Vaclav, have you looked at this article
http://www.springerlink.com/content/l2306412v1004871/ ?

ESyS implements this algorithm, as I know. Can be useful.

Anton



On Thu, Dec 2, 2010 at 1:25 PM, Bruno Chareyre
<bruno.chare...@hmg.inpg.fr>wrote:

> > - and accumulate moment instead of deltas (as quaternions)
>
> This would be like in PFC.
> It would make moment plasticity/creep a lot easier in fact...
>
> B.
>
>
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