Doom uses 2D maps and uses a raycasting engine to display them in faux 3D. It's basically a top-down shooter displayed in a different perspective (the map screen shows how the game looks internally).
Maps are cut up to sectors, each sector can have different textures, height, floor textures, and lightning values. Objects (monsters etc) can have a Z height but this is only used for drawing them, you can't have monsters under/over other monsters. Since the maps are essentially 2D, you can't have two sectors intersecting either.
Later raycasting doom clones like Duke 3D got around the problem by teleporting you to another map sector when a room-under-room happened. For ex. on the first stage at the start, the rooftop is somewhere else on the map, and when you fall down the duct, you get teleported mid-fall to another sector.
Even later games like Blood and Redneck Rampage got even crazier, I don't know what those did to get picrel effect.
>>715011362Is this a port? I remember being able to shoot rockets and have it explode under monsters and still kill them. It's how the Doom 2 final boss worked. If you had a cacodemon flying really far up high, you could not run under it despite there being room. And you could chainsaw it to death despite it flying 40 feet above you.
You can also trigger switches when you are off height. First level in Doom 2, in the room where the platform with the switches goes down into the ground, you can still press it despite it being underground.