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We present a new particle-based (discrete element) numerical method for thesimulation of granular dynamics, with application to motions of particles onsmall solar system body and planetary surfaces. The method employs the parallelN-body tree code pkdgrav to search for collisions and compute particletrajectories. Collisions are treated as instantaneous point-contact eventsbetween rigid spheres. Particle confinement is achieved by combining arbitrarycombinations of four provided wall primitives, namely infinite plane, finitedisk, infinite cylinder, and finite cylinder, and degenerate cases of these.Various wall movements, including translation, oscillation, and rotation, aresupported. We provide full derivations of collision prediction and resolutionequations for all geometries and motions. Several tests of the method aredescribed, including a model granular "atmosphere" that achieves correct energyequipartition, and a series of tumbler simulations that show the expectedtransition from tumbling to centrifuging as a function of rotation rate.

Numerical simulations of granular dynamics. I. Hard-sphere discrete element method and tests