There are 2 methodes for this:
1) You could write an engine plugin in c++ by using the plugin sdk.
2) You could use the engine sdk and call the engine from a c++ program. So the whole game is written in c++ and you just have to call the engine from c++.

Lite-C is very C++ oriented. And if you don't want to use some special c++ features which aren't supported by Lite-C, you can also use Lite-C.

Dark_Samurai