code: public void addSurface(Se3_F64 rectToWorld , double widthWorld , GrayF32 texture ) {
  		SurfaceRect s = new SurfaceRect();
  		s.texture = texture.clone();
  		s.width3D = widthWorld;
  		s.rectToWorld = rectToWorld;
  
  		ImageMiscOps.flipHorizontal(s.texture);
  
  		scene.add(s);
  	}
docs: <p>Adds a surface to the simulation. The center of the surface's coordinate system will be the image
  center. Width is the length along the image's width. the world length along the image height is
  width*texture.height/texture.width.</p>
  
  <p>NOTE: The image is flipped horizontally internally so that when it is rendered it appears the same way
  it is displayed on the screen as usual.</p>
  
  @param rectToWorld Transform from surface to world coordinate systems
  @param widthWorld Size of surface as measured along its width
  @param texture Image describing the surface's appearance and shape.