### 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)

Vector2 motion = p_A->get_linear_velocity() * p_step;
	real_t mlen = motion.length();
	if (mlen < CMP_EPSILON) {
		return false;
	}
	Vector2 mnormal = motion / mlen;
	real_t min = 0.0, max = 0.0;
	p_A->get_shape(p_shape_A)->project_rangev(mnormal, p_xform_A, min, max);
	
	
	bool fast_object = mlen > (max - min) * 0.3;
	if (!fast_object) {
		return false;
	}
	
	
	
	
	
	int a;
	Vector2 s[2];
	p_A->get_shape(p_shape_A)->get_supports(p_xform_A.basis_xform_inv(mnormal).normalized(), s, a);
	Vector2 from = p_xform_A.xform(s[0]);
	
	
	Vector2 to = from + motion;
	Transform2D from_inv = p_xform_B.affine_inverse();
	
	
	Vector2 local_from = from_inv.xform(from - motion * 0.1);