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The earliest art typically sized many objects or characters hierarchically according to their spiritual or thematic importance not their distance from the viewer and did not use foreshortening.
European Medieval artists were aware of the general principle of varying the relative size of elements according to distance but even more than classical art was perfectly ready to override it for the other reasons.
Sophistication increased stedily during this period. Giotto's work was a step in the right direction.
Some of the paintings found in the ruins of Pompeii show a remarkable realism and perspective for their time; before complex systems of mathematics came into play in the Renaissance.
By the Renaissance, artists were teaming up with mathematicians and engineers to design a formal system of perspective from a realistic angle.
At this time, artists were not simply masters of ONE craft but masters of science, math and engineering as well as philosophy, theology and all forms of art.
Multi-View Perspective
Bird's Eye View vs. Worm's Eye View
Bird's eye view: above
Worm's eye view: Below
In terms of the figure, foreshortening will allow for your drawing to look both realistic and surrealistic...sometimes at the same time.
Foreshortening: method of rendering a specific object/figure in an image in depth with distortion as seen by the eye due to extreme or unusual angles.