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How to bake a non-directiobal light map?

Musetatron
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Musetatron polycounter lvl 8
Lit map is bake from lighting the environment with light so the have "light side that facing the light source" and the opposite "shaded side"
But when I want to make Lit map for human character I don't want directional light but i want some kind of "form defining light" like this picture :

ombres04_hogarth.jpg

It's from Hogarth. He said in one of his book that he just shade the form of muscle instead of shading realistic ray cast directional lighting.
So, Is there some kind of baker that does something similar to this shading? Like, somehow the baker can find the concavity of the form between the muscle then work up to the most concave area of each form and generate the light I described?

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