[CI/Build] Enforce style for C++ and CUDA code with clang-format

[mgoin]

We have made great strides in enforcing code quality and consistency within our Python codebase, particularly with the recent MyPy integration. To maintain a high standard of code quality throughout the project, we should apply similar formatting and style guidelines to our C++ and CUDA code.

This PR integrates clang-format into our format.sh code quality workflow to automatically enforce consistent formatting for C++ and CUDA files. This will ensure that all code adheres to the Google C++ style guide, making the codebase more readable and maintainable.

Implementation:

1. Add clang-format to the project's dependencies.
2. Update the format.sh script to include clang-format for files with the following extensions: '*.h' '*.cpp' '*.cu' '*.cuh'.
3. Apply clang-format to all existing C++ and CUDA files in the repository.

Addresses #4721

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[rkooo567]

Can you add it to pipeline check? And ideally it should only check the entire dir (instead of directly modifying it) in CI

[rkooo567]

LGTM if tests pass!