We propose a novel monolithic pure SPH formulation to simulate fluids strongly coupled with rigid bodies. This includes fluid incompressibility, fluid-rigid interface handling and rigid-rigid contact handling with a viable implicit particle-based dry friction formulation. The resulting global system is solved using a new accelerated solver implementation that outperforms existing fluid and coupled rigid-fluid simulation approaches. We compare results of our simulation method to analytical solutions, show performance evaluations of our solver and present a variety of new and challenging simulation scenarios.