Actually the author - Christopher Lampton, has an earlier book just on the topic of this games style. It's called "Gardens of Imagination, Programming 3d maze games" https://archive.org/details/gardensofimagina00lamp
I love vintage game programming books. Just finished "Gardens of Imagination" by Christopher Lampton, and "The Black Art of 3D Game Programming" by Andre Lamothe. Lots of good info in both for my raycaster pet project.