Physics - dragcontrol l and trannsform control - overlap

I want to add physics to every object in my 3D model(glb).
I have used CannonJs a little, but my desired output needs your guidance, dear friends
I want every object to have hardness and physics in such a way that when my user moves the object with the dragcontrol, the transform control does not overlap. For example, the sofa should not cross the wall, and the table