Implement PCSS (Percentage Closer Soft Shadows)
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mchaptel commented
In order to have nice smooth shadows, we should look into ESM + PCSS shadows, to finally remove all remaining shadow map pixellation artefacts and diffuse shadows based on distance from occluder.
This seems like a nice reference
https://developer.download.nvidia.com/presentations/2008/GDC/GDC08_SoftShadowMapping.pdf