Implement a stiff differential equation solver

[calcmogul]

Sometimes, the physics sim differential equations are stiff enough that the default solver takes way too long because it takes very small steps to stay below the error bound. We should add a higher order solver designed for stiff differential equations.

We should also automatically select the appropriate algorithm for a given problem:
https://docs.sciml.ai/DiffEqDocs/stable/getting_started/#Choosing-a-Solver-Algorithm