Sweeps one geometry against the other The first geometry The second geometry B's starting rotation in A's local space B's starting position in A's local space The ray's direction (normalized) The ray's length The time along the ray when the objects first overlap The first point of impact (in A's local space) when the objects first overlap. Invalid if time of impact is 0 The impact normal (in A's local space) when the objects first overlap. Invalid if time of impact is 0 The first direction we use to search the CSO