Fix Cylinder shape collision with margins when using GJK-EPA

[pouleyKetchoupp]

In the case of falling back to GJK-EPA algorithm to generate cylinder contact points, margins were never taken into account.

This fixes the depenetration phase for kinematic bodies and allows consistent floor detection for cylinder shapes.

Fixes #47058

Note: This change doesn't affect the Bullet physics backend or other shapes than cylinder.

[e344fde6bf]

There still seems to be issues when you collide with the side of the cylinder:

cylinder-side-collisions.mp4

[e344fde6bf]

Also, the collision normals for cylinders in an oblique orientation don't seem to be consistent and I'm getting some other weird jumps.

Here's walking on a slanted cylinder with Godot physics (floor angle not stable, and random jumps):

cylinder-oblique-godot.mp4

Here's a comparison with bullet:

cylinder-oblique-bullet.mp4

[pouleyKetchoupp]

@e344fde6bf Thanks for catching all these cases! I've made a separate fix in PR #47084 for the specific capsule/cylinder issues.

[akien-mga]

Thanks!