Rigidity phase transition in granular packings.
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We numerically model two-dimensional systems of granular aggregates confined between two rough walls and demonstrate that at a critical grain volume fraction nu(c) an abrupt rigidity transition occurs. The transition has first-order characteristics, although the elastic constants undergo a second-order transition. Densely packed grains, with a volume fraction nu>nu(c), display an elastic-plastic rheology. Loose packings, with nu