[Godot Physics] Capsule-Cylinder collision with move_and_slide sometimes gets bad collision normals

[e344fde6bf]

Godot version:
3.3-rc6-official

OS/device including version:
N/A

Issue description:

With #47084 most of the capsule-cylinder collision issues have been fixed, however a small issue remains when sliding across the side of a cylinder. Sometimes move_and_slide will give bad normals like this:

Steps to reproduce:

• Use move_and_slide to walk backwards and forwards on the side of a cylinder. This bug doesn't happen all the time, but it happens pretty consistently.

capsule-cylinder-side-walking.mp4

Minimal reproduction project:

MRP: https://github.com/godotengine/godot/files/6175149/cylinder-collision-bug.zip
Also for further testing: https://github.com/e344fde6bf/godot-physics-sandbox

[rburing]

Here is an updated test project: godot-cylinder-test.zip

The issue has been fixed for a while, at least it is fixed in 4.2.1.