feat: Add closest point and distance computation to `SurfaceBounds` #26530

Job	Run time
linux_ubuntu	6m 48s
linux_ubuntu_extra (ubuntu2204, 20)	7m 32s
macos	26m 13s
linux_ubuntu_extra (ubuntu2204_clang, 20)	7m 35s
linux_examples_test	0s
linux_physmon	0s
linux_physmon_perf_report	0s
	48m 8s

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