### 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)

#ifdef DEBUG_ENABLED
	ERR_FAIL_COND(p_point_count_A != 2);
	ERR_FAIL_COND(p_point_count_B != 2); 
#endif
	Vector3 rel_A = p_points_A[1] - p_points_A[0];
	Vector3 rel_B = p_points_B[1] - p_points_B[0];
	Vector3 c = rel_A.cross(rel_B).cross(rel_B);
	if (Math::is_zero_approx(rel_A.dot(c))) {
		
		
		
		Vector3 axis = rel_A.normalized(); 
		Vector3 base_A = p_points_A[0] - axis * axis.dot(p_points_A[0]);
		Vector3 base_B = p_points_B[0] - axis * axis.dot(p_points_B[0]);
		
		real_t dvec[4] = { axis.dot(p_points_A[0]), axis.dot(p_points_A[1]), axis.dot(p_points_B[0]), axis.dot(p_points_B[1]) };
		SortArray<real_t> sa;
		sa.sort(dvec, 4);
		
		p_callback->call(base_A + axis * dvec[1], base_B + axis * dvec[1]);
		p_callback->call(base_A + axis * dvec[2], base_B + axis * dvec[2]);
		return;
	}