Chaos::GJKPenetrationImpl ( const FGeomGJKHelper& A, const FGeomGJKHelper& B, const TRigidTransform< T, 3 >& BTo..., T& OutPenetration, TVec3< T >& OutClosestA, TVec3< T >& OutClosestB, TVec3< T >& OutNormal, int32& OutClosestVertexIndexA, int32& OutClosestVertexIndexB, const T InThicknessA, const T InThicknessB, const TVector< T, 3 >& InitialDir, const T Epsilon )