It's kinda funny to see this comment - I just sent a long email to someone about simulating terrains/granular materials in the context of robotic space missions

It's kinda funny to see this comment - I just sent a long email to someone about simulating terrains/granular materials in the context of robotic space missions and logged in to hackernews only to see this. I'm curious what libraries you've come across from the game dev community that are useful. My usecase requires photo realism, consistent granular interaction, appropriate force response on contact with say a robotic arm. I've been checking out different tools and project Chrono seems to be the most accurate but also the most computationally expensive. I'm looking for something near real-time and haven't been able to find any - NVIDIA Isaac is meh and there's a new library called GranularGym that seems to be only written for a conference and never updated after that. Would love to get your thoughts/suggestions!