### 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)

}
		for (int i = 0; i < 3; i++) {
			Vector3 e1 = vertex[i];
			Vector3 e2 = vertex[(i + 1) % 3];
			Vector3 n = (e2 - e1);
			for (int j = 0; j < vertex_count; j++) {
				Vector3 e3 = p_transform_a.xform(vertices[j]);
				Vector3 axis = (e1 - e3).cross(n).cross(n).normalized();
				if (axis.dot(normal) < 0.0) {
					axis *= -1.0;
				}
				if (!separator.test_axis(axis)) {
					return;
				}
			}
		}
	}
	if (!face_B->backface_collision) {
		if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
			if (face_B->invert_backface_collision) {
				separator.best_axis = separator.best_axis.bounce(normal);
			} else {
				
				return;
			}
		}
	}
	separator.generate_contacts();
}
bool sat_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) {