标题： TinyDEM：具有滑动、滚动和扭转摩擦的最小开放颗粒DEM代码 显示英文标题

标题： TinyDEM: Minimal open granular DEM code with sliding, rolling and twisting friction

摘要： 本文介绍了TinyDEM，这是一个在3D中实现的轻量级完整离散元方法（DEM）求解器。 显式求解牛顿阻尼运动方程，用于多分散的干燥、柔软、颗粒状球形粒子的平移和旋转，使用四元数表示其空间方向，避免万向节锁。 粒子碰撞被建模为非弹性和有摩擦的，包括扭矩的完全交换。 通过通用的粒子-网格碰撞例程，可以模拟复杂的刚性几何结构。 TinyDEM设计为一个紧凑的独立程序，使用简单的C++11编写，不包含显式的指针算术和高级概念，如手动内存管理或多态性。 它使用OpenMP进行并行化，并在3条款BSD许可证下免费发布。 TinyDEM可以作为进入经典DEM模拟的入门点，或者作为粒子动力学更复杂模型的基础。 显示英文摘要

摘要： This article introduces TinyDEM, a lightweight implementation of a full-fledged discrete element method (DEM) solver in 3D. Newton's damped equations of motion are solved explicitly for translations and rotations of a polydisperse ensemble of dry, soft, granular spherical particles, using quaternions to represent their orientation in space without gimbal lock. Particle collisions are modeled as inelastic and frictional, including full exchange of torque. With a general particle-mesh collision routine, complex rigid geometries can be simulated. TinyDEM is designed to be a compact standalone program written in simple C++11, devoid of explicit pointer arithmetics and advanced concepts such as manual memory management or polymorphism. It is parallelized with OpenMP and published freely under the 3-clause BSD license. TinyDEM can serve as an entry point into classical DEM simulations or as a foundation for more complex models of particle dynamics.