Large granitic boulders resting on steep slopes represent considerable safety hazards that largely depend on the location of the contact surface characterized by the impression d, denoting the parallel distance between the contact surface and the original rock surface. On the other hand, this impression reflecting the often convex nature of the contact between boulders and resting platforms, cannot be measured precisely, so Factors of Safety (FoS) computed with this input may have significant uncertainties. Using geometric 3D analysis, here, we present the concept of computing FoS as a function of the impression d, admitting a much more reliable estimate of the actual hazards. Beyond introducing the FoS functions, we also identify all failure modes, some of which have not yet been investigated. We compute the FoS functions for the boulder Pena do Equilibrio, located in Spain. Our computations for FoS against sliding match all earlier results. However, we also compute FoS against toppling and against torsion and show that the latter may be critical. Since our methods are general, this suggests that torsion phenomena, which have been scarcely studied so far, may be relevant to analyze the stability of other natural rock boulders.