### 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)

if (best_axis == Vector3(0.0, 0.0, 0.0)) {
			return;
		}
		if (!callback->callback) {
			
			callback->collided = true;
			if (callback->prev_axis) {
				*callback->prev_axis = best_axis;
			}
			return;
		}
		static const int max_supports = 16;
		Vector3 supports_A[max_supports];
		int support_count_A;
		GodotShape3D::FeatureType support_type_A;
		shape_A->get_supports(transform_A->basis.xform_inv(-best_axis).normalized(), max_supports, supports_A, support_count_A, support_type_A);
		for (int i = 0; i < support_count_A; i++) {
			supports_A[i] = transform_A->xform(supports_A[i]);
		}
		if (withMargin) {
			for (int i = 0; i < support_count_A; i++) {
				supports_A[i] += -best_axis * margin_A;
			}
		}
		Vector3 supports_B[max_supports];
		int support_count_B;