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For $u \in \mathbb{S}^{d-1} \subset \mathbb{R}^d$, it is easy to show that: \begin{equation} u=c_d \int_{\mathbb{S^{d-1}}} \xi \mathbb{1}_{\left\{x \cdot u >0 \right\}}(\xi) \ \rm{d}\sigma_{d-1}(\...

Clarification: by "piecewise", I mean a finite number of pieces. I'm sure this must be true, but my search for a citation was in vain (although I did learn the new term "polyconvex"). Thanks!