build your game out of models/meshes, generate AO maps in your favourite 3d modeller (xsi, maya, max, lw, cinema), export it as a texture and combine it with the shadow map. afaik there's a "radiosity" lightmapper on the forecast page. could take only some years
There is a simpler and more efficient way to do this however. In Crysis for instance they use something screen-space ambient occlusion.
This basically entails rendering the scene's depth first, and then doing to ambient occlusion as a post process. You can find info about this on sites like gamedev.com