### 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)

#include "godot_body_pair_3d.h"
#include "godot_collision_solver_3d.h"
#include "godot_space_3d.h"
#include "core/os/os.h"
#define MIN_VELOCITY 0.0001
#define MAX_BIAS_ROTATION (Math_PI / 8)
void GodotBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal, void *p_userdata) {
	GodotBodyPair3D *pair = static_cast<GodotBodyPair3D *>(p_userdata);
	pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B, normal);
}
void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal) {