Ahh! It works!! The camera is great now, it yaws and pitches perfectly, just need to limit it to 180 -> -180 on the pitch. There is still a problem when viewing in the negative angles, and as you move the camera closer to 0 things get weird and distorted. But the transfer over to a spherical camera point and a cartesian view plane worked fantastically

src/Ray.cpp

@@ -24,7 +24,7 @@ Ray::Ray(
 sf::Color Ray::Cast() {
 
     // Get the cartesian direction for computing
-    sf::Vector3<float> cartesian = SphereToCart(direction);
+    sf::Vector3<float> cartesian = direction;//SphereToCart(direction);
 
     // Setup the voxel step based on what direction the ray is pointing
     sf::Vector3<int> voxel_step(1, 1, 1);
@@ -47,27 +47,27 @@ sf::Color Ray::Cast() {
             fabsf((float) (1.0 / cartesian.z))
     );
 
-    //97, 25, 34 is an interesting example of the problems
+    // So the way I need to do the camera is this.
-    // Ahhh, ya know what? This is a problem with how spherical coords
+    // 1.) Setup the viewplane and then store the values
-    // work when approaching 0 on the chi axis as rotation about
+    //          - Camera origin
-    // the theta axis is completely useless. A viewing frustum will
+    //          - Resolution of the view plane X, Y
-    // be needed unfortunately
+    //          - Focal length to determine FOV
-
+    //
+    //  2.) For each draw. Get a copy of the view plane
+    //  3.) Rotate around the X axis first, left and right
+    //  4.) Then rotate alond the Y axis, up and down.
+    //  5.) Make sure to limit the camera Y Rotation to 180 and -180 degrees
+    //          - Rays will still go pas 180 for the amount of FOV the camera has!
 
     // Intersection T is the collection of the next intersection points
     // for all 3 axis XYZ.
-
-    // I think this is where the hangup is currently. It's taking the delta_t which is signed
-    // and multiplying it by the voxel_step which is also signed. On top of this. Computing the
-    // camera position by voxel coord is debug only so I need to do the math to account for the
-    // origin being anywhere inside a voxel
     intersection_t = sf::Vector3<float>(
             delta_t.x + origin.x,
             delta_t.y + origin.y,
             delta_t.z + origin.z
     );
 
-    if (pixel.x == 0){
+    if (pixel.y == 200){
         int i = 0;
         i++;
     }
@@ -97,7 +97,7 @@ sf::Color Ray::Cast() {
             }
         }
 
-        // If the voxel went out of bounds
+        // If the ray went out of bounds
         if (voxel.z >= dimensions.z) {
             return sf::Color(0, 0, 255, 50);
         }
@@ -117,9 +117,8 @@ sf::Color Ray::Cast() {
         if (voxel.z < 0) {
             return sf::Color(0, 255, 0, 50);
         }
-        // If we found a voxel
-        // Registers hit on non-zero
 
+        // If we hit a voxel
         switch (map->list[voxel.x + dimensions.x * (voxel.y + dimensions.z * voxel.z)]) {
             case 1:
                 return sf::Color::Red;
@@ -134,11 +133,7 @@ sf::Color Ray::Cast() {
             case 6:
                 return sf::Color(150, 80, 220, 200);
         }
-        //else if (map->list[voxel.x + dimensions.x * (voxel.y + dimensions.z * voxel.z)] != 0){
+
-        //
-        //		//TODO: Switch that assigns color on voxel data
-        //		return sf::Color::Red;
-        //}
         dist++;
 
 

src/RayCaster.cpp

@@ -47,36 +47,56 @@ sf::Color* RayCaster::CastRays(sf::Vector3<float> camera_direction, sf::Vector3<
     // A reference to the positive X axis as our base viewport point
     sf::Vector3f base_direction(1, 0, 0);
 
+    int view_plane_distance = 300;
+    sf::Vector3f *view_plane_vectors = new sf::Vector3f[resolution.x * resolution.y];
+
+    for (int y = -resolution.y / 2 ; y < resolution.y / 2; y++) {
+        for (int x = -resolution.x / 2; x < resolution.x / 2; x++) {
+
+            view_plane_vectors[(x + resolution.x / 2) + resolution.x * (y + resolution.y / 2)] = Normalize(sf::Vector3f(view_plane_distance, x, y));
+        }
+    }
+
     //-resolution.y / 2
     // Start the loop at the top left, scan right and work down
     for (int y = 0; y < resolution.y; y++) {
         for (int x = 0; x < resolution.x; x++) {
 
-				// The direction the final ray will point.
-				// First take a reference to the base direction to setup the viewport
-				//Vector3<float> ray_direction = new Vector3<float> (base_direction);
 
-				// New method to cast rays using the original intended Spherical coords
+            sf::Vector3f ray = view_plane_vectors[x + resolution.x * y];
-				// instead of that malarchy with converting them to cartesian from the formula
+
 
+            // Then rotate y axis, up down
+            ray = sf::Vector3f(
+                    ray.z * sin(camera_direction.y) + ray.x * cos(camera_direction.y),
+                    ray.y,
+                    ray.z * cos(camera_direction.y) - ray.x * sin(camera_direction.y)
+            );
 
-				sf::Vector3f ray_direction(
+//            // Rotate z axis, left to right.
-					camera_direction.x,
+            ray = sf::Vector3f(
-					camera_direction.y + (float)(y_increment_radians * y),
+                    ray.x * cos(camera_direction.z) - ray.y * sin(camera_direction.z),
-					camera_direction.z + (float)(x_increment_radians * x)
+                    ray.x * sin(camera_direction.z) + ray.y * cos(camera_direction.z),
+                    ray.z
             );
 
-				sf::Vector3f ray_cartesian = Normalize(SphereToCart(ray_direction));
+//            sf::Vector3f ray_direction(
+//                camera_direction.x,
+//                camera_direction.y + (float)(y_increment_radians * y),
+//                camera_direction.z + (float)(x_increment_radians * x)
+//            );
+
+            sf::Vector3f ray_cartesian = Normalize(SphereToCart(ray));
             sf::Vector3f cam_cartesian = Normalize(SphereToCart(camera_direction));
 
             if ((y == -99 || y == 0 || y == 99) && (/*x == 99 || x == 0 || */x == -99)) {
                 std::cout << "X : " << x << "\n";
                 std::cout << "Y : " << y << "\n";
-					std::cout << ray_direction.x << " : " << ray_direction.y << " : " << ray_direction.z << "\n";
+                std::cout << ray.x << " : " << ray.y << " : " << ray.z << "\n";
             }
 
             // Setup the ray
-				Ray r(map, resolution, sf::Vector2i(x, y), camera_position, ray_direction);
+            Ray r(map, resolution, sf::Vector2i(x, y), camera_position, ray);
 
             // Cast it
             sf::Color c = r.Cast();
@@ -86,6 +106,7 @@ sf::Color* RayCaster::CastRays(sf::Vector3<float> camera_direction, sf::Vector3<
         }
     }
 
+    delete view_plane_vectors;
 
     return image;
 }