How to make object collision works literally?

I’m trying to make a game to assemble structures into a building in a scene.
I got several problem while making it. The most important thing is to grab object in the scene and move, rotate, fix them. I tried two method which are Physic Handle and Set constrained on two component from tutorials on Youtube.(Link1, Link2)

But these two ways got different problem.
Physic handle object will self-rotate while moving it and seems won’t stop before hit another fixed object.
Set constrained components will forcely drag object out from gap that smaller than the object.



I wonder is there any way to improve this situation.

Another problem is if I make Convex Hulls collision on physic objects.
They usually bounce again and again while stacking or falling onto another one.
Bounce sample
Is that possible to keep collision complexity and prevent them bounce each other?