Which engine is best ?
I've finded some engines : Ogre, Irrlicht and direct rendering from opengles (convert .obj files into buffer and rendering it).
I've compiled Ogre - CeGUI works very ugly on iPhone... And Ogre has many-many files :)
I need just rotate, zoom and object picking for static objects. Which method/engine is better ?
And, for example, when i use Ogre - can I use antialiasing ? When I have rendering directly by glDrawArrays, i can use software AA (for example, jitter method). Can this some of engines?
I suggest you take a look at http://isgl3d.com/. It is written in Objective-C, simple, compact and is appropriate for your needs.
There is also Cocos3d (an extension to cocos2d which can handles simple 3d things) with no physics and collision detection but I prefer isgl3d.