Release `open3d` wheel with shared library (libOpen3D.so).

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Proposed new feature or change

Currently, the official `open3d` package is released using `-DBUILD_SHARED_LIBS=OFF`, which makes C++ users unable to use the library directly. Although the pre-built C++ shared library is provided, it is inconvenient for users who want to use both C++ and Python API of Open3D at the same time (eg, via just simple `pip3 install open3d`).

The proprosed feature will allow Open3D to be used for both Python and C++, and makes it possible for external project which uses Open3D as dependency (use shared 3D data structure, tensor, etc. as function interfaces.) with both Python and C++ API.

Expected outcome:
- The shared library, header files and cmake files are stored in the open3d python package folder (eg, `open3d/lib`, `open3d/include`, `open3d/share`)
- Add `cmake_prefix_path` to open3d such that the cmake prefix path can be automatically detected by python.

### References

_No response_

### Additional information

_No response_