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A set of files which I hope are usable by others using ESP-IDF v5.3.0

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(i80_controller)

dependencies.lock

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+dependencies:
+  idf:
+    source:
+      type: idf
+    version: 5.3.0
+direct_dependencies:
+- idf
+manifest_hash: 620bb73887c520f756e6770a2a31cc1ad0837429534c5bc6dd432791ad7c3df6
+target: esp32s3
+version: 2.0.0

main/CMakeLists.txt

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+
+idf_component_register(
+    SRCS 
+        "i80_lcd_main.cpp"
+        "ShowWorld.cpp"
+        "ClipBound.cpp"
+        "CameraWork.cpp"
+        "CheckTriangles.cpp"
+        "ShowError.cpp"
+        "TriangleQueues.cpp" 
+        "wr_gpio.cpp" 
+        "ChunkChooser.cpp"
+        "RasteriseBox.cpp"
+        "lcd_setup.c"
+        "ParseWorld.cpp"
+        "FindHitFace.cpp"  
+        "TimeTracker.cpp"
+        "EventManager.cpp"
+
+    INCLUDE_DIRS
+        "."
+        "includes"
+        "World"
+    REQUIRES esp_partition esp_lcd esp_mm esp_timer
+        )
+
+
+
+
+

main/CameraWork.cpp

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+#include <math.h>
+
+#include "geometry.h"
+#include "CameraWork.h"
+
+
+void make_camera(const Vec3f direction, const Vec3f cameraPosition, Matrix44f& worldToCamera)
+{
+    // Build the view matrix as per https://medium.com/@carmencincotti/lets-look-at-magic-lookat-matrices-c77e53ebdf78
+    // This has worked with basic geometry functions but converted to glm to ensure that it works with the rest of 3D code
+
+    Vec3f forwardvector = (-direction).normalize();
+
+    const Vec3f tempup = { 0,1,0 };
+    Vec3f rightvector = (tempup.crossProduct(forwardvector)).normalize();
+
+    Vec3f upvector = (forwardvector.crossProduct(rightvector)).normalize();
+
+    Vec3f translate;
+    translate.x = rightvector.dotProduct(cameraPosition);
+    translate.y = upvector.dotProduct(cameraPosition);
+    translate.z = forwardvector.dotProduct(cameraPosition);
+
+    Matrix44f LookAt = {
+            rightvector.x,rightvector.y,rightvector.z,-translate.x,
+            upvector.x,upvector.y,upvector.z,-translate.y,
+            forwardvector.x,forwardvector.y,forwardvector.z,-translate.z,
+            0,0,0,1 };
+
+    worldToCamera = LookAt.transposed();
+} // End of make_camera()
+
+// Make a perspective projection matrix, simplified from glm opensource library
+// so that can be used without glm library
+void make_perspective(
+    float const fovy, // must be in radians
+    float const aspect,
+    float const zNear,
+    float const zFar,
+    Matrix44f& Result
+)
+{
+    float tanHalfFovy = tan(fovy / 2.0f);
+
+    Result[0][0] = 1.0f / (aspect * tanHalfFovy);
+    Result[1][1] = 1.0f / (tanHalfFovy);
+    Result[2][2] = -(zFar + zNear) / (zFar - zNear);
+    Result[2][3] = -1.0f;
+    Result[3][2] = -(2.0f * zFar * zNear) / (zFar - zNear);
+} // End of make_perspective
+