Numerical relativity has faced the problem that standard 3+1 simulations of black hole spacetimes without singularity excision and with singularity avoiding lapse and vanishing shift fail early on due to the so-called slice stretching. We discuss lapse and shift conditions for the nonexcision case that effectively cure slice stretching and allow run times of $1000M$ and more.

This book introduces the modern field of 3+1 numerical relativity. It has been written in a way as to be as self-contained as possible, and assumes a basic knowledge of special relativity. Starting from a brief introduction to general relativity, it discusses the different concepts and tools necessary for the fully consistent numerical simulation of relativistic astrophysical systems, with strong and dynamical gravitational fields. Among the topics discussed in detail are the following: the initial data problem, hyperbolic reductions of the field equations, gauge conditions, the evolution of black hole space-times, relativistic hydrodynamics, gravitational wave extraction, and numerical methods. There is also a final chapter with examples of some simple numerical space-times.

We study the stability of three-dimensional numerical evolutions of the Einstein equations, comparing the standard ADM formulation to variations on a family of formulations that separate out the conformal and traceless parts of the system. We develop an implementation of the conformal-traceless (CT) approach that has improved stability properties in evolving weak and strong gravitational fields, and for both vacuum and spacetimes with active coupling to matter sources. Cases studied include weak and strong gravitational wave packets, black holes, boson stars and neutron stars. We show under what conditions the CT approach gives better results in 3D numerical evolutions compared to the ADM formulation. In particular, we show that our implementation of the CT approach gives more long term stable evolutions than ADM in all the cases studied, but is less accurate in the short term for the range of resolutions used in our 3D simulations.