:sparkles: Create the function ComputeClosestPoint to speedup the que…

[sebastienmascha]

Computes the closest point on the surface of the scene to a single query point.

This function calculates the closest point on any surface within the scene to the provided query point. It's optimized for single-point queries, making it suitable for applications that require precise, real-time calculations of nearest surface points, such as collision detection or interactive simulations.

Type

• [ ] Bug fix (non-breaking change which fixes an issue): Fixes #
• [x] New feature (non-breaking change which adds functionality). Resolves #6718
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected) Resolves #

Motivation and Context

• It speeds up the query when you just have a point cloud and you want to do registration for instance.

Checklist:

• [x] I have run python util/check_style.py --apply to apply Open3D code style to my code.
• [x] This PR changes Open3D behavior or adds new functionality.
  • [ ] Both C++ (Doxygen) and Python (Sphinx / Google style) documentation is updated accordingly.
  • [ ] I have added or updated C++ and / or Python unit tests OR included test results (e.g. screenshots or numbers) here.
• [x] I will follow up and update the code if CI fails.
• [x] For fork PRs, I have selected Allow edits from maintainers.

[update-docs[bot]]

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.

[benjaminum]

@sebastienmascha Just wanted to ask if you need info from us or help for this PR