Fix can_move_to and rename it for more clarity

Fixes #2416.
The KinematicBody::can_move_to function was likely designed for two behaviours:
 - discrete: check if the body can "teleport" to the destination
 - continuous: check if the direct path to the destination is valid
The continuous behaviour was however not implemented, and the discrete behaviour was broken too due to a wrong call to intersect_shape.

The discrete behaviour has thus been fixed and the function renamed to can_teleport_to for more clarity.

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