### Godot version

4.0.2

### System information

Windows 10 960m

### Issue description

When using the skeltonIK3d on a simple bone chain, the roll axis of bones are not working correctly. As can be seen in this clip comparing 3.5 to 4.0.2, when moving the ik target on the x axis, the bone roll of the shin bone twists in a very strange way.

When the ik target is just moving up and down on the y axis 4.0.2 looks the same as 3.5. I have tried many ways of setting the roll axis in blender before exporting, but this seems to make no difference in godot.

https://github.com/godotengine/godot/assets/7741669/524f9450-8582-4336-96a2-397ffe915d2d

@lyuma I also tried this with your recent fix in master and it does not fix this issue, unfortunately. I did try the scorpion demo scene and I can see that it resolved that. Simple 2 or 3 bone chains seem to exhibit this odd roll issue...maybe the long chain on the scorpion tail is covering up the issue?

On a side note, I am getting tons of crashes trying to test out simple ik with the standard tool script. Especially just clicking in the skeletonik3d node. 

### Steps to reproduce

- import a simple 2 or 3 bone skeleton such as a leg
- add a skeltonik3d node
- fill in the node parameters and add a marker3d as target
- add a tool script to start off the ik solve
- move the ik target on the x axis and observe the twisting

### Minimal reproduction project

This has the 3.5, 4.0.2 file and the blend file

[ik_roll_bug.zip](https://github.com/godotengine/godot/files/11521836/ik_roll_bug.zip)

real_t c, s;
	c = Math::cos(p_euler.x);
	s = Math::sin(p_euler.x);
	Basis xmat(1, 0, 0, 0, c, -s, 0, s, c);
	c = Math::cos(p_euler.y);
	s = Math::sin(p_euler.y);
	Basis ymat(c, 0, s, 0, 1, 0, -s, 0, c);
	c = Math::cos(p_euler.z);
	s = Math::sin(p_euler.z);
	Basis zmat(c, -s, 0, s, c, 0, 0, 0, 1);
	switch (p_order) {
		case EulerOrder::XYZ: {
			*this = xmat * (ymat * zmat);
		} break;
		case EulerOrder::XZY: {
			*this = xmat * zmat * ymat;
		} break;
		case EulerOrder::YXZ: {
			*this = ymat * xmat * zmat;
		} break;
		case EulerOrder::YZX: {
			*this = ymat * zmat * xmat;
		} break;
		case EulerOrder::ZXY: {
			*this = zmat * xmat * ymat;
		} break;
		case EulerOrder::ZYX: {
			*this = zmat * ymat * xmat;
		} break;