hi i have the same problem but my project already 80% finished however i have this bag too ofc i have a long body space ship i just recently started to trying to find a fix .
my solution would be line trace box on whole body of object and registration of the hit and connecting it to movement side left or right .if its rotates left and gets block than it means rotation to left not allowed ,if its rotates right and gets block its means rotation right not allowed . same can be done with rotating up and down . i poste it here when i achieve something . my solution now in scratch state just started it today . 