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Sprites draw-order sorting for top-down 2D game with floors and bridges

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I am working on custom 2D engine for a game.
I am having trouble figuring out a working system for sprite drawing-order sorting for this specific game.

Game description:

  • 2D
  • Top-down perspective
  • Multiple floors
  • Bridges
  • Characters (Player characters, enemies, NPCs) move around freely. Movement is not tile based (constrained to grid).
  • Characters can be positioned and move around any Floor and move between Floors.
  • Objects (crates etc.) can be positioned on any Floor. (Not on Stairs.)
  • Floors are traversed using Staircases.
    Staircase is a "ramp" connecting 2 Floors.
    Staircase can connect 2 Floors that can be any number of Floors …

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