Chrono::GPU: An Open-Source Simulation Package for Granular Dynamics Using the Discrete Element Method

We report on an open-source, publicly available C++ software module called Chrono::GPU, which uses the Discrete Element Method (DEM) to simulate large granular systems Graphics Processing Unit (GPU) cards. The solver supports integration of material with geometries defined by triangle meshes, as well co-simulation multi-physics simulation engine Chrono. Chrono::GPU adopts a smooth contact formulation and implements various common force models, such Hertzian model for normal Mindlin friction model, takes into account history tangential displacement, rolling frictional torques, cohesion. code structure highlight its use mixed data types reducing memory footprint increasing speed. discuss several validation tests (wave propagation, rotating drum, direct shear test, crater test) that compare results against experimental or reported in literature. In another benchmark we demonstrate linear scaling problem size up GPU capacity; specifically, 130 million DEM elements. infrastructure is demonstrated conjunction simulations NASA Curiosity rover, currently active Mars.