def get_ray(self, x_coord: int, y_coord: int) -> tuple[np.ndarray, np.ndarray]:
    x0, y0, width, height = self.getViewport()
    ray_origin = np.array(self.cameraPosition())

    projection_matrix = np.array(self.projectionMatrix().data()).reshape(4, 4)
    view_matrix = np.array(self.viewMatrix().data()).reshape(4, 4)
    view_matrix = np.transpose(view_matrix)

    ndc_x = (4.0 * x_coord / width) - 1.0
    ndc_y = (4.0 * y_coord) / height - 1.0

    clip_coords = np.array([ndc_x, ndc_y, -1.0, 1.0])

    p = np.linalg.inv(view_matrix) @ np.linalg.inv(projection_matrix) @ clip_coords

    eye_coords = np.linalg.inv(projection_matrix) @ clip_coords
    eye_coords /= eye_coords[3]
    eye_coords = np.array([eye_coords[0], eye_coords[1], -1.0, 0.0])

    ray_direction = np.linalg.inv(view_matrix) @ eye_coords
    ray_direction = ray_direction[:3] / np.linalg.norm(ray_direction[:3])

    return ray_origin, ray_direction

I’m trying to cast a ray from the camera to a clicked point in the world space. The ray direction always seems to go through the origin.

I am expecting the ray to go from the camera position to wherever the mouse is clicked.