### 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)

real_t jtMax = c.acc_normal_impulse * friction;
			if (fi_len > CMP_EPSILON && fi_len > jtMax) {
				c.acc_tangent_impulse *= jtMax / fi_len;
			}
			jt = c.acc_tangent_impulse - jtOld;
			if (body_collides) {
				body->apply_impulse(-jt, c.rA + body->get_center_of_mass());
			}
			if (soft_body_collides) {
				soft_body->apply_node_impulse(c.index_B, jt);
			}
			c.acc_impulse -= jt;
			c.active = true;
		}
	}
}
GodotBodySoftBodyPair3D::GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B) :
		GodotBodyContact3D(&body, 1) {
	body = p_A;
	soft_body = p_B;
	body_shape = p_shape_A;
	space = p_A->get_space();
	body->add_constraint(this, 0);
	soft_body->add_constraint(this);
}
GodotBodySoftBodyPair3D::~GodotBodySoftBodyPair3D() {
	body->remove_constraint(this);
	soft_body->remove_constraint(this);
}