3D Molecular dynamics simulations using spheropolytopes
  We present a simple and efficient method to simulate three-dimensional, complex-shaped, interacting bodies. The particle shape is represented by Minkowski operators. A time-continuous interaction between these bodies is derived using simple concepts of computational geometry. The model (particles + interactions) is efficient, accurate and easy to implement, and it complies with the conservation laws of physics. 3D simulations of hopper flow shows that the non-convexity of the particles strongly effects the jamming on granular flow. 
Sergio-Andres Galindo-Torres, Fernando Alonso-Marroquin and Yucang   Wang