Is there a way to detect interferences between Point Cloud or Meshed Point Cloud and either another Point Cloud / Mesh or a CAD object ?

We tried several scenario without success.

We could measure between a point of a mesh (not directly the point cloud) and another object, but nothing else.

The usecase is to detect interference and/or measure minimum distance between a machine or environment imported as point cloud, and a machine model in the CAD. Possibly also adding motion to the CAD machine (robot for example) and detect clash with its point cloud environment during the motion.