I've spent more time than I should trying to get my ray picking program working. I'm pretty convinced my math is solid with respect to line plane intersection, but I believe the problem lies with the changing of the mouse screen touch into 3D world space.

Heres my code:

    public void passTouchEvents(MotionEvent e){


        int[] viewport = {0,0,viewportWidth,viewportHeight};
        float x = e.getX(), y = viewportHeight - e.getY();

        float[] pos1 = new float[4];
        float[] pos2 = new float[4];
        GLU.gluUnProject(   x, y, 0.0f,
                            mViewMatrix, 0,
                            mProjectionMatrix, 0,
                            viewport, 0,
                            pos1, 0);


        GLU.gluUnProject(   x, y, 1.0f,
                            mViewMatrix, 0,
                            mProjectionMatrix, 0,
                            viewport, 0,
                            pos2, 0);
    }

Just as a reference I've tried transforming the coordinates 0,0,0 and got an offset. It would be appreciated if you would answer using OpenGL ES 2.0 code.