“…The advantages of variational integrators over standard integration schemes based on discretization of differential equations have been demonstrated. For example, variational integrators in general are symplectic or multi-symplectic 48,49,[51][52][53]55,57,58,61,64,68,[70][71][72][73][74][75] , and as such are able to bound globally errors on energy and other invariants of the system for all simulation time-steps. More sophisticated discrete field theories have been designed to preserve other geometric structures of physical systems, such as the gauge symmetry 52,75 and Poincaré symmetry 72,80,81,83 .…”