### Godot version

4.0 beta 9

### System information

Manjaro 6.0.14

### Issue description

(3D) Rigid bodies with capsule shapes seem to have completely broken collision with static bodies with cylinder shapes, as they collide as if they were a cylinder of the same total height, and on top of that they don't topple at all when their centre of mass is over an edge.
![image](https://user-images.githubusercontent.com/47794482/208954595-ceb74474-8c05-425b-a2fa-a7c39b90e453.png)


### Steps to reproduce

Start a new project. In the 3D scene add a StaticBody3D with a cylinder collision shape and a RigidBody3D with a capsule collision shape. (Add a camera and meshes to see what's going on.) Move the RigidBody3D above the StaticBody3D so its centre of mass' downward projection doesn't hit the cylinder. Play the scene

For the minimal reproduction project: Play the scene

### Minimal reproduction project

[bug display.zip](https://github.com/godotengine/godot/files/10279550/bug.display.zip)

const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
	const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
	SeparatorAxisTest<GodotCapsuleShape3D, GodotCylinderShape3D, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
	if (!separator.test_previous_axis()) {
		return;
	}
	
	Vector3 cylinder_B_axis = p_transform_b.basis.get_column(1).normalized();
	if (!separator.test_axis(cylinder_B_axis)) {
		return;
	}
	
	Vector3 capsule_A_axis = p_transform_a.basis.get_column(1);
	Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
	Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());