SweepGeom ( const TImplicitObjectScaled< TSphere< FReal, 3 >>& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness, const bool bComputeMTD )