To have 3D Invigorator objects interact with the After Effects comp lights, you have to have first go to the Effect Controls panel where you applied 3D Invigorator, and turn on the "Use Comp Lights" setting. Then, when you create the light in AFter Effects, be sure to check the "Casts Shadows" setting. Next, create the objects in 3D Invigorator to catch the shadow, and to catch the shadow. So for example, if you need to have text cast shadows onto a wall, position your text in the front, and place a Plane behind the text to catch the shadow. If you need to have a texture map on the wall, you can apply a Layer Map onto the wall. Or if you like just the shadow to show up, you can apply a "Shadow Catcher" material onto the wall.
Afterwards, set up the light in the right angle, and you'll be able to see the shadows casted onto the wall surface.