### 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 vertices_A[8];
	Vector3 box_extent = box_A->get_half_extents();
	for (int i = 0; i < 2; i++) {
		for (int j = 0; j < 2; j++) {
			for (int k = 0; k < 2; k++) {
				Vector3 extent = box_extent;
				extent.x *= (i * 2 - 1);
				extent.y *= (j * 2 - 1);
				extent.z *= (k * 2 - 1);
				Vector3 &point = vertices_A[i * 2 * 2 + j * 2 + k];
				point = p_transform_a.origin;
				for (int l = 0; l < 3; l++) {
					point += p_transform_a.basis.get_column(l) * extent[l];
				}
			}
		}
	}
	
	for (int i = 0; i < 8; i++) {
		const Vector3 &point = vertices_A[i];
		Vector3 axis = Plane(cyl_axis).project(point).normalized();
		if (!separator.test_axis(axis)) {
			return;
		}
	}
	
	int edges_start_A[12] = { 0, 2, 4, 6, 0, 1, 4, 5, 0, 1, 2, 3 };
	int edges_end_A[12] = { 1, 3, 5, 7, 2, 3, 6, 7, 4, 5, 6, 7 };