### 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)

c.acc_bias_impulse = MAX(jbnOld + jbn, 0.0f);
			Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
			if (body_collides) {
				body->apply_bias_impulse(-jb, c.rA + body->get_center_of_mass(), max_bias_av);
			}
			if (soft_body_collides) {
				soft_body->apply_node_bias_impulse(c.index_B, jb);
			}
			crbA = body->get_biased_angular_velocity().cross(c.rA);
			dbv = soft_body->get_node_biased_velocity(c.index_B) - body->get_biased_linear_velocity() - crbA;
			vbn = dbv.dot(c.normal);
			if (Math::abs(-vbn + c.bias) > MIN_VELOCITY) {
				real_t jbn_com = (-vbn + c.bias) / (body_inv_mass + node_inv_mass);
				real_t jbnOld_com = c.acc_bias_impulse_center_of_mass;
				c.acc_bias_impulse_center_of_mass = MAX(jbnOld_com + jbn_com, 0.0f);
				Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
				if (body_collides) {
					body->apply_bias_impulse(-jb_com, body->get_center_of_mass(), 0.0f);
				}
				if (soft_body_collides) {
					soft_body->apply_node_bias_impulse(c.index_B, jb_com);
				}
			}
			c.active = true;
		}
		Vector3 crA = body->get_angular_velocity().cross(c.rA);
		Vector3 dv = soft_body->get_node_velocity(c.index_B) - body->get_linear_velocity() - crA;
		
		real_t vn = dv.dot(c.normal);
		if (Math::abs(vn) > MIN_VELOCITY) {