Grand Theft Auto: The Complete History - SGR https://www.youtube.com/watch?v=vX0Fk8ZOXXA had a funny analogy - imagine a sprite fighting game (or just play Street Fighter 2) with 2D background but perspective corrected floor https://sf2platinum.wordpress.com/ Its a neat case of pseudo 3D with constant Z planes like in Doom, no need for division per pixel to fix perspective means fast.