Chaos::GJKPenetrationSameSpace2 ( const TGeometryA& A, const TGeometryB& B, T& OutPenetration, TVec3< T >& OutClosestA, TVec3< T >& OutClosestB, TVec3< T >& OutNormal, int32& OutVertexA, int32& OutVertexB, T& OutMaxSupportDelta, const TVec3< T >& InitialDir, const T Epsilon, const T EPAEpsilon )