1. A mixed reality simulation method for rendering on a display a mixed reality scenario of a virtual environment adapted to a physical environment, the method comprising: acquiring, with at least one sensor, a position of a physical environment object; identifying, with at least one processor circuit in communication with the at least one sensor, a geometric mismatch between a physical environment surface and a virtual environment surface, the geometric mismatch depending on the physical environment object position and a mixed reality scenario parameter; computing, with the at least one processor circuit, based on the geometric mismatch, a mapping displacement for the virtual environment surface to distort the virtual environment surface; and rendering, with a display, the distorted virtual environment surface such that a visual perception and a tactile perception by an end user are consistent while the geometric mismatch is preserved.