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DIS is a computational mechanics code which seamlessly integrates into one solver: (1) Multibody dynamics (MBD) for modeling rigid bodies,joints,frictional contact between bodies,actuators,and control algorithms;(2) Finite element method (FEM) for modeling flexible bodies such as tires,flexible belt-type tracks,and flexible vehicle components;(3) Discrete element method (DEM) for modeling non-cohesive soils (e.g.sand and gravel) and cohesive soils (e.g.mud and snow);and (4) Smoothed Particle Hydrodynamics (SPH) for modeling fluid interaction for vehicle fording and swimming.