### 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)

}
		for (int j = 0; j < 2; j++) {
			
			Vector3 sphere_pos = p_transform_a.origin + ((j == 0) ? capsule_axis : -capsule_axis);
			Vector3 n1 = sphere_pos - vertex[i];
			if (n1.dot(normal) < 0.0) {
				n1 *= -1.0;
			}
			if (!separator.test_axis(n1.normalized())) {
				return;
			}
			Vector3 n2 = edge_axis;
			axis = n1.cross(n2).cross(n2);
			if (axis.dot(normal) < 0.0) {
				axis *= -1.0;
			}
			if (!separator.test_axis(axis.normalized())) {
				return;
			}
		}
	}
	if (!face_B->backface_collision) {
		if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
			if (face_B->invert_backface_collision) {
				separator.best_axis = separator.best_axis.bounce(normal);
			} else {
				
				return;
			}
		}