### 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 (!collided) {
		return false;
	}
	real_t max_penetration = space->get_contact_max_allowed_penetration();
	real_t bias = space->get_contact_bias();
	GodotShape3D *shape_A_ptr = body->get_shape(body_shape);
	if (shape_A_ptr->get_custom_bias()) {
		bias = shape_A_ptr->get_custom_bias();
	}
	real_t inv_dt = 1.0 / p_step;
	bool do_process = false;
	const Transform3D &transform_A = body->get_transform();
	Basis zero_basis;
	zero_basis.set_zero();
	const Basis &body_inv_inertia_tensor = body_collides ? body->get_inv_inertia_tensor() : zero_basis;
	real_t body_inv_mass = body_collides ? body->get_inv_mass() : 0.0;
	uint32_t contact_count = contacts.size();
	for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) {
		Contact &c = contacts[contact_index];