Great advice has been given, however i'm a pretty simple minded person so I personally need to keep the shot as "simple" as possible. First off, like mentioned earlier form is extremly important. If you can (given the situation), draw your bow as if you were taking a standard horizontal shot and then bend your waste either uphill/downhill depending what shot you are taking. By doing so this will keep your form solid, in addition it will keep your anchoring point the exact same.
As far as judging distances, if the animal is downhill try to pretend a tree goes straight uphill & the top matches your horizontal location. Example: If the deer is actually 35 yds. downhill, & he was standing next to a tree that was only 20yds from your horizontal location, then you would use your 20 yd pin, holding low. Same for uphill. The only way to feel comfortable w/these type of shots is practice, practice, practice. Good luck, you will nail him next time