This post summarizes links for those who have not studied numerical integration methods from scratch and are interested in simulation settings in MapleSim (like me).

The MapleSim help pages simulation settings and advanced simulation settings give first guidance for the trained user but do not provide explanations or links for the terms used in the description of the settings (as for example: stiffness, constraint stabilization, constraint projection, events and event iteration,...).

It can easily be overlooked that Maple help pages provide further information for most of the terms. Under the assumption that MapleSim uses the same terminology as Maple, I recommend to first have a look at Maple help topics before consulting the web or other resources. Since searching and retrieving can be time consuming, I made a list of helpful links.

There are still some open points. I would be happy for more links and help in filling these gaps.

**How Maple simulates**

?MapleSimUserGuide,Chapter04:

section 4.1 How MapleSim Simulates a Model

?tasks,generatingCode

**Solvers **

An overview of solvers: ?dsolve,numeric

Differential Algebraic Equation introduction: ?MaplePortal,DAE

Overview of numeric differential-algebraic equation solvers (index reduction, constraint drift, projection):

?examples/numeric_DAE and ?dsolve,numeric,DAE_extension

**Stiffness and stiff solvers**

Stiffness and stiff IVPs: ?dsolve,Stiffness

**Events**

?dsolve,numeric,Events

Time events and state events

Event handling:

?MapleSimUserGuide,Chapter04:

section 4.1 How MapleSim Simulates a Model

Event iteration:

?MapleSimUserGuide,Chapter05:

section 5.5 Selecting the Code Generation Options

Iteration, hysteresis, Intermediate steps: ?tasks,generatingCode

Hysteresis:

Hysteresis in value or also in time?

Do variable solvers adapt the value of event hysteresis during runtime?

**Baumgarte constraint stabilization, unconstrained dynamics, constrained dynamics**

?MapleSim,Multibody,Dynamic_Exports

(in combination with ?MapleSim,Multibody,Kinematic_Exports)

?examples/numeric_DAE

?tasks,generatingCode

?MapleSimUserGuide,Chapter05:

section 5.5 Selecting the Code Generation Options

**Error control**

?dsolve,numeric,Error_Control

Absolute error: ?dsolve,numeric,IVP

Relative error: (relative to what?)

Index1 error control and Index1 Tollerance: see solvers

**Scaling **

scalemethod (this does not seem to exist in Maple)

**Examples (Multibody) **

**Events**

Catapult

(from MapleSim>Help>Examples>Physical Domains>Multibody)

contact events

Catapult_-_Events.msim

Throwing a ball

(from MapleSim>Help>Examples>Physical Domains>Multibody)

conditional events (with boolean logic)

Throwing_a_Ball_-_Events.msim