### Godot version

4.0 beta 9

### System information

Manjaro 6.0.14

### Issue description

(3D) Rigid bodies with capsule shapes seem to have completely broken collision with static bodies with cylinder shapes, as they collide as if they were a cylinder of the same total height, and on top of that they don't topple at all when their centre of mass is over an edge.
![image](https://user-images.githubusercontent.com/47794482/208954595-ceb74474-8c05-425b-a2fa-a7c39b90e453.png)


### Steps to reproduce

Start a new project. In the 3D scene add a StaticBody3D with a cylinder collision shape and a RigidBody3D with a capsule collision shape. (Add a camera and meshes to see what's going on.) Move the RigidBody3D above the StaticBody3D so its centre of mass' downward projection doesn't hit the cylinder. Play the scene

For the minimal reproduction project: Play the scene

### Minimal reproduction project

[bug display.zip](https://github.com/godotengine/godot/files/10279550/bug.display.zip)

#include "godot_collision_solver_3d_sat.h"
#include "gjk_epa.h"
#include "core/math/geometry_3d.h"
#define fallback_collision_solver gjk_epa_calculate_penetration
#define _BACKFACE_NORMAL_THRESHOLD -0.0002
/*
 *	Cylinder-trimesh and Cylinder-box colliders by Alen Ladavac
 *   Ported to ODE by Nguyen Binh
 */
/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *