A long time ago, I found a website with a description of how the 2.5d engine of GTA works. Would anybody here maybe remember where that was posted and could provide an URL?
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.
Not quite what you are looking for, but if you like long-form programming videos, javidx9 constructs a similar game engine in an hour or so in "Top Down City Based Car Crime Game": https://www.youtube.com/watch?v=mD6b_hP17WI
