Granular Rigid Body Simulation Framework: efficient research tools to simulate non-smooth granular rigid body dynamics.

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Chute flow simulation & experiment with 1 million spheres:

• method: Moreau time-stepping with unilateral contacts and Coulomb friction
• computed on 384 cores with GRSFSimMPI in 12 h, rendered with GRSFConverter and prman in 24 h.
• time step: 0.0002 s, friction coefficient: 0.8
• restitution coefficient: 0.0 (fully inelastic impacts)
• global contact iterations: 1000