Using Capacitor as library in existing project

I am new to Capacitor and exploring how to use it. Currently we already have a native iOS and Android apps and we want to use the Capacitor as library in the existing app. For example, we want to convert some of the viewcontroller in the iOS app to become CAPBridgeViewController

Is this supported? The doc I followed, creates an app in which the Capacitor takes control of the whole app. But what I want is that my Objective-c code takes control of the the app and can use Capacitor to display some of the view controllers.

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