游戏编程里面有哪些经典或者很酷的算法？
年后就要去xx公司做游戏开发惹。。有哪镇得住场游戏开发用得到的牛逼的算法没呢，比如A*寻路、指尖计算啥的~。~多多指教
==>补充：：有米有paper或者book呢，高大上的最好
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==>补充：：有米有paper或者book呢，高大上的最好
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21 个回答
我挑一些有趣的算法，希望尽量提及相关算法在游戏中的应用。
光栅化
全局光照
阴影
场景管理
动画／物理
碰撞测试
人工智能
（中午吃饭时间写不完，后补）
参考
[1] Bresenham, Jack E. "Algorithm for computer control of a digital plotter." IBM Systems journal 4.1 (1965): 25-30. http://www.cse.iitb.ac.in/~paragc/teaching/2011/cs475/papers/bresenham_line.pdf
[2] Bresenham, Jack. "A linear algorithm for incremental digital display of circular arcs." Communications of the ACM 20.2 (1977): 100-106. http://www.cse.iitb.ac.in/~paragc/teaching/2014/cs475/papers/bresenham_circle.pdf
[3] Catmull, Ed, and Alvy Ray Smith. "3-D transformations of images in scanline order." ACM SIGGRAPH Computer Graphics. Vol. 14. No. 3. ACM, 1980. http://alvyray.com/Papers/CG/2pass80.pdf
[4] Pineda, Juan. "A parallel algorithm for polygon rasterization." ACM SIGGRAPH Computer Graphics. Vol. 22. No. 4. ACM, 1988. http://people.csail.mit.edu/ericchan/bib/pdf/p17-pineda.pdf
[5] Sloan, Peter-Pike, Jan Kautz, and John Snyder. "Precomputed radiance transfer for real-time rendering in dynamic, low-frequency lighting environments." ACM Transactions on Graphics (TOG). Vol. 21. No. 3. ACM, 2002. http://www1.cs.columbia.edu/~ravir/6998/papers/p527-sloan.pdf
[6] Chen, Hao, and Xinguo Liu. "Lighting and material of Halo 3." ACM SIGGRAPH 2008 Games. ACM, 2008. http://developer.amd.com/wordpress/media/2012/10/S2008-Chen-Lighting_and_Material_of_Halo3.pdf
[7] Mittring, Martin. "Finding next gen: Cryengine 2." ACM SIGGRAPH 2007 courses. ACM, 2007. http://developer.amd.com/wordpress/media/2012/10/Chapter8-Mittring-Finding_NextGen_CryEngine2.pdf
[8] Ritschel, Tobias, Thorsten Grosch, and Hans-Peter Seidel. "Approximating dynamic global illumination in image space." Proceedings of the 2009 symposium on Interactive 3D graphics and games. ACM, 2009. https://people.mpi-inf.mpg.de/~ritschel/Papers/SSDO.pdf
[9] Kaplanyan, Anton. "Light propagation volumes in cryengine 3." ACM SIGGRAPH Courses 7 (2009): 2. http://www.crytek.com/download/Light_Propagation_Volumes.pdf
[10] Kaplanyan, Anton, and Carsten Dachsbacher. "Cascaded light propagation volumes for real-time indirect illumination." Proceedings of the 2010 ACM SIGGRAPH symposium on Interactive 3D Graphics and Games. ACM, 2010. http://www.vis.uni-stuttgart.de/~dachsbcn/download/lpv.pdf
[11] Crassin, Cyril, et al. "Interactive indirect illumination using voxel cone tracing." Computer Graphics Forum. Vol. 30. No. 7. Blackwell Publishing Ltd, 2011. https://research.nvidia.com/sites/default/files/publications/GIVoxels-pg2011-authors.pdf
[12] Crow, Franklin C. "Shadow algorithms for computer graphics." ACM SIGGRAPH Computer Graphics. Vol. 11. No. 2. ACM, 1977. http://excelsior.biosci.ohio-state.edu/~carlson/history/PDFs/crow-shadows.pdf
[13] Heidmann, Tim. "Real shadows, real time." Iris Universe 18 (1991): 28-31.
[14] Carmack, John, "e-mail to Mark Kilgard on Shadow Volume", 23 May 2000. http://web.archive.org/web/20090127020935/http://developer.nvidia.com/attach/6832
[15] Zhang, Fan, et al. "Parallel-split shadow maps for large-scale virtual environments." Proceedings of the 2006 ACM international conference on Virtual reality continuum and its applications. ACM, 2006.
[16] Zhang, Fan, Hanqiu Sun, and Oskari Nyman. "Parallel-split shadow maps on programmable gpus." GPU Gems 3 (2007): 203-237. GPU Gems 3 - Chapter 10. Parallel-Split Shadow Maps on Programmable GPUs
[17] Dimitrov, Rouslan. "Cascaded shadow maps." Developer Documentation, NVIDIA Corp (2007). http://www.cse.chalmers.se/edu/year/2011/course/TDA361/Advanced%20Computer%20Graphics/cascaded_shadow_maps.pdf
[18] Donnelly, William, and Andrew Lauritzen. "Variance shadow maps." Proceedings of the 2006 symposium on Interactive 3D graphics and games. ACM, 2006. http://www.punkuser.net/vsm/vsm_paper.pdf
光栅化
- Bresenham's line algorithm [1]：经典的绘画直线算法，后来还可以稍作修改用于绘画圆弧[2]，都不用三角函数或除数，只需用整数加法、减法和乘法。
- Perspective-Correct Texture Mapping [3]：透视正确的光栅化纹理贴图算法是1980才出现的。第一代Quake引擎引入后，才开始支持不垂直的墙、不水平的地面天花。
（图片来自维基百科）
- Polygon Rasterization with Edge Function [4]：Bresenham算法如果用来画多边形，两个多边形的共边会被重绘。后来发明了使用简单的edge function去解决这个问题，而且适合并行的硬件实现。现在的GPU都是使用这个算法。
全局光照
- Precomputed Radiance Transfer (PRT) with Spherical Harmonics（SH）[5]：储存静态环境对于各个方向光源的漫反射数据，可以实现动态低频光源的全局光照效果。这种表示方式非常神奇。Halo 3也使用到这种技术[6]。
- Screen-space Ambient Occlusion （SSAO）[7]：Crytek提出的首个屏幕空间环境光遮蔽算法，之后引来大量的研究及改进算法。也有用类似的概念去做近距离的反射，如SSDO[8]。
- Light Propagation Volume （LPV）[9]：Crytek提出的首个动态全局光照算法，不需要预计算。但要在体积数据中计算传播，性能较慢，所以之后再优化成 Cascaded LPV [10]。
- Voxel Cone Tracing [11]：也是不需要预计算的动态全局光照算法。把场景动态生成层阶式的体素数据（像mipmap那样的pre-filtering），从光源视角计算直接光照，然后逐像素追踪这组数据获取非直接光照。结果比LPV精确，也可以做到光泽反射（glossy reflection）。
阴影
- Shadow Volume [12]：阴影体积是1977年发表的阴影技术，在屏幕空间光栅化阴影体积，可准确判断每个屏幕像素是否在阴影之内。可以处理平行光源和点光源的阴影。1991年[13]讲述如何用stencil buffer来实现此算法，适合在图形加速硬件（当时还没有所谓GPU）上使用。但很多人发现，如果摄像机在阴影体积内，就会出错。在1998至2000年有多人发现一种解决方法，需要把John Carmack在2000年的电邮[14]中提及这个想法，后来成为2004年《毁灭战士3（Doom 3）》引擎的重要特徵，因他把这项技术发扬光大，即使他非首个发明人，此项技术通常被称为Carmack's Reverse。
- Parallel Split Shadow Map (PSSM) [15][16] / Cascaded Shadow Map（CSM）[17]：虽然Shadow Volume很吸引，但它需要大量的内存频宽，而且通常不能实现软阴影。后来大部分游戏改为使用Shadow Map（阴影贴图），这更适合GPU，并且可以通过多次采样（Percentage Closer Filtering, PCF）来实现软阴影。然而，阴影贴图也有许多问题，例如远近景物都采用同一张纹理，就会令到近景的精度不足，出现锯齿。2006年香港中文大学的博士生Fan Zhang等人发表了一种 PSSM 算法 [15]，为不同距离的场景渲染多张阴影贴图，在采样的时候按距离决定使用那一张。这个方法的变种CSM，在切割上和PSSM有点差异，被广泛使用于现时大部分游戏引擎中。
- Variance Shadow Map（VSM）[18]：之前谈到用PCF做软阴影，它的坏处就是要做多次采样。那么可否把阴影贴图直接模糊化来实现软阴影？答案是否定的。但是在2006年有学者发表了VSM，它是一种用统计方式来逼近软阴影的效果。 如何推导方差阴影贴图（variance shadow map, VSM) ? - Milo Yip 的回答
场景管理
- Binary Space Partitioning （BSP）
- Portal rendering
- Quadtree、Octree：游戏场景管理的八叉树算法是怎样的？ - Milo Yip 的回答
- Potential Visibility Set （PVS）
- Occlusion Culling by Software Rasterization
动画／物理
- Particle System
- Smoothed Particle Hydrodynamics（SPH）
- Curl Noise
- Dual Quaternion Skinning
碰撞测试
- Hyperplane separation theorem （或称separating axis theorem/SAT）：凸形状相交测试的基本原理。在怎样判断平面上一个矩形和一个圆形是否有重叠？ - Milo Yip 的回答中，其实背后也是使用了SAT。
- Gilbert-Johnson-Keerthi distance algorithm (GJK距离算法)：计算两个凸形状的距离（可用于相交测试）
- Sweep and prune：用于broad phase碰撞检测，找出物体AABB是否相交。对于时空上连续的物体运动，算法最坏O(n^2)、最好O(n)。
人工智能
- Minimax
- Alpha-Beta Pruning
- A* path finding
- Dijkstra's algorithm
- Finite-state machine
- Behavior Tree
（中午吃饭时间写不完，后补）
参考
[1] Bresenham, Jack E. "Algorithm for computer control of a digital plotter." IBM Systems journal 4.1 (1965): 25-30. http://www.cse.iitb.ac.in/~paragc/teaching/2011/cs475/papers/bresenham_line.pdf
[2] Bresenham, Jack. "A linear algorithm for incremental digital display of circular arcs." Communications of the ACM 20.2 (1977): 100-106. http://www.cse.iitb.ac.in/~paragc/teaching/2014/cs475/papers/bresenham_circle.pdf
[3] Catmull, Ed, and Alvy Ray Smith. "3-D transformations of images in scanline order." ACM SIGGRAPH Computer Graphics. Vol. 14. No. 3. ACM, 1980. http://alvyray.com/Papers/CG/2pass80.pdf
[4] Pineda, Juan. "A parallel algorithm for polygon rasterization." ACM SIGGRAPH Computer Graphics. Vol. 22. No. 4. ACM, 1988. http://people.csail.mit.edu/ericchan/bib/pdf/p17-pineda.pdf
[5] Sloan, Peter-Pike, Jan Kautz, and John Snyder. "Precomputed radiance transfer for real-time rendering in dynamic, low-frequency lighting environments." ACM Transactions on Graphics (TOG). Vol. 21. No. 3. ACM, 2002. http://www1.cs.columbia.edu/~ravir/6998/papers/p527-sloan.pdf
[6] Chen, Hao, and Xinguo Liu. "Lighting and material of Halo 3." ACM SIGGRAPH 2008 Games. ACM, 2008. http://developer.amd.com/wordpress/media/2012/10/S2008-Chen-Lighting_and_Material_of_Halo3.pdf
[7] Mittring, Martin. "Finding next gen: Cryengine 2." ACM SIGGRAPH 2007 courses. ACM, 2007. http://developer.amd.com/wordpress/media/2012/10/Chapter8-Mittring-Finding_NextGen_CryEngine2.pdf
[8] Ritschel, Tobias, Thorsten Grosch, and Hans-Peter Seidel. "Approximating dynamic global illumination in image space." Proceedings of the 2009 symposium on Interactive 3D graphics and games. ACM, 2009. https://people.mpi-inf.mpg.de/~ritschel/Papers/SSDO.pdf
[9] Kaplanyan, Anton. "Light propagation volumes in cryengine 3." ACM SIGGRAPH Courses 7 (2009): 2. http://www.crytek.com/download/Light_Propagation_Volumes.pdf
[10] Kaplanyan, Anton, and Carsten Dachsbacher. "Cascaded light propagation volumes for real-time indirect illumination." Proceedings of the 2010 ACM SIGGRAPH symposium on Interactive 3D Graphics and Games. ACM, 2010. http://www.vis.uni-stuttgart.de/~dachsbcn/download/lpv.pdf
[11] Crassin, Cyril, et al. "Interactive indirect illumination using voxel cone tracing." Computer Graphics Forum. Vol. 30. No. 7. Blackwell Publishing Ltd, 2011. https://research.nvidia.com/sites/default/files/publications/GIVoxels-pg2011-authors.pdf
[12] Crow, Franklin C. "Shadow algorithms for computer graphics." ACM SIGGRAPH Computer Graphics. Vol. 11. No. 2. ACM, 1977. http://excelsior.biosci.ohio-state.edu/~carlson/history/PDFs/crow-shadows.pdf
[13] Heidmann, Tim. "Real shadows, real time." Iris Universe 18 (1991): 28-31.
[14] Carmack, John, "e-mail to Mark Kilgard on Shadow Volume", 23 May 2000. http://web.archive.org/web/20090127020935/http://developer.nvidia.com/attach/6832
[15] Zhang, Fan, et al. "Parallel-split shadow maps for large-scale virtual environments." Proceedings of the 2006 ACM international conference on Virtual reality continuum and its applications. ACM, 2006.
[16] Zhang, Fan, Hanqiu Sun, and Oskari Nyman. "Parallel-split shadow maps on programmable gpus." GPU Gems 3 (2007): 203-237. GPU Gems 3 - Chapter 10. Parallel-Split Shadow Maps on Programmable GPUs
[17] Dimitrov, Rouslan. "Cascaded shadow maps." Developer Documentation, NVIDIA Corp (2007). http://www.cse.chalmers.se/edu/year/2011/course/TDA361/Advanced%20Computer%20Graphics/cascaded_shadow_maps.pdf
[18] Donnelly, William, and Andrew Lauritzen. "Variance shadow maps." Proceedings of the 2006 symposium on Interactive 3D graphics and games. ACM, 2006. http://www.punkuser.net/vsm/vsm_paper.pdf
雷神III卡马克大神平方根算法
float Q_rsqrt( float number )
{
long i;
float x2, y;
const float threehalfs = 1.5F;
x2 = number * 0.5F;
y = number;
i = * ( long * ) &y; // evil floating point bit level hacking
i = 0x5f3759df - ( i >> 1 ); // what the fuck?
y = * ( float * ) &i;
y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
// y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
#ifndef Q3_VM
#ifdef __linux__
assert( !isnan(y) ); // bk010122 - FPE?
#endif
#endif
return y;
}
float Q_rsqrt( float number )
{
long i;
float x2, y;
const float threehalfs = 1.5F;
x2 = number * 0.5F;
y = number;
i = * ( long * ) &y; // evil floating point bit level hacking
i = 0x5f3759df - ( i >> 1 ); // what the fuck?
y = * ( float * ) &i;
y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
// y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
#ifndef Q3_VM
#ifdef __linux__
assert( !isnan(y) ); // bk010122 - FPE?
#endif
#endif
return y;
}
常亮，程序猿一只。游戏迷一枚。
借宝地问个问题，《3D游戏编程大师》中在介绍计算两点距离算法时提到可以用泰勒公式来获得一个多项式加法形式的近似算法，但没有给出任何推导过程。不知道有没有达人给介绍一下是如何推导的？
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