Basically the math is quite the same as you have to translate your characters/ pixels to the screen properly and do some z-buffer stuff. I saved a Console Rendering Engine some time ago on GitHub. It already implements some of the stuff you need and for the ASCII-Art, have a look at what these guy did on YouTube. I had a look at the source code and it seemed to be pretty easy to get it running.

I don't know about youre desired rendering API, using the console for example lets you do 8 bit coloring straightforward, using something like OpenGL this will become a bit more tricky.

Collision detection is kind of a physics system, however there is no real how-to for this. Anything else is related to your gameplay code

It depends what you mean when you say ASCII art engine, i know some games just do it in the shader and use traditonal engines. you could program exclusivly in the console the way One Lone Coder does it:

You could check out Real Time Collision Detection for learning some of the base collision algorithms:

https://realtimecollisiondetection.net/

There is also this github from a different book that has some useful algorithms:

https://github.com/gszauer/GamePhysicsCookbook

For Basic Path Finding, check out the book programming game AI by example, the source code has been put on github here is the specific folder with algorithms relating to graphs:

https://github.com/wangchen/Programming-Game-AI-by-Example-src/tree/master/Common/Graph