feat: Add closest point and distance computation to `SurfaceBounds` #26506

Job	Run time
macos	2m 13s
linux_ubuntu	2m 18s
linux_ubuntu_extra (ubuntu2204, 20)	2m 17s
linux_ubuntu_extra (ubuntu2204_clang, 20)	2m 23s
linux_physmon	0s
linux_examples_test	0s
linux_physmon_perf_report	0s
	9m 11s

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