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This paper introduces DEM-Engine, a new submodule of Project Chrono, that isdesigned to carry out Discrete Element Method (DEM) simulations. Based onspherical primitive shapes, DEM-Engine can simulate polydisperse granularmaterials and handle complex shapes generated as assemblies of primitives,referred to as clumps. DEM-Engine has a multi-tier parallelized structure thatis optimized to operate simultaneously on two GPUs. The code usescustom-defined data types to reduce memory footprint and increase bandwidth. Anovel "delayed contact detection" algorithm allows the decoupling of thecontact detection and force computation, thus splitting the workload into twoasynchronous GPU streams. DEM-Engine uses just-in-time compilation to supportuser-defined contact force models. This paper discusses its C++ and Pythoninterfaces and presents a variety of numerical tests, in which impact forces,complex-shaped particle flows, and a custom force model are validatedconsidering well-known benchmark cases. Additionally, the full potential of thesimulator is demonstrated for the investigation of extraterrestrial rovermobility on granular terrain. The chosen case study demonstrates thatlarge-scale co-simulations (comprising 11 million elements) spanning 15seconds, in conjunction with an external multi-body dynamics system, can beefficiently executed within a day. Lastly, a performance test suggests thatDEM-Engine displays linear scaling up to 150 million elements on two NVIDIAA100 GPUs.

Chrono DEM-Engine: A Discrete Element Method dual-GPU simulator with customizable contact forces and element shape