Click To Move Character Walks Straight Through Objects

Hey there. I currently have a working code that allows me to click anywhere on a plane that then moves my character to that position. The problem is, the character walks through all the objects there! I have tried normal colliders, but that doesn't work, but when I put a rigid body on the object the character can not walk through it per say, but instead moves it out of the way. If I freeze the positions X, Y and Z of the box through rigidbody, my character just walks through it again. Is there any code I can use so that the character cannot walk through the object but also so that the object does not move when hit?

        var smooth:int; // Determines how quickly object moves towards position
  
      
  
         private var targetPosition:Vector3;
  
        
  
        
  
         var speed = 10;
  
        
  
          
  
         function Update () {
  
             if(Input.GetKeyDown(KeyCode.Mouse0))
  
             {
  
            
  
             smooth=0;
  
            
  
                 var playerPlane = new Plane(Vector3.up, transform.position);
  
                 var ray = Camera.main.ScreenPointToRay (Input.mousePosition);
  
                 var hitdist = 0.0;
  
                
  
                 if (playerPlane.Raycast (ray, hitdist)) {
  
                     var targetPoint = ray.GetPoint(hitdist);
  
                     targetPosition = ray.GetPoint(hitdist);
  
                     var targetRotation = Quaternion.LookRotation(targetPoint - transform.position);
  
                     transform.rotation = targetRotation;
  
                    
  
                      
  
                 }
  
              
  
             }
  
            
  
                 var dir:Vector3 = targetPosition - transform.position;
  
     var dist:float = dir.magnitude;
  
     var move:float = speed * Time.deltaTime;
  
     if(dist > move){
  
     transform.position += dir.normalized * move;
  
     } else {
  
     transform.position = targetPosition;
  
     }
  
            
  
            
  
             transform.position += (targetPosition - transform.position).normalized * speed * Time.deltaTime;
  
            
  
          
  
          
  
          
  
          }