numerically better normalization
slightly more expensive, but guarantees a det(R) = 1.0
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@ -1129,7 +1129,7 @@ pure function math_rotationalPart(F) result(R)
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- I_U(1)*I_F(1) * transpose(F) &
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- I_U(1)*I_F(1) * transpose(F) &
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+ I_U(1) * transpose(matmul(F,F)) &
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+ I_U(1) * transpose(matmul(F,F)) &
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- matmul(F,C)
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- matmul(F,C)
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R = R /(I_U(1)*I_U(2)-I_U(3))
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R = R*math_det33(R)**(-1.0/3.0)
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end function math_rotationalPart
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end function math_rotationalPart
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