Having had personal experience with this problem, there is actually a simple but difficult solution to your problem:

Focus in the effect if the person's action on you, and set hard boundaries for yourself.

Note that boundaries are in this specific form:

"If you do X in Y situation, I will do Z"

The consequence to the instigating person (the Z part) is important. The person you described likely has a deficit in empathy, so feedback on actions has to happen to modify behavior.

Note that I'm not saying to hit back. Consequences are generally best when withdrawing something of value than adding something of negative value.

For example: "If we're watching a movie and you are physically rowdy, you will have to leave the living room and entertain yourself in your room".

Focua on how things affect you, and what actions you can take in response to boundary breaking behavior. Then be ruthlessly firm and consistent about it.