How to interact with RigidBodies with Character Controller? Unity 3D

In my Unity game, I have a character controller object for the player. However, I have been informed that the character controller doesn’t interact with physics objects (rolling a ball, pushing a wall, etc).

I would like to know how to be able to move/interact physically with the PlayerController component.

@JMasterBoi
I had the same problem so I made this you can change the forcemultiplyer to your needs. I hope this is helpful.

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class PhysicsInteract : MonoBehaviour
{
public float forceMultiplyer = 1000f, velocity;
public Vector3 Velocity;

private Vector3 lastframepos;

//checks collision
private void OnControllerColliderHit(ControllerColliderHit collision)
{
    //checks if there is rigidbody
    if (collision.rigidbody == null) { return; }

    Vector3 pushDir = Velocity;

    //Adds force to the object
    collision.rigidbody.AddForce(pushDir * velocity * forceMultiplyer * Time.deltaTime, ForceMode.Impulse);
}

private void Update()
{
    //calculates velocity
    Velocity.x = transform.position.x - lastframepos.x;
    Velocity.y = transform.position.x - lastframepos.y;
    Velocity.y = transform.position.y - lastframepos.y;

    //calculates velocity "Speed"
    float vx;
    float vy;
    float vz;
    if(Velocity.x < 0) { vx = Velocity.x * -1; } else { vx = Velocity.x; };
    if (Velocity.y < 0) { vy = Velocity.y * -1; } else { vy = Velocity.y; };
    if (Velocity.z < 0) { vz = Velocity.z * -1; } else { vz = Velocity.z; };

    velocity = vx + vy + vz;

    //Sets the lastframe pos
    lastframepos = transform.position;
}

}

Try adding collider to him.