A method of generating a simulation of a physical object in an image of a physical environment. The method also includes generating a planar polygon mesh from at least the image. The method further includes extracting a boundary polygon of the planar polygon mesh. Moreover, the method includes generating a convex hull for the boundary polygon of the surface mesh. In addition, the method includes generating a minimal area oriented boundary polygon from the convex hull. The method may also include generating a maximal area oriented internal polygon (MAOBP) inside of the boundary polygon of the planar polygon mesh. The MAOBP is utilized to generate a 3-D surface model of the physical object, and the 3-D surface model is used to generate a simulation involving an interaction with the 3-D surface model of the physical object.