Speedup the ComputeClosestPoint query for a single 3D Point

[sebastienmascha]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

Proposed new feature or change

Adding a function ComputeClosestPoint(const Eigen::Vector3d& query_point) which is used to computes the closest point on the surface of the scene to a single query point.

I created a PR for this feature request.

References

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Additional information

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