It's software rendering to a texture that is scaled to the screen size by VDP1.
There are 3 landscape textures in the cd folder but the voxel demo only uses one, so I've toyed with it to make it change the texture by pressing the R shoulder button.
Just look in the samples folder, I started from there, modify the code and see how it works. the whole thing is also documented here: Jo Engine: File List
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