2D collision pair contacts are not drawn and/or invalid contacts are drawn as well

[Xrayez]

Godot version

3.x, 4.x

System information

Windows 10

Issue description

In Godot 3.x, invalid contacts are still drawn

In 4.x, contacts are not drawn at all:

Those are two separate yet similar issues, so the below reproduction steps refer to 3.x version of this report, which will likely apply to 4.x once the visibility issue is resolved.

Steps to reproduce

1. Download MRP (4.x).
2. Enable "Visible Collision Shape" option.
3. Run the project. Press Enter to manually step the physics.
4. Observe contacts draw changes while the body gets separated from collision shapes.

Minimal reproduction project

invalid_contacts_drawn.zip