", although what you should say is interpreted and/or dynamic, again which C++ isn't. Scripts are small, usually interpreted, blocks of code.
As for the solution to use, I don't think you need to agonize over it; most any engine above will allow you to get a crane simulator done. I'm assuming you will not have time to push the limits of any package in your project, since you are starting from ground zero.
Also, determine whether you want a renderer only, or a full engine. Given your "noobness" and your supervisors inexperience (since he should be able to state which engine to use), I would look for an approachable API and a good, broad online support community.
For renderers, I would limit you to OGRE, Irrlicht and Horde3D.
For engine, C4 and Torque are your front-runners.
The difference is that with an engine, many things are integrated, like networking and such. While that may sound desirable, there's a generally growing learning curve with each addition. If your requirements, for example for the UI, to the simulator is low, these generic packages may add unnecessarily to the learning curve and lessen your chances of proper completion.