How to create soft shadows like this?

I’m trying to create a realistic scene and I need objects to cast soft shadows like in the blender render below. I tried using THREE.PointLight but the effect it creates is not really shadow its just because of the light decay. Also, when I turn on castShadow of PointLight the scene goes dark, So, is it possible with any light that an object casts shadows like this?

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This question is actually a duplicate, see About light map

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