BSP Tree算法简述

本文会简述BSP树的应用和其算法原理。

正文：

一、前言

什么是BSP树？

In computer science, binary space partitioning (BSP) is a method for recursively subdividing a space into two convex sets by using hyperplanes as partitions. This process of subdividing gives rise to a representation of objects within the space in the form of a tree data structure known as a BSP tree.

BSP树的应用场景：

performing geometrical operations with shapes (constructive solid geometry) in CAD,（碰撞检测）collision detection in robotics and 3D video games,ray tracing(光线追踪)，and other applications that involve the handling of complex spatial scenes.

BSP树的来源：

Fuchs，Kedem和Naylor在1980年左右引入了二进制空间分区树（或简称BSP树）。并有两篇发布的论文："Predeterming Visibility Priority in 3-D Scenes" 和 "On Visible Surface Generation by A Priori Tree Structures"，讲述了BSP树的实用性和如何实现它们。后来也有作者，在这两篇论文的基础上，结合了阴影的生成和动态场景的处理。

简单来说，BSP树是n维空间到凸子空间的分层细分（a BSP tree is a heirarchical subdivisions of n dimensional space into convex subspaces）。每个节点都有一个前叶子节点和后叶子节点。从根节点开始，所有后续插入都由当前节点的超平面划分。在二维空间中，超平面是一条线。 在3维空间中，超平面是一个平面。BSP树的最终目标是让叶节点的超平面在父节点超平面的前面或后面（这句可能翻译不太好，我把原句放上来：The end goal of a BSP tree if for the hyperplanes of the leaf nodes to be trivially "behind" or "infront" of the parent hyperplane.）

BSP树对于与静态图像的显示进行实时交互非常有用。 在渲染静态