I did this animation in 2003 using LightWave. LW has this awesome halftone shader that allows you to shade surfaces with dots, line or hatches. This is the line version. I love that it looks like a woodcut, which is the look that I try to give my ink drawings. The light dark areas, besides obeying standard shadows and specular highlights, are primarily based on the diffuse setting. Add the outline setting on a per-object basis, and you get an animation with an engraving-like look.
On the downside, great care has to be taken to ensure that moire patterns are not generated on the majority of devices an animation with this techniqe is played on. Scroll the window up and down and you’ll probably see some moire pattern flickering.