### 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 tn = c.normal.dot(dtv);
		
		Vector3 tv = dtv - c.normal * tn;
		real_t tvl = tv.length();
		if (tvl > MIN_VELOCITY) {
			tv /= tvl;
			Vector3 temp1 = inv_inertia_tensor_A.xform(c.rA.cross(tv));
			Vector3 temp2 = inv_inertia_tensor_B.xform(c.rB.cross(tv));
			real_t t = -tvl / (inv_mass_A + inv_mass_B + tv.dot(temp1.cross(c.rA) + temp2.cross(c.rB)));
			Vector3 jt = t * tv;
			Vector3 jtOld = c.acc_tangent_impulse;
			c.acc_tangent_impulse += jt;
			real_t fi_len = c.acc_tangent_impulse.length();
			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 (collide_A) {
				A->apply_impulse(-jt, c.rA + A->get_center_of_mass());
			}
			if (collide_B) {
				B->apply_impulse(jt, c.rB + B->get_center_of_mass());
			}
			c.acc_impulse -= jt;
			c.active = true;
		}
	}
}
GodotBodyPair3D::GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B) :