### 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)

}
	
	for (int i = 0; i < 3; i++) {
		Vector3 axis = p_transform_b.basis.get_column(i).normalized();
		if (!separator.test_axis(axis)) {
			return;
		}
	}
	
	Vector3 cnormal = p_transform_b.xform_inv(p_transform_a.origin);
	Vector3 cpoint = p_transform_b.xform(Vector3(
			(cnormal.x < 0) ? -box_B->get_half_extents().x : box_B->get_half_extents().x,
			(cnormal.y < 0) ? -box_B->get_half_extents().y : box_B->get_half_extents().y,
			(cnormal.z < 0) ? -box_B->get_half_extents().z : box_B->get_half_extents().z));
	
	Vector3 point_axis = (p_transform_a.origin - cpoint).normalized();
	if (!separator.test_axis(point_axis)) {
		return;
	}
	
	for (int i = 0; i < 3; i++) {
		Vector3 axis = point_axis.cross(p_transform_b.basis.get_column(i)).cross(p_transform_b.basis.get_column(i)).normalized();
		if (!separator.test_axis(axis)) {
			return;
		}
	}
	separator.generate_contacts();
}
template <bool withMargin>
static void _collision_sphere_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {