However, static lighting alone is rather limited. Crystal Space also supports dynamic lighting. These are of course, slower since the shadow generation has to be done at run-time. Otherwise, they use the same process. The dynamic lights update the lightmaps which have been calculated by the static lights.
Fog is expensive to do right.
You need to account for fog density, fog color and the depth of the object in the fog. Very recent versions of Crystal Space support fog which is correct in all those respects. Below are screenshots from the latest Beta which supports volumetric fog. The fog can be colored and is depth-correct. Color Well, color is everything.