Threejs soft shadows for point light

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Is there a way to have soft shadows with PointLight in Threejs?

Like in the picture below:

soft shadows

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Yes. To have soft shadows in your scene you have to set the renderer like this:

 var renderer = new THREE.WebGLRenderer();
 renderer.shadowMap.enabled = true;
 renderer.shadowMap.type = THREE.PCFSoftShadowMap; // the default is THREE.PCFShadowMap

Source: documentation