### Godot version

Godot 4.0.2

### System information

Windows 10, NVIDIA GeForce 1060 GTX 3GB, Vulkan

### Issue description

Rigidbody collision against CharacterBody3D doesn't always trigger on_body_entered signal.
This happens when both objects are moving in the same direction

### Steps to reproduce

Play the test scene.
Press the right arrow key to move the character away from the rigid body. On contact no signal is emitted.


### Minimal reproduction project

[test.zip](https://github.com/godotengine/godot/files/11160540/test.zip)

}
		if (soft_body_collides) {
			soft_body->apply_node_impulse(c.index_B, j_vec);
		}
		c.acc_impulse -= j_vec;
		if (body->can_report_contacts()) {
			Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity();
			Vector3 crB = soft_body->get_node_velocity(c.index_B);
			body->add_contact(global_A, -c.normal, depth, body_shape, crA, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crB, c.acc_impulse);
		}
		if (report_contacts_only) {
			collided = false;
			continue;
		}
		c.active = true;
		do_process = true;
		if (body_collides) {
			body->set_active(true);
		}
		c.bounce = body->get_bounce();
		if (c.bounce) {
			Vector3 crA = body->get_angular_velocity().cross(c.rA);
			Vector3 dv = soft_body->get_node_velocity(c.index_B) - body->get_linear_velocity() - crA;
			
			c.bounce = c.bounce * dv.dot(c.normal);
		}
	}
	return do_process;
}
void GodotBodySoftBodyPair3D::solve(real_t p_step) {