I have issue to establish sexual relatio

I am 34 years old now & yet to lose virginity. Since childhood I had a habit of masturbuting by rubbing the penis against floor. I have never used hand for this purpose. My issues are as below. 1) My urine & ejaculation are not having force. Hence, neither doesn't come out as spray jet of fluid. 2) I couldn't proceed beyond foreplay as the erection couldn't last. Also foreskin doesn't come back causing head kept covered. 3) I never used to clean smegma which caused swelling to the skin. Since, last three months I am cleaning it on daily basis. However, still the skin experiences swelling as well as sharp scars inside the skin. 4) I am not sure that whether should I consult a psychiatrist or urologist for the issue. I am already having high blood pressure. Can you please suggest the appropriate path to come over the issue?