The original Quake used a mix of pre-baked lightmaps and dynamic lights, just like the original Thief; Quake 2 (the OpenGL renderer, anyway) added character shadows that’d react to dynamic lights, so in some cases Quake 2 actually got pretty close to the goalpost.
Great game. Thief and Descent were pretty challenging compared to quake.
Well, after John Romero left id software in an disgruntled way during the development of Quake, id became creatively bankrupt, and their games were just tech demos for John Carmack's latest cutting edge 3D engine, wrapped in a half-baked "whatever, this is gonna sell" storyline and gameplay.
"The core technique for rendering texture mapped polygons with decent precomputed shadows is very similar (identical?) to Quake. Thief used light mapping and a surface cache to store the lit surfaces. I refer you to Mike Abrash's articles."
Mike Abrash is a cool guy, not as well known as Carmack but had as big, if not bigger, impact on the gaming world. Got to sit in a panel with him and Carmack once at GDC to talk about networking stuff (I wasn't in the actual panel, but it was a tiny room with about 20 people plus the panelist)
I could be wrong but, AFAIK, Doom 3 was the first game with real time shadows and dinamic lighting and every game before that employed various tricks that simulated those instead.