How to get face vertices and vertex normals from raycast hit?

[TheCosmicAC0 (StarmanDeluxe)]

I am prototyping a hover ship game and am currently able to adjust the ship orientation to different surface normals from a static mesh using quaternions (see screenshot). Now, I would like to modify the C++ code to use barycentric coordinates so I can smoothly transition between the surfaces. The basic idea would be to use a downward ray cast and then:

(1) get the impact face
(2) get face vertices and vertex normals
(3) use the values to calculate the barycentric coordinate
(4) make a new quaternion to orient the ship

Is this a reasonable approach, and can you suggest the optimal way to code it?

// Called on tick
void AShip::OrientOnSurface(float DeltaSeconds)
{
	const int TraceStartFactor = 1;
	const int TraceLength = 1000;
	const float HoverHeight = 150.0f;

	FQuat ActorQuat = GetActorQuat();

	FVector ActorDownVector = ActorQuat.RotateVector(FVector(0, 0, -1));
	FVector ActorUpVector = ActorQuat.RotateVector(FVector(0, 0, 1));
	FVector ActorRightVector = ActorQuat.RotateVector(FVector(0, 1, 0));
	FVector ActorForwardVector = ActorQuat.RotateVector(FVector(1, 0, 0));

	FVector ActorLocation = GetActorLocation();
	FVector Start = ActorLocation + ActorDownVector * TraceStartFactor;
	FVector End = ActorLocation + ActorDownVector * TraceLength;

	FCollisionQueryParams QueryParams;
	QueryParams.AddIgnoredActor(this);
	QueryParams.bReturnFaceIndex = true;

	FCollisionResponseParams ResponseParams;

	FHitResult HitDetails;

	GetWorld()->LineTraceSingleByChannel
	(
		HitDetails,
		Start,
		End,
		ECC_Visibility,
		QueryParams,
		ResponseParams
	);

	// If ray cast downward hits a surface
	if (HitDetails.bBlockingHit)
	{
		FVector ImpactNormal = HitDetails.ImpactNormal;
		FVector ImpactPoint = HitDetails.ImpactPoint;

		DrawDebugDirectionalArrow(GetWorld(), Start, ImpactPoint, 40, FColor::Red, true, 5);

		// Set hover height above surface
		SetActorLocation(ImpactPoint + ImpactNormal * HoverHeight);

		// Set rotation to match surface normal
		// NOTE: The goal is to update this code by getting the face index from the ray hit, get face vertices and vertex normals, then calculate barycentric coordinates. 
		FVector cp = FVector::CrossProduct(ActorUpVector, ImpactNormal);
		float dp = FVector::DotProduct(ActorUpVector, ImpactNormal);
		float s = FMath::Sqrt((1.0 + dp) * 2.0);
		float rs = 1.0 / s;

		FQuat q(cp.X * rs, cp.Y * rs, cp.Z * rs, s * 0.5);

		q = q * ActorQuat;
		q.Normalize();
		SetActorRotation(q);

	};
}