### 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)

}
	
	const Vector3 &sphere_center = p_transform_a.origin;
	Vector3 cyl_axis = p_transform_b.basis.get_column(1);
	Vector3 cap_axis = p_transform_b.basis.get_column(0);
	real_t height_scale = cyl_axis.length();
	real_t cap_dist = cylinder_B->get_height() * 0.5 * height_scale;
	cyl_axis /= height_scale;
	real_t radius_scale = cap_axis.length();
	real_t cap_radius = cylinder_B->get_radius() * radius_scale;
	for (int i = 0; i < 2; i++) {
		Vector3 cap_dir = ((i == 0) ? cyl_axis : -cyl_axis);
		Vector3 cap_pos = p_transform_b.origin + cap_dir * cap_dist;
		Vector3 closest_point;
		Vector3 diff = sphere_center - cap_pos;
		Vector3 proj = diff - cap_dir.dot(diff) * cap_dir;
		real_t proj_len = proj.length();
		if (Math::is_zero_approx(proj_len)) {
			
			continue;
		}
		closest_point = cap_pos + (cap_radius / proj_len) * proj;
		if (!separator.test_axis((closest_point - sphere_center).normalized())) {
			return;
		}
	}
	separator.generate_contacts();
}
template <bool withMargin>
static void _collision_sphere_convex_polygon(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) {