### 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)

circle_A_point += circle_A_line_1 * Math::cos(2.0 * Math_PI * i / 3.0);
				circle_A_point += circle_A_line_2 * Math::sin(2.0 * Math_PI * i / 3.0);
				contact_points[num_points] = circle_A_point;
				++num_points;
			}
		} else {
			
			for (int i = 0; i < 3; ++i) {
				Vector3 circle_B_point = circle_B_pos;
				circle_B_point += circle_B_line_1 * Math::cos(2.0 * Math_PI * i / 3.0);
				circle_B_point += circle_B_line_2 * Math::sin(2.0 * Math_PI * i / 3.0);
				Vector3 circle_A_point = circle_B_point - norm_proj;
				contact_points[num_points] = circle_A_point;
				++num_points;
			}
		}
	}
	Plane circle_B_plane(circle_B_normal, circle_B_pos);
	
	for (int i = 0; i < num_points; i++) {
		const Vector3 &contact_point_A = contact_points[i];
		real_t d = circle_B_plane.distance_to(contact_point_A);
		Vector3 closest_B = contact_point_A - circle_B_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_from_supports(const Vector3 *p_points_A, int p_point_count_A, GodotShape3D::FeatureType p_feature_type_A, const Vector3 *p_points_B, int p_point_count_B, GodotShape3D::FeatureType p_feature_type_B, _CollectorCallback *p_callback) {