Talk to Sexologist on Hard Flaccid Penis

during corona days out of boredom i started doing masterbation in weird posture putting pressure is what caused trauma or something to my penis now its in a state of hard flaccid. Means its hard even when flaccid the head is hard with decreased sensation cannot move penis towards left it pains alot. Slight pain during urinating feels like my pelvic floor is really tight . Im facing it since around 3+ years. At start i visited doctors did tests nothing came out of it and doctors said its just in brain they dont know anything i have read online it says its caused by pelvic floor dysfunction Im very helpless and in constant pain. Can anyone give me hope I will also like suggestions below before consultations