### 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 face_point_1 = edge_A_1 + fraction_1 * edge_dir;
				ERR_FAIL_COND(num_points >= max_clip);
				contact_points[num_points] = face_point_1;
				++num_points;
			}
			real_t fraction_2 = (-b + sqrtterm) / (2.0 * a);
			if ((fraction_2 > 0.0) && (fraction_2 < 1.0) && !Math::is_equal_approx(fraction_1, fraction_2)) {
				Vector3 face_point_2 = edge_A_1 + fraction_2 * edge_dir;
				ERR_FAIL_COND(num_points >= max_clip);
				contact_points[num_points] = face_point_2;
				++num_points;
			}
		}
	}
	
	for (int i = 0; i < num_points; i++) {
		const Vector3 &contact_point_A = contact_points[i];
		real_t d = circle_plane.distance_to(contact_point_A);
		Vector3 closest_B = contact_point_A - circle_plane.normal * d;
		if (p_callback->normal.dot(contact_point_A) >= p_callback->normal.dot(closest_B)) {
			continue;
		}
		p_callback->call(contact_point_A, closest_B);
	}
}
static void _generate_contacts_face_face(const Vector3 *p_points_A, int p_point_count_A, const Vector3 *p_points_B, int p_point_count_B, _CollectorCallback *p_callback) {
#ifdef DEBUG_ENABLED
	ERR_FAIL_COND(p_point_count_A < 2);
	ERR_FAIL_COND(p_point_count_B < 3);
#endif