https://github.com/thansen0/seabed-sim-chrono

I've been working on a deep seabed simulation, specifically to simulate polymetallic nodules for cobalt/nickel mining in Project Chrono. Development has stalled as I scan my nodule samples to enter them into the simulation (half of my samples were stolen from my porch, which delayed things), although the sim works just fine. The idea is you could take what I have now and, in project chrono, load a vehicle and test deep sea nodule mining using different designs.

It comes with a rigid (fast but wholly inaccurate) simulation, as well as DEM (which will make you cry and want to build a new computer). Having lots of fast cache helps with the DEM sim