is there any way to do the same without enabling the physics engine?

Thanks for your reply! One more thing I would like to know if it is possible to ignore furniture during a room scan and to generate point cloud only for walls or is there any algorithm available to automatically fill the holes in the point cloud, well that's make it second thing to ask but I'm very much new for ARKit development and LiDAR is fascinating for me. Your help will be much appreciated.

Thanks for your reply! One more thing I would like to know if it is possible to ignore furniture during a room scan and to generate point cloud only for walls or is there any algorithm available to automatically fill the holes in the point cloud, well that's make it second thing to ask but I'm very much new for ARKit development and LiDAR is fascinating for me. Your help will be much appreciated.