TL;DR -- in my first simple software voxel raycaster, I cannot get camera rotations to work, seemingly correct matrices notwithstanding. The result is skewed: like a flat rendering, correctly rotated, however distorted and without depth. (While axis-aligned ie. unrotated, depth and parallax are as expected.) I'm trying to write a simple voxel raycaster as a learning exercise. This is purely CPU based for now until I figure out how things work exactly -- fow now, OpenGL is just (ab)used to blit the generated bitmap to the screen as often as possible. Now I have gotten to the point where a perspective-projection camera can move through the world and I can render (mostly, minus some artifacts that need investigation) perspective-correct 3-dimensional views of the "world", which is basically empty but contains a voxel cube of the Stanford Bunny. So I have a camera that I can move up and down, strafe left and right and "walk forward/backward" -- all axis-aligned so far, no camera rotations. Herein lies my problem. Screenshot #1: correct depth when the camera is still strictly axis-aligned, ie. un-rotated. Now I have for a few days been trying to get rotation to work. The basic logic and theory behind matrices and 3D rotations, in theory, is very clear to me. Yet I have only ever achieved a "2.5 rendering" when the camera rotates... fish-eyey, bit like in Google Streetview: even though I have a volumetric world representation, it seems --no matter what I try-- like I would first create a rendering from the "front view", then rotate that flat rendering according to camera rotation. Needless to say, I'm by now aware that rotating rays is not particularly necessary and error-prone. Still, in my most recent setup, with the most simplified raycast ray-position-and-direction algorithm possible, my rotation still produces the same fish-eyey flat-render-rotated style looks: Screenshot #2: camera "rotated to the right by 39 degrees" -- note how the blue-shaded left-hand side of the cube from screen #2 is not visible in this rotation, yet by now "it really should"! Now of course I'm aware of this: in a simple axis-aligned-no-rotation-setup like I had in the beginning, the ray simply traverses in small steps the positive z-direction, diverging to the left or right and top or bottom only depending on pixel position and projection matrix. As I "rotate the camera to the right or left" -- ie I rotate it around the Y-axis -- those very steps should be simply transformed by the proper rotation matrix, right? So for forward-traversal the Z-step gets a bit smaller the more the cam rotates, offset by an "increase" in the X-step. Yet for the pixel-position-based horizontal+vertical-divergence, increasing fractions of the x-step need to be "added" to the z-step. Somehow, none of my many matrices that I experimented with, nor my experiments with matrix-less hardcoded verbose sin/cos calculations really get this part right. Here's my basic per-ray pre-traversal algorithm -- syntax in Go, but take it as pseudocode: fx and fy: pixel positions x and y rayPos: vec3 for the ray starting position in world-space (calculated as below) rayDir: vec3 for the xyz-steps to be added to rayPos in each step during ray traversal rayStep: a temporary vec3 camPos: vec3 for the camera position in world space camRad: vec3 for camera rotation in radians pmat: typical perspective projection matrix The algorithm / pseudocode: // 1: rayPos is for now "this pixel, as a vector on the view plane in 3d, at The Origin" rayPos.X, rayPos.Y, rayPos.Z = ((fx / width) - 0.5), ((fy / height) - 0.5), 0 // 2: rotate around Y axis depending on cam rotation. No prob since view plane still at Origin 0,0,0 rayPos.MultMat(num.NewDmat4RotationY(camRad.Y)) // 3: a temp vec3. planeDist is -0.15 or some such -- fov-based dist of view plane from eye and also the non-normalized, "in axis-aligned world" traversal step size "forward into the screen" rayStep.X, rayStep.Y, rayStep.Z = 0, 0, planeDist // 4: rotate this too -- 0,zstep should become some meaningful xzstep,xzstep rayStep.MultMat(num.NewDmat4RotationY(CamRad.Y)) // set up direction vector from still-origin-based-ray-position-off-rotated-view-plane plus rotated-zstep-vector rayDir.X, rayDir.Y, rayDir.Z = -rayPos.X - me.rayStep.X, -rayPos.Y, rayPos.Z + rayStep.Z // perspective projection rayDir.Normalize() rayDir.MultMat(pmat) // before traversal, the ray starting position has to be transformed from origin-relative to campos-relative rayPos.Add(camPos) I'm skipping the traversal and sampling parts -- as per screens #1 through #3, those are "basically mostly correct" (though not pretty) -- when axis-aligned / unrotated.