Space Hulk (1993) - Question about ray casting & graphics

[Cherno]

I was always intrigued by Space Hulk ever since I first played it on the Amiga in the ealy-mid 90s. The music and graphics swe excellent, and even though the viewports were small the way the characters smoothly moved through the dark hallways and rooms looked fantastic. I few years ago I first read this short bit from the game's manual, written by Andoy Jones, who was responsible for most of the graphics:

My first games were arcade conversions, such as Out Run on the
Amstrad CPC. Now I prefer to work on original products as they
hold more of a challenge for an artist. With Space Hulk I was given
quite a bit of freedom with the design. Obviously the Space
Marines and Genestealeis had to look right, but when it came to
the Hulk interiors the only limitations were technical, The idea of
ray-tracing the Hulks come up quite eariy on in the project. Initially,
Electronic Arts weren't too keen on the idea and Nick was far from
convinced that it would work, We stuck with it and worked out a
system for getting the rondeied frames into the game that meant the
computer did most of the work. The difference it made was
fantastic; a new set of walls could be in the game in 12 hours
instead of two weeks!

Ray-tracing, interesting. The environments indeed have a rendered look to them.

I wonder if anyone has got any kind of information regarding this specific technique as implemented in the game?

Edit. Upon further though, I assume what they mean by letting the computer do most of the work" is what we see in Liberation (Captive II), were you may let the computer render environment graphics from all kinds of angles to use in the game to increase the variety. In Space Hulk, they probably created and textured a wall or floor in 3d and then rendered it from certain camera perspectives to give the illusion of smooth moving and turning. The resulting image frames where then used in the game.