Finally SteerSuite works with GPU

Because of the limitation of CUDA C++, I dropped the original plan that put everything in GPU side. Instead, I only copy the necessary information, like position, velocity, direction, and so on to the GPU side.

The data structure is as follow:

typedef struct cuda_agent{

bool _enabled;

float3 _position;

float3 _velocity;

float3 _forward;

float _radius;

float3 _goalQueue[20];

int _goalQSize;

int _curGoal;

int _usedGoal;

AABox _oldBounds;

AABox _newBounds;

}cuda_agent;



First, I copied the data back and forth between CPU and GPU, however, I found it very inefficient. Therefore, I keep 

the updated data only in GPU side. After computation along with time, I copy the updated data back to CPU and draw 

them. And this make it run faster.



 Currently, I compare the performance between i7-2600 and GTX520, and they just have the same performance. I guess

it is because the computation ability of GTX520 is too weak. I will rerun the SteerSuite in other computers which have

better GPUs. 



I think I can get better results.