This seems to work, but I couldn't get the limbs to cast a shadow at all without using the shader.
set display mode desktop width(),desktop height(),32
sync on: sync rate 60 : sync
autocam off
position camera 0, 200, -350
point camera 0, 50, 0
hide light 0
make light 1
set point light 1,0,700,-100
set light range 1,1000
set shadow position 1,0,0,0
make object cube 1, 100
position object 1, 0, 200, 0
make object cube 2, 20
make mesh from object 1, 2
add limb 1, 1, 1
add limb 1, 2, 1
offset limb 1, 1, 80, -80, 0
offset limb 1, 2, -80, -80, 0
delete mesh 1
delete object 2
set shadow shading on 1,-1,1000,1
color object 1, rgb(0, 255, 0)
make object plain 3, 800, 800
xrotate object 3, 90
backdrop on
dx# = 0.0
repeat
inc dx#, 0.5
set cursor 0,0
print screen fps()
`offset limb 1, 1, 80+dx#, -80, 0
rotate limb 1, 1, 0, 0, dx#
sync
until spacekey()
end