Abstract: We present a novel continuum-based model that enables efficient simulation of granular materials. Our approach fully solves the internal pressure and frictional stresses in a granular material, thereby allows visually noticeable behaviors of granular materials to be reproduced, including freely dispersing splashes without cohesion, and a global coupling between friction and pressure. The full treatment of internal forces in the material also enables two-way interaction with solid bodies. Our method achieves these results at only a very small fraction of computational costs of the comparable particle-based models for granular flows.