Fixes: #

About

This pull request refactors the Unreal Lidar sensor implementation to improve performance, memory usage, and code clarity. The most significant changes include switching several sensor data buffers to use more efficient data types, optimizing buffer allocation and resizing, and simplifying the handling of laser trace parameters and simulation logic.

Performance and memory optimizations

• Changed ReturnCloud from std::vector<bool> to std::vector<uint8_t> for improved memory efficiency and easier buffer management.
• Replaced repeated buffer insertions with resize and reserve calls for sensor data arrays (e.g., PointCloud, AzimuthElevationRangeCloud, SegmentationCloud, IntensityCloud, LaserIndexCloud, ReturnCloud) to avoid unnecessary reallocations and improve performance. [1] [2]
• Updated logic to count and preallocate only for valid laser returns, further reducing memory usage during filtering.

Code clarity and correctness

• Refactored the ShootSingleLaser function to accept precomputed FCollisionQueryParams and use cached lidar range, improving readability and correctness. [1] [2] [3] [4]
• Removed unnecessary mutex locking in the parallel laser simulation, as buffer writes are now thread-safe due to preallocation and index-based access. [1] [2] [3] [4]

Minor improvements

• Added missing includes for <cstdint> and <memory> to support new buffer types and usage.
• Ensured debug point drawing logic uses the correct buffer and synchronization primitives. [1] [2]
• Fixed a bug where intensity values were incorrectly copied into the laser index buffer during pending report population.

How Has This Been Tested?

Screenshots and videos (if appropriate):