### 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)

separator_axis = axis;
			return false; 
		}
		
		if (min_B < 0.0) { 
			min_B = -min_B;
		}
		if (max_B < min_B) {
			if (max_B < best_depth) {
				best_depth = max_B;
				best_axis = axis;
			}
		} else {
			if (min_B < best_depth) {
				best_depth = min_B;
				best_axis = -axis; 
			}
		}
		return true;
	}
	static _FORCE_INLINE_ void test_contact_points(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
		SeparatorAxisTest<ShapeA, ShapeB, withMargin> *separator = (SeparatorAxisTest<ShapeA, ShapeB, withMargin> *)p_userdata;
		Vector3 axis = (p_point_B - p_point_A);
		real_t depth = axis.length();
		
		if (separator->best_depth - depth > 0.001) {
			separator->test_axis(axis / depth);
		}
	}
	_FORCE_INLINE_ void generate_contacts() {