### 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)

axis *= -1.0;
		}
		if (!separator.test_axis(axis.normalized())) {
			return;
		}
	}
	
	for (int i = 0; i < 3; i++) {
		const Vector3 &point = vertex[i];
		Vector3 axis = Plane(cyl_axis).project(point).normalized();
		if (axis.dot(normal) < 0.0) {
			axis *= -1.0;
		}
		if (!separator.test_axis(axis)) {
			return;
		}
	}
	
	Vector3 cap_axis = cyl_axis * (cylinder_A->get_height() * 0.5);
	for (int i = 0; i < 2; i++) {
		Vector3 cap_pos = p_transform_a.origin + ((i == 0) ? cap_axis : -cap_axis);
		for (int j = 0; j < 3; j++) {
			const Vector3 &edge_start = vertex[j];
			const Vector3 &edge_end = vertex[(j + 1) % 3];
			Vector3 edge_dir = edge_end - edge_start;
			edge_dir.normalize();
			real_t edge_dot = edge_dir.dot(cyl_axis);
			if (Math::is_zero_approx(edge_dot)) {
				
				continue;