Surface modeling systems and methods

A method of generating a simulation of a physical object in an image of a physical environment, the method comprising:

• an imaging device obtaining an image of a physical environment having a physical object;
• an image processor performing an image generating process, comprising:
• generating a planar polygon mesh from the physical object from the image of the physical environment;
• extracting a boundary polygon from the planar polygon mesh;
• generating a convex hull for the boundary polygon;
• and
• generating a minimal area oriented boundary polygon (MAOBP) from the convex hull, the minimal area oriented boundary polygon (MAOBP) comprising a polygon that contains the convex hull and the boundary polygon;
• utilizing the MAOBP to generate a 3-D surface model of the physical object;
• and
• utilizing the 3-D surface model to generate a simulation involving an interaction with the 3-D surface model of the physical object.