### Godot version

4.0 beta 10

### System information

Windows 10, NVidia 2070, Vulkan Mobile

### Issue description

A human-sized (0.4 x 1.8 x 0.4) CapsuleShape3D on top of a large (50 x 50 x 50) SphereShape3D produces unstable normals when performing a move_and_collide down.

In discussions on the physics channel of the Godot Contributors Chat, the SAT solver isn't a good choice when the exact collision information can be solved analytically.

The problem with the SAT solver is that it ends up producing two collision points A and B on the two colliding shapes, and then the vector between them is used to build the normal. The problem is that A and B end up being extremely close (1e-4 distance), so normalizing the vector results in a large amplification of any numeric errors.

The current API for the ```_collision_<shape1>_<shape2>()``` functions can only report their findings via the ```_CollectorCallback``` API, and that only allows for providing the A and B points. Instead the collision functions should also have a means of providing exact analytic collision information if available.

### Steps to reproduce

Construct a scene consisting of a large 50m sphere with a capsule shape resting on top of it. Then perform a move_and_collide down and print the collision normal vector. 

### Minimal reproduction project

[SphereCapsuleCollision.zip](https://github.com/godotengine/godot/files/10306031/SphereCapsuleCollision.zip)

This demo walks a capsule around the top of a large sphere drawing the normal vector. The vector flickers between the correct normal and weird unstable normals:
![image](https://user-images.githubusercontent.com/1863707/209614550-5d631bb3-de05-463b-baf7-3c51b00b36e4.png)

Vector3 cyl_axis = p_transform_b.basis.get_column(1).normalized();
	
	for (int i = 0; i < 3; i++) {
		
		Vector3 box_axis = p_transform_a.basis.get_column(i);
		Vector3 axis = box_axis.cross(cyl_axis);
		if (Math::is_zero_approx(axis.length_squared())) {
			continue;
		}
		if (!separator.test_axis(axis.normalized())) {
			return;
		}
	}
	
	
	for (int i = 0; i < 2; i++) {
		for (int j = 0; j < 2; j++) {
			for (int k = 0; k < 2; k++) {
				Vector3 he = box_A->get_half_extents();
				he.x *= (i * 2 - 1);
				he.y *= (j * 2 - 1);
				he.z *= (k * 2 - 1);
				Vector3 point = p_transform_a.origin;
				for (int l = 0; l < 3; l++) {
					point += p_transform_a.basis.get_column(l) * he[l];
				}
				
				Vector3 axis = Plane(cyl_axis).project(point).normalized();
				if (!separator.test_axis(axis)) {
					return;