### 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)

int pointcount_B;
	int pointcount_A;
	const Vector3 *points_A;
	const Vector3 *points_B;
	int version_A;
	int version_B;
	if (p_feature_type_A > p_feature_type_B) {
		
		p_callback->swap = !p_callback->swap;
		p_callback->normal = -p_callback->normal;
		pointcount_B = p_point_count_A;
		pointcount_A = p_point_count_B;
		points_A = p_points_B;
		points_B = p_points_A;
		version_A = p_feature_type_B;
		version_B = p_feature_type_A;
	} else {
		pointcount_B = p_point_count_B;
		pointcount_A = p_point_count_A;
		points_A = p_points_A;
		points_B = p_points_B;
		version_A = p_feature_type_A;
		version_B = p_feature_type_B;
	}
	GenerateContactsFunc contacts_func = generate_contacts_func_table[version_A][version_B];
	ERR_FAIL_COND(!contacts_func);
	contacts_func(points_A, pointcount_A, points_B, pointcount_B, p_callback);
}
template <class ShapeA, class ShapeB, bool withMargin = false>
class SeparatorAxisTest {