; LLVM IR from HRI-EU/Rcs :: src/RcsCore (Rcs_Mat3d)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: nounwind
declare double @sin(double noundef) #1

; Function Attrs: nounwind
declare double @cos(double noundef) #1

; Function Attrs: nounwind uwtable
define dso_local void @Mat3d_getEulerVelocityMatrix(ptr noundef %0, ptr noundef %1) #2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca double, align 8
  %6 = alloca double, align 8
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #3
  %9 = load ptr, ptr %4, align 8, !tbaa !5
  %10 = getelementptr inbounds double, ptr %9, i64 0
  %11 = load double, ptr %10, align 8, !tbaa !9
  %12 = call double @sin(double noundef %11) #3
  store double %12, ptr %5, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #3
  %13 = load ptr, ptr %4, align 8, !tbaa !5
  %14 = getelementptr inbounds double, ptr %13, i64 0
  %15 = load double, ptr %14, align 8, !tbaa !9
  %16 = call double @cos(double noundef %15) #3
  store double %16, ptr %6, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #3
  %17 = load ptr, ptr %4, align 8, !tbaa !5
  %18 = getelementptr inbounds double, ptr %17, i64 1
  %19 = load double, ptr %18, align 8, !tbaa !9
  %20 = call double @sin(double noundef %19) #3
  store double %20, ptr %7, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #3
  %21 = load ptr, ptr %4, align 8, !tbaa !5
  %22 = getelementptr inbounds double, ptr %21, i64 1
  %23 = load double, ptr %22, align 8, !tbaa !9
  %24 = call double @cos(double noundef %23) #3
  store double %24, ptr %8, align 8, !tbaa !9
  %25 = load ptr, ptr %3, align 8, !tbaa !5
  %26 = getelementptr inbounds [3 x double], ptr %25, i64 0
  %27 = getelementptr inbounds [3 x double], ptr %26, i64 0, i64 0
  store double 1.000000e+00, ptr %27, align 8, !tbaa !9
  %28 = load double, ptr %5, align 8, !tbaa !9
  %29 = load double, ptr %7, align 8, !tbaa !9
  %30 = fmul double %28, %29
  %31 = load double, ptr %8, align 8, !tbaa !9
  %32 = fdiv double %30, %31
  %33 = load ptr, ptr %3, align 8, !tbaa !5
  %34 = getelementptr inbounds [3 x double], ptr %33, i64 0
  %35 = getelementptr inbounds [3 x double], ptr %34, i64 0, i64 1
  store double %32, ptr %35, align 8, !tbaa !9
  %36 = load double, ptr %6, align 8, !tbaa !9
  %37 = fneg double %36
  %38 = load double, ptr %7, align 8, !tbaa !9
  %39 = fmul double %37, %38
  %40 = load double, ptr %8, align 8, !tbaa !9
  %41 = fdiv double %39, %40
  %42 = load ptr, ptr %3, align 8, !tbaa !5
  %43 = getelementptr inbounds [3 x double], ptr %42, i64 0
  %44 = getelementptr inbounds [3 x double], ptr %43, i64 0, i64 2
  store double %41, ptr %44, align 8, !tbaa !9
  %45 = load ptr, ptr %3, align 8, !tbaa !5
  %46 = getelementptr inbounds [3 x double], ptr %45, i64 1
  %47 = getelementptr inbounds [3 x double], ptr %46, i64 0, i64 0
  store double 0.000000e+00, ptr %47, align 8, !tbaa !9
  %48 = load double, ptr %6, align 8, !tbaa !9
  %49 = load ptr, ptr %3, align 8, !tbaa !5
  %50 = getelementptr inbounds [3 x double], ptr %49, i64 1
  %51 = getelementptr inbounds [3 x double], ptr %50, i64 0, i64 1
  store double %48, ptr %51, align 8, !tbaa !9
  %52 = load double, ptr %5, align 8, !tbaa !9
  %53 = load ptr, ptr %3, align 8, !tbaa !5
  %54 = getelementptr inbounds [3 x double], ptr %53, i64 1
  %55 = getelementptr inbounds [3 x double], ptr %54, i64 0, i64 2
  store double %52, ptr %55, align 8, !tbaa !9
  %56 = load ptr, ptr %3, align 8, !tbaa !5
  %57 = getelementptr inbounds [3 x double], ptr %56, i64 2
  %58 = getelementptr inbounds [3 x double], ptr %57, i64 0, i64 0
  store double 0.000000e+00, ptr %58, align 8, !tbaa !9
  %59 = load double, ptr %5, align 8, !tbaa !9
  %60 = fneg double %59
  %61 = load double, ptr %8, align 8, !tbaa !9
  %62 = fdiv double %60, %61
  %63 = load ptr, ptr %3, align 8, !tbaa !5
  %64 = getelementptr inbounds [3 x double], ptr %63, i64 2
  %65 = getelementptr inbounds [3 x double], ptr %64, i64 0, i64 1
  store double %62, ptr %65, align 8, !tbaa !9
  %66 = load double, ptr %6, align 8, !tbaa !9
  %67 = load double, ptr %8, align 8, !tbaa !9
  %68 = fdiv double %66, %67
  %69 = load ptr, ptr %3, align 8, !tbaa !5
  %70 = getelementptr inbounds [3 x double], ptr %69, i64 2
  %71 = getelementptr inbounds [3 x double], ptr %70, i64 0, i64 2
  store double %68, ptr %71, align 8, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #3
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #3
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #3
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #3
  ret void
}

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

; Function Attrs: mustprogress nofree nounwind willreturn memory(write)
declare double @sin(double noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nofree nounwind willreturn memory(write)
declare double @cos(double noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nofree nounwind willreturn memory(write, argmem: readwrite) uwtable
define dso_local void @Mat3d_getEulerVelocityMatrix(ptr nocapture noundef writeonly %0, ptr nocapture noundef readonly %1) local_unnamed_addr #1 {
  %3 = load double, ptr %1, align 8, !tbaa !5
  %4 = tail call double @sin(double noundef %3) #2
  %5 = load double, ptr %1, align 8, !tbaa !5
  %6 = tail call double @cos(double noundef %5) #2
  %7 = getelementptr inbounds i8, ptr %1, i64 8
  %8 = load double, ptr %7, align 8, !tbaa !5
  %9 = tail call double @sin(double noundef %8) #2
  %10 = load double, ptr %7, align 8, !tbaa !5
  %11 = tail call double @cos(double noundef %10) #2
  store double 1.000000e+00, ptr %0, align 8, !tbaa !5
  %12 = getelementptr inbounds i8, ptr %0, i64 8
  %13 = fneg double %6
  %14 = insertelement <2 x double> poison, double %4, i64 0
  %15 = insertelement <2 x double> %14, double %13, i64 1
  %16 = insertelement <2 x double> poison, double %9, i64 0
  %17 = shufflevector <2 x double> %16, <2 x double> poison, <2 x i32> zeroinitializer
  %18 = fmul <2 x double> %15, %17
  %19 = insertelement <2 x double> poison, double %11, i64 0
  %20 = shufflevector <2 x double> %19, <2 x double> poison, <2 x i32> zeroinitializer
  %21 = fdiv <2 x double> %18, %20
  store <2 x double> %21, ptr %12, align 8, !tbaa !5
  %22 = getelementptr inbounds i8, ptr %0, i64 24
  store double 0.000000e+00, ptr %22, align 8, !tbaa !5
  %23 = getelementptr inbounds i8, ptr %0, i64 32
  store double %6, ptr %23, align 8, !tbaa !5
  %24 = getelementptr inbounds i8, ptr %0, i64 40
  store double %4, ptr %24, align 8, !tbaa !5
  %25 = getelementptr inbounds i8, ptr %0, i64 48
  store double 0.000000e+00, ptr %25, align 8, !tbaa !5
  %26 = fneg double %4
  %27 = getelementptr inbounds i8, ptr %0, i64 56
  %28 = insertelement <2 x double> poison, double %26, i64 0
  %29 = insertelement <2 x double> %28, double %6, i64 1
  %30 = fdiv <2 x double> %29, %20
  store <2 x double> %30, ptr %27, align 8, !tbaa !5
  ret void
}

attributes #0 = { mustprogress nofree nounwind willreturn memory(write) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nofree nounwind willreturn memory(write, argmem: readwrite) uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,ReassociatePass,SLPVectorizerPass,SROAPass,TailCallElimPass