### 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)

SeparatorAxisTest<GodotCylinderShape3D, GodotFaceShape3D, withMargin> separator(cylinder_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
	if (!separator.test_previous_axis()) {
		return;
	}
	Vector3 vertex[3] = {
		p_transform_b.xform(face_B->vertex[0]),
		p_transform_b.xform(face_B->vertex[1]),
		p_transform_b.xform(face_B->vertex[2]),
	};
	Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
	
	if (!separator.test_axis(normal)) {
		return;
	}
	Vector3 cyl_axis = p_transform_a.basis.get_column(1).normalized();
	if (cyl_axis.dot(normal) < 0.0) {
		cyl_axis *= -1.0;
	}
	
	if (!separator.test_axis(cyl_axis)) {
		return;
	}
	
	for (int i = 0; i < 3; i++) {
		Vector3 edge_axis = vertex[i] - vertex[(i + 1) % 3];
		Vector3 axis = edge_axis.cross(cyl_axis);
		if (Math::is_zero_approx(axis.length_squared())) {
			continue;
		}
		if (axis.dot(normal) < 0.0) {