What is controlling the timestep? I assume the SPG particles were, but maybe it is the deformable body of the drill? The first step would be to make sure you have a uniform size mesh and you don't have small elements here and there. If you have small elements, try to remesh to get a more uniform mesh. The small elements will control the timestep.
What are you interested in the drill? Could you model the drill as fully rigid and calculate the wear using the contact?
We usually increase the density of the SPG material only, which is initially at rest. We have to be careful when increasing the density of the deformable components of the drill. This will increase the kinetic energy of the system and may affect the results. You can do some tests and change the density and see if it affects the results you are interested in.
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