### 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)

}
		} else {
			if (el12_2 > el02_2) {
				i = 1;
				j = 2;
			} else {
				i = 0;
				j = 2;
			}
		}
		
		real_t angle;
		if (Math::is_equal_approx(rows[j][j], rows[i][i])) {
			angle = Math_PI / 4;
		} else {
			angle = 0.5f * Math::atan(2 * rows[i][j] / (rows[j][j] - rows[i][i]));
		}
		
		Basis rot;
		rot.rows[i][i] = rot.rows[j][j] = Math::cos(angle);
		rot.rows[i][j] = -(rot.rows[j][i] = Math::sin(angle));
		
		off_matrix_norm_2 -= rows[i][j] * rows[i][j];
		
		*this = rot * *this * rot.transposed();
		acc_rot = rot * acc_rot;
	}
	return acc_rot;
}
Basis Basis::inverse() const {