### 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)

axis *= -1.0;
		}
		if (!separator.test_axis(axis)) {
			return;
		}
	}
	
	for (int i = 0; i < 3; i++) {
		Vector3 e = vertex[i] - vertex[(i + 1) % 3];
		for (int j = 0; j < 3; j++) {
			Vector3 axis = e.cross(p_transform_a.basis.get_column(j)).normalized();
			if (axis.dot(normal) < 0.0) {
				axis *= -1.0;
			}
			if (!separator.test_axis(axis)) {
				return;
			}
		}
	}
	if (withMargin) {
		
		for (int v = 0; v < 3; v++) {
			Vector3 ab_vec = vertex[v] - p_transform_a.origin;
			Vector3 cnormal_a = p_transform_a.basis.xform_inv(ab_vec);
			Vector3 support_a = p_transform_a.xform(Vector3(
					(cnormal_a.x < 0) ? -box_A->get_half_extents().x : box_A->get_half_extents().x,
					(cnormal_a.y < 0) ? -box_A->get_half_extents().y : box_A->get_half_extents().y,
					(cnormal_a.z < 0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z));
			Vector3 axis_ab = support_a - vertex[v];
			if (axis_ab.dot(normal) < 0.0) {