namespace Chaos { template<bool bNegativePenetrationAllowed, typename T, typename TGeometryA, typename TGeometryB> bool Chaos::GJKPenetration ( const TGeometryA & A, const TGeometryB & B, const [TRigidTransform](API\Runtime\Chaos\Chaos\TRigidTransform)< T, 3 > & BToATM, T & OutPenetration, [TVec3](API\Runtime\ChaosCore\Chaos\TVec3)< T > & OutClosestA, [TVec3](API\Runtime\ChaosCore\Chaos\TVec3)< T > & OutClosestB, [TVec3](API\Runtime\ChaosCore\Chaos\TVec3)< T > & OutNormal, int32 & OutClosestVertexIndexA, int32 & OutClosestVertexIndexB, const T InThicknessA, const T InThicknessB, const [TVector](API\Runtime\Chaos\Chaos\TVector)< T, 3 > & InitialDir, const T Epsilon ) }