There used to be quite a few Turbo Pascal "voxel"-heightmap demos floating around.
Blade Runner was surprising: It used voxels for characters. https://en.wikipedia.org/wiki/Blade_Runner_(1997_video_game)
The technique seemed to fall out of favor for a while due to the polygon GPU boom (I guess I missed Delta Force) until Outcast in 1999. (Back to heightmap terrains.) https://en.wikipedia.org/wiki/Outcast_(video_game)