This was really something. What did you write this in? Are you planning to open source it? I saw what you did there with the height maps. Very clever, ashamed I didn't think of it. Brilliant way to make use of the 3D engine and still keep the faux 2D appearance.
P.S. Are you using flares for the colored lighting? I've been trying this but my fake 3D lighting with flares doesn't even come close to this appearance. I'm also using an expensive stylized shader for the cross hatching of shadows and it still doesn't look as good. Your effort truly captures the original crawlers in both spirit and visuals.