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[Václav Šmilauer <eudoxos@xxxxxxxx>]

> -with $w\in\{x,y,z\}$. Equations :eq:`eq-dtcr-global`, :eq:`eq-dtcr-axes` and :eq:`eq-dtcr-particle-stiffness` determine $\Dtcr$ in a simulation; it is implemented by the :yref:`GlobalStiffnessTimeStepper` engine in Yade. 
> +with $i$ and $j\in\{x,y,z\}$. Equations :eq:`eq-dtcr-global`, :eq:`eq-dtcr-axes` and :eq:`eq-dtcr-particle-stiffness` determine $\Dtcr$ in a simulation. A similar approach generalized to all 6 DOFs is implemented by the :yref:`GlobalStiffnessTimeStepper` engine in Yade. The derivation of generalized stiffness including rotational terms is very similar but not developped here, for simplicity. For full reference, see "PFC3D - Theoretical Background".

OK, but you should write the whole derivation here I think. PFC manual
is not commonly available and the algorithms should be clear.

> (we need PFC manual in bibtex references...)
You can do that.

v