LIGGGHTS® features high-performance, open source, customizable DEM simulations.
It implements a so-called 6 degree of freedom solver to account for rigid body dynamics. The rigid bodies can be imported as surface mesh from a CAD system
This is a feature which is not part of the public release, and is made availaible to customers of DCS via a commerical support version for industrial users ("Premium version")
Example of rigid body impacting a particle bed
