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Fix use of rotation matrix and angular velocity for viscoelastic beam with offset

Reinhard Resch requested to merge fix-ViscoElasticBeamAd-offset into develop

This merge request fixes a bug, related to viscoelastic beams with offset (caused by commit 075de1cf). In addition to that, automatic differentiation is used also for initial assembly of beams for consistent behavior.

Edited by Reinhard Resch

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