generating a triangular mesh representing a physical environment and a depth map of the physical environment, the triangular mesh including a plurality of vertices, the depth map including a plurality of depth values;

performing a displacement operation on the plurality of vertices of the triangular mesh including removing a vertex of the plurality of vertices of the triangular mesh in response to the depth map satisfying a criterion to produce a plurality of displaced vertices representing a geometry of at least one real object within the physical environment;

receiving virtual object data representing a virtual object configured to be displayed with the at least one real object in the physical environment; and

displaying the virtual object in the physical environment on a display to produce a displayed virtual object, the displayed virtual object having a difference from the virtual object according to the plurality of displaced vertices.