Try lua: http://www.lua.org/
For using C++ classes in lua you can use:
To generate binding use tolua++: http://www.codenix.com/~tolua/
It takes a cleaned up header as input and outputs a c file that does the hard work. Easy, nice and a pleasure to work with.
For using Lua objects in C++ I'd take the approach of writing a generic Proxy object with methods like (field, setField, callMethod, methods, fields).
If you want a dll you could have the .lua as a resource (in Windows, I don't know what could be a suitable equivalent for Linux) and on your DllMain initialize your proxy object with the lua code.
The c++ code can then use the proxy object to call the lua code, with maybe a few introspection methods in the proxy to make this task easier.
You could just reuse the proxy object for every lua library you want to write, just changing the lua code provided to it.
