allegro_flare
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Real-time shadows in 3D pipeline
This can be implemented in OpenGL but will need to be modified to play friendly with Allegro.
http://www.opengl-tutorial.org/intermediate-tutorials/tutorial-16-shadow-mapping/
A working version has been created locally through the time honored technique of artisanal key mashing. Here's the thread: https://www.allegro.cc/forums/thread/615966
Note ks's comment recommending https://github.com/assimp/assimp for model loading.