### 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)

#ifdef DEBUG_ENABLED
	ERR_FAIL_COND(p_point_count_A < 1);
	ERR_FAIL_COND(p_point_count_B < 1);
#endif
	static const GenerateContactsFunc generate_contacts_func_table[4][4] = {
		{
				_generate_contacts_point_point,
				_generate_contacts_point_edge,
				_generate_contacts_point_face,
				_generate_contacts_point_circle,
		},
		{
				nullptr,
				_generate_contacts_edge_edge,
				_generate_contacts_face_face,
				_generate_contacts_edge_circle,
		},
		{
				nullptr,
				nullptr,
				_generate_contacts_face_face,
				_generate_contacts_face_circle,
		},
		{
				nullptr,
				nullptr,
				nullptr,
				_generate_contacts_circle_circle,
		},
	};