### 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)

if ((proj_dist > circle_A_radius - circle_B_radius) && (proj_dist > circle_B_radius - circle_A_radius)) {
			
			real_t radius_a_sqr = circle_A_radius * circle_A_radius;
			real_t radius_b_sqr = circle_B_radius * circle_B_radius;
			real_t d_sqr = proj_dist * proj_dist;
			real_t s = (1.0 + (radius_a_sqr - radius_b_sqr) / d_sqr) * 0.5;
			real_t h = Math::sqrt(MAX(radius_a_sqr - d_sqr * s * s, 0.0));
			Vector3 midpoint = circle_A_pos + s * comp_proj * proj_dist;
			Vector3 h_vec = h * circle_A_normal.cross(comp_proj);
			Vector3 point_A = midpoint + h_vec;
			contact_points[num_points] = point_A;
			++num_points;
			point_A = midpoint - h_vec;
			contact_points[num_points] = point_A;
			++num_points;
			
			point_A = circle_A_pos + comp_proj * circle_A_radius;
			contact_points[num_points] = point_A;
			++num_points;
			point_A = circle_B_pos - comp_proj * circle_B_radius - norm_proj;
			contact_points[num_points] = point_A;
			++num_points;
		} 
	} 
	if (num_points == 0) {
		
		if (circle_A_radius < circle_B_radius) {
			
			for (int i = 0; i < 3; ++i) {
				Vector3 circle_A_point = circle_A_pos;