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

; 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"

%struct._RcsShape = type { i32, %struct.HTr, [3 x double], double, i8, i8, ptr, ptr, ptr, ptr, ptr }
%struct.HTr = type { [3 x double], [3 x [3 x double]] }

@RCS_GLOBAL_RLOG_CB = external global ptr, align 8
@RcsLogLevel = external global i32, align 4
@stderr = external global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [68 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [16 x i8], align 1
@__func__.RcsShape_fprint = external hidden unnamed_addr constant [16 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [45 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [28 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.37 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.38 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.39 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.40 = external hidden unnamed_addr constant [8 x i8], align 1

; Function Attrs: nounwind
declare i32 @fprintf(ptr noundef, ptr noundef, ...) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nounwind uwtable
declare dso_local ptr @RcsShape_name(i32 noundef) #2

; Function Attrs: nounwind uwtable
define dso_local void @RcsShape_fprint(ptr noundef %0, ptr noundef %1) #2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca [3 x double], align 16
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %6 = load ptr, ptr %4, align 8, !tbaa !5
  %7 = icmp eq ptr %6, null
  br i1 %7, label %8, label %26

8:                                                ; preds = %2
  br label %9

9:                                                ; preds = %8
  %10 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %11 = icmp ne ptr %10, null
  br i1 %11, label %12, label %14

12:                                               ; preds = %9
  %13 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  call void (i32, ptr, ptr, i32, ptr, ...) %13(i32 noundef 1, ptr noundef @.str.7, ptr noundef @__func__.RcsShape_fprint, i32 noundef 717, ptr noundef @.str.20)
  br label %14

14:                                               ; preds = %12, %9
  %15 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %16 = icmp sle i32 1, %15
  br i1 %16, label %17, label %24

17:                                               ; preds = %14
  %18 = load ptr, ptr @stderr, align 8, !tbaa !5
  %19 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %18, ptr noundef @.str.9, ptr noundef @.str.7, ptr noundef @__func__.RcsShape_fprint, i32 noundef 717) #4
  %20 = load ptr, ptr @stderr, align 8, !tbaa !5
  %21 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %20, ptr noundef @.str.20) #4
  %22 = load ptr, ptr @stderr, align 8, !tbaa !5
  %23 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %22, ptr noundef @.str.3) #4
  br label %24

24:                                               ; preds = %17, %14
  br label %25

25:                                               ; preds = %24
  br label %175

26:                                               ; preds = %2
  %27 = load ptr, ptr %3, align 8, !tbaa !5
  %28 = load ptr, ptr %4, align 8, !tbaa !5
  %29 = getelementptr inbounds %struct._RcsShape, ptr %28, i32 0, i32 0
  %30 = load i32, ptr %29, align 8, !tbaa !11
  %31 = call ptr @RcsShape_name(i32 noundef %30)
  %32 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %27, ptr noundef @.str.21, i32 noundef 723, ptr noundef %31) #4
  %33 = load ptr, ptr %3, align 8, !tbaa !5
  %34 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %33, ptr noundef @.str.22) #4
  %35 = load ptr, ptr %3, align 8, !tbaa !5
  %36 = load ptr, ptr %4, align 8, !tbaa !5
  %37 = getelementptr inbounds %struct._RcsShape, ptr %36, i32 0, i32 1
  call void @HTr_fprint(ptr noundef %35, ptr noundef %37)
  call void @llvm.lifetime.start.p0(i64 24, ptr %5) #4
  %38 = getelementptr inbounds [3 x double], ptr %5, i64 0, i64 0
  %39 = load ptr, ptr %4, align 8, !tbaa !5
  %40 = getelementptr inbounds %struct._RcsShape, ptr %39, i32 0, i32 1
  %41 = getelementptr inbounds %struct.HTr, ptr %40, i32 0, i32 1
  %42 = getelementptr inbounds [3 x [3 x double]], ptr %41, i64 0, i64 0
  call void @Mat3d_toEulerAngles(ptr noundef %38, ptr noundef %42)
  %43 = load ptr, ptr %3, align 8, !tbaa !5
  %44 = getelementptr inbounds [3 x double], ptr %5, i64 0, i64 0
  %45 = load double, ptr %44, align 16, !tbaa !16
  %46 = fmul double 0x404CA5DC1A63C1F8, %45
  %47 = getelementptr inbounds [3 x double], ptr %5, i64 0, i64 1
  %48 = load double, ptr %47, align 8, !tbaa !16
  %49 = fmul double 0x404CA5DC1A63C1F8, %48
  %50 = getelementptr inbounds [3 x double], ptr %5, i64 0, i64 2
  %51 = load double, ptr %50, align 16, !tbaa !16
  %52 = fmul double 0x404CA5DC1A63C1F8, %51
  %53 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %43, ptr noundef @.str.23, double noundef %46, double noundef %49, double noundef %52) #4
  %54 = load ptr, ptr %3, align 8, !tbaa !5
  %55 = load ptr, ptr %4, align 8, !tbaa !5
  %56 = getelementptr inbounds %struct._RcsShape, ptr %55, i32 0, i32 2
  %57 = getelementptr inbounds [3 x double], ptr %56, i64 0, i64 0
  %58 = load double, ptr %57, align 8, !tbaa !16
  %59 = load ptr, ptr %4, align 8, !tbaa !5
  %60 = getelementptr inbounds %struct._RcsShape, ptr %59, i32 0, i32 2
  %61 = getelementptr inbounds [3 x double], ptr %60, i64 0, i64 1
  %62 = load double, ptr %61, align 8, !tbaa !16
  %63 = load ptr, ptr %4, align 8, !tbaa !5
  %64 = getelementptr inbounds %struct._RcsShape, ptr %63, i32 0, i32 2
  %65 = getelementptr inbounds [3 x double], ptr %64, i64 0, i64 2
  %66 = load double, ptr %65, align 8, !tbaa !16
  %67 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %54, ptr noundef @.str.24, double noundef %58, double noundef %62, double noundef %66) #4
  %68 = load ptr, ptr %3, align 8, !tbaa !5
  %69 = load ptr, ptr %4, align 8, !tbaa !5
  %70 = getelementptr inbounds %struct._RcsShape, ptr %69, i32 0, i32 3
  %71 = load double, ptr %70, align 8, !tbaa !17
  %72 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %68, ptr noundef @.str.25, double noundef %71) #4
  %73 = load ptr, ptr %3, align 8, !tbaa !5
  %74 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %73, ptr noundef @.str.26) #4
  %75 = load ptr, ptr %4, align 8, !tbaa !5
  %76 = getelementptr inbounds %struct._RcsShape, ptr %75, i32 0, i32 5
  %77 = load i8, ptr %76, align 1, !tbaa !18
  %78 = sext i8 %77 to i32
  %79 = and i32 %78, 1
  %80 = icmp ne i32 %79, 0
  br i1 %80, label %81, label %84

81:                                               ; preds = %26
  %82 = load ptr, ptr %3, align 8, !tbaa !5
  %83 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %82, ptr noundef @.str.27) #4
  br label %84

84:                                               ; preds = %81, %26
  %85 = load ptr, ptr %4, align 8, !tbaa !5
  %86 = getelementptr inbounds %struct._RcsShape, ptr %85, i32 0, i32 5
  %87 = load i8, ptr %86, align 1, !tbaa !18
  %88 = sext i8 %87 to i32
  %89 = and i32 %88, 2
  %90 = icmp ne i32 %89, 0
  br i1 %90, label %91, label %94

91:                                               ; preds = %84
  %92 = load ptr, ptr %3, align 8, !tbaa !5
  %93 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %92, ptr noundef @.str.28) #4
  br label %94

94:                                               ; preds = %91, %84
  %95 = load ptr, ptr %4, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct._RcsShape, ptr %95, i32 0, i32 5
  %97 = load i8, ptr %96, align 1, !tbaa !18
  %98 = sext i8 %97 to i32
  %99 = and i32 %98, 4
  %100 = icmp ne i32 %99, 0
  br i1 %100, label %101, label %104

101:                                              ; preds = %94
  %102 = load ptr, ptr %3, align 8, !tbaa !5
  %103 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %102, ptr noundef @.str.29) #4
  br label %104

104:                                              ; preds = %101, %94
  %105 = load ptr, ptr %3, align 8, !tbaa !5
  %106 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %105, ptr noundef @.str.3) #4
  %107 = load ptr, ptr %3, align 8, !tbaa !5
  %108 = load ptr, ptr %4, align 8, !tbaa !5
  %109 = getelementptr inbounds %struct._RcsShape, ptr %108, i32 0, i32 4
  %110 = load i8, ptr %109, align 8, !tbaa !19, !range !20, !noundef !21
  %111 = trunc i8 %110 to i1
  %112 = zext i1 %111 to i64
  %113 = select i1 %111, ptr @.str.31, ptr @.str.32
  %114 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %107, ptr noundef @.str.30, ptr noundef %113) #4
  %115 = load ptr, ptr %3, align 8, !tbaa !5
  %116 = load ptr, ptr %4, align 8, !tbaa !5
  %117 = getelementptr inbounds %struct._RcsShape, ptr %116, i32 0, i32 6
  %118 = load ptr, ptr %117, align 8, !tbaa !22
  %119 = icmp ne ptr %118, null
  br i1 %119, label %120, label %124

120:                                              ; preds = %104
  %121 = load ptr, ptr %4, align 8, !tbaa !5
  %122 = getelementptr inbounds %struct._RcsShape, ptr %121, i32 0, i32 6
  %123 = load ptr, ptr %122, align 8, !tbaa !22
  br label %125

124:                                              ; preds = %104
  br label %125

125:                                              ; preds = %124, %120
  %126 = phi ptr [ %123, %120 ], [ @.str.34, %124 ]
  %127 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %115, ptr noundef @.str.33, ptr noundef %126) #4
  %128 = load ptr, ptr %3, align 8, !tbaa !5
  %129 = load ptr, ptr %4, align 8, !tbaa !5
  %130 = getelementptr inbounds %struct._RcsShape, ptr %129, i32 0, i32 7
  %131 = load ptr, ptr %130, align 8, !tbaa !23
  %132 = icmp ne ptr %131, null
  br i1 %132, label %133, label %137

133:                                              ; preds = %125
  %134 = load ptr, ptr %4, align 8, !tbaa !5
  %135 = getelementptr inbounds %struct._RcsShape, ptr %134, i32 0, i32 7
  %136 = load ptr, ptr %135, align 8, !tbaa !23
  br label %138

137:                                              ; preds = %125
  br label %138

138:                                              ; preds = %137, %133
  %139 = phi ptr [ %136, %133 ], [ @.str.34, %137 ]
  %140 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %128, ptr noundef @.str.35, ptr noundef %139) #4
  %141 = load ptr, ptr %3, align 8, !tbaa !5
  %142 = load ptr, ptr %4, align 8, !tbaa !5
  %143 = getelementptr inbounds %struct._RcsShape, ptr %142, i32 0, i32 8
  %144 = load ptr, ptr %143, align 8, !tbaa !24
  %145 = icmp ne ptr %144, null
  br i1 %145, label %146, label %150

146:                                              ; preds = %138
  %147 = load ptr, ptr %4, align 8, !tbaa !5
  %148 = getelementptr inbounds %struct._RcsShape, ptr %147, i32 0, i32 8
  %149 = load ptr, ptr %148, align 8, !tbaa !24
  br label %151

150:                                              ; preds = %138
  br label %151

151:                                              ; preds = %150, %146
  %152 = phi ptr [ %149, %146 ], [ @.str.34, %150 ]
  %153 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %141, ptr noundef @.str.36, ptr noundef %152) #4
  %154 = load ptr, ptr %3, align 8, !tbaa !5
  %155 = load ptr, ptr %4, align 8, !tbaa !5
  %156 = getelementptr inbounds %struct._RcsShape, ptr %155, i32 0, i32 9
  %157 = load ptr, ptr %156, align 8, !tbaa !25
  %158 = icmp ne ptr %157, null
  br i1 %158, label %159, label %163

159:                                              ; preds = %151
  %160 = load ptr, ptr %4, align 8, !tbaa !5
  %161 = getelementptr inbounds %struct._RcsShape, ptr %160, i32 0, i32 9
  %162 = load ptr, ptr %161, align 8, !tbaa !25
  br label %164

163:                                              ; preds = %151
  br label %164

164:                                              ; preds = %163, %159
  %165 = phi ptr [ %162, %159 ], [ @.str.34, %163 ]
  %166 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %154, ptr noundef @.str.37, ptr noundef %165) #4
  %167 = load ptr, ptr %3, align 8, !tbaa !5
  %168 = load ptr, ptr %4, align 8, !tbaa !5
  %169 = getelementptr inbounds %struct._RcsShape, ptr %168, i32 0, i32 10
  %170 = load ptr, ptr %169, align 8, !tbaa !26
  %171 = icmp ne ptr %170, null
  %172 = zext i1 %171 to i64
  %173 = select i1 %171, ptr @.str.39, ptr @.str.40
  %174 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %167, ptr noundef @.str.38, ptr noundef %173) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %5) #4
  br label %175

175:                                              ; preds = %164, %25
  ret void
}

declare void @HTr_fprint(ptr noundef, ptr noundef) #3

declare void @Mat3d_toEulerAngles(ptr noundef, ptr noundef) #3

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { "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 #4 = { 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 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 0}
!12 = !{!"_RcsShape", !10, i64 0, !13, i64 8, !7, i64 104, !14, i64 128, !15, i64 136, !7, i64 137, !6, i64 144, !6, i64 152, !6, i64 160, !6, i64 168, !6, i64 176}
!13 = !{!"", !7, i64 0, !7, i64 24}
!14 = !{!"double", !7, i64 0}
!15 = !{!"_Bool", !7, i64 0}
!16 = !{!14, !14, i64 0}
!17 = !{!12, !14, i64 128}
!18 = !{!12, !7, i64 137}
!19 = !{!12, !15, i64 136}
!20 = !{i8 0, i8 2}
!21 = !{}
!22 = !{!12, !6, i64 144}
!23 = !{!12, !6, i64 152}
!24 = !{!12, !6, i64 160}
!25 = !{!12, !6, i64 168}
!26 = !{!12, !6, i64 176}


; 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"

@RCS_GLOBAL_RLOG_CB = external local_unnamed_addr global ptr, align 8
@RcsLogLevel = external local_unnamed_addr global i32, align 4
@stderr = external local_unnamed_addr global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [68 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [16 x i8], align 1
@__func__.RcsShape_fprint = external hidden unnamed_addr constant [16 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [45 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [28 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.37 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.38 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.39 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.40 = external hidden unnamed_addr constant [8 x i8], align 1

; Function Attrs: nofree nounwind
declare noundef i32 @fprintf(ptr nocapture noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #0

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nounwind uwtable
declare dso_local ptr @RcsShape_name(i32 noundef) local_unnamed_addr #2

; Function Attrs: nounwind uwtable
define dso_local void @RcsShape_fprint(ptr noundef %0, ptr noundef %1) local_unnamed_addr #2 {
  %3 = alloca [3 x double], align 16
  %4 = icmp eq ptr %1, null
  br i1 %4, label %5, label %18

5:                                                ; preds = %2
  %6 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not50 = icmp eq ptr %6, null
  br i1 %.not50, label %8, label %7

7:                                                ; preds = %5
  tail call void (i32, ptr, ptr, i32, ptr, ...) %6(i32 noundef 1, ptr noundef nonnull @.str.7, ptr noundef nonnull @__func__.RcsShape_fprint, i32 noundef 717, ptr noundef nonnull @.str.20) #4
  br label %8

8:                                                ; preds = %7, %5
  %9 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %10 = icmp sgt i32 %9, 0
  br i1 %10, label %11, label %86

11:                                               ; preds = %8
  %12 = load ptr, ptr @stderr, align 8, !tbaa !5
  %13 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %12, ptr noundef nonnull @.str.9, ptr noundef nonnull @.str.7, ptr noundef nonnull @__func__.RcsShape_fprint, i32 noundef 717) #5
  %14 = load ptr, ptr @stderr, align 8, !tbaa !5
  %15 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %14, ptr noundef nonnull @.str.20) #5
  %16 = load ptr, ptr @stderr, align 8, !tbaa !5
  %17 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %16, ptr noundef nonnull @.str.3) #5
  br label %86

18:                                               ; preds = %2
  %19 = load i32, ptr %1, align 8, !tbaa !11
  %20 = tail call ptr @RcsShape_name(i32 noundef %19)
  %21 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.21, i32 noundef 723, ptr noundef %20) #4
  %22 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.22) #4
  %23 = getelementptr inbounds i8, ptr %1, i64 8
  tail call void @HTr_fprint(ptr noundef %0, ptr noundef nonnull %23) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %3) #4
  %24 = getelementptr inbounds i8, ptr %1, i64 32
  call void @Mat3d_toEulerAngles(ptr noundef nonnull %3, ptr noundef nonnull %24) #4
  %25 = load double, ptr %3, align 16, !tbaa !16
  %26 = fmul double %25, 0x404CA5DC1A63C1F8
  %27 = getelementptr inbounds i8, ptr %3, i64 8
  %28 = load double, ptr %27, align 8, !tbaa !16
  %29 = fmul double %28, 0x404CA5DC1A63C1F8
  %30 = getelementptr inbounds i8, ptr %3, i64 16
  %31 = load double, ptr %30, align 16, !tbaa !16
  %32 = fmul double %31, 0x404CA5DC1A63C1F8
  %33 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.23, double noundef %26, double noundef %29, double noundef %32) #4
  %34 = getelementptr inbounds i8, ptr %1, i64 104
  %35 = load double, ptr %34, align 8, !tbaa !16
  %36 = getelementptr inbounds i8, ptr %1, i64 112
  %37 = load double, ptr %36, align 8, !tbaa !16
  %38 = getelementptr inbounds i8, ptr %1, i64 120
  %39 = load double, ptr %38, align 8, !tbaa !16
  %40 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.24, double noundef %35, double noundef %37, double noundef %39) #4
  %41 = getelementptr inbounds i8, ptr %1, i64 128
  %42 = load double, ptr %41, align 8, !tbaa !17
  %43 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.25, double noundef %42) #4
  %44 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.26) #4
  %45 = getelementptr inbounds i8, ptr %1, i64 137
  %46 = load i8, ptr %45, align 1, !tbaa !18
  %47 = and i8 %46, 1
  %.not = icmp eq i8 %47, 0
  br i1 %.not, label %50, label %48

48:                                               ; preds = %18
  %49 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.27) #4
  %.pre = load i8, ptr %45, align 1, !tbaa !18
  br label %50

50:                                               ; preds = %48, %18
  %51 = phi i8 [ %.pre, %48 ], [ %46, %18 ]
  %52 = and i8 %51, 2
  %.not43 = icmp eq i8 %52, 0
  br i1 %.not43, label %55, label %53

53:                                               ; preds = %50
  %54 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.28) #4
  %.pre51 = load i8, ptr %45, align 1, !tbaa !18
  br label %55

55:                                               ; preds = %53, %50
  %56 = phi i8 [ %.pre51, %53 ], [ %51, %50 ]
  %57 = and i8 %56, 4
  %.not44 = icmp eq i8 %57, 0
  br i1 %.not44, label %60, label %58

58:                                               ; preds = %55
  %59 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.29) #4
  br label %60

60:                                               ; preds = %58, %55
  %61 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.3) #4
  %62 = getelementptr inbounds i8, ptr %1, i64 136
  %63 = load i8, ptr %62, align 8, !tbaa !19, !range !20, !noundef !21
  %64 = trunc nuw i8 %63 to i1
  %65 = select i1 %64, ptr @.str.31, ptr @.str.32
  %66 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.30, ptr noundef nonnull %65) #4
  %67 = getelementptr inbounds i8, ptr %1, i64 144
  %68 = load ptr, ptr %67, align 8, !tbaa !22
  %.not45 = icmp eq ptr %68, null
  %spec.select = select i1 %.not45, ptr @.str.34, ptr %68
  %69 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.33, ptr noundef nonnull %spec.select) #4
  %70 = getelementptr inbounds i8, ptr %1, i64 152
  %71 = load ptr, ptr %70, align 8, !tbaa !23
  %.not46 = icmp eq ptr %71, null
  %72 = select i1 %.not46, ptr @.str.34, ptr %71
  %73 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.35, ptr noundef nonnull %72) #4
  %74 = getelementptr inbounds i8, ptr %1, i64 160
  %75 = load ptr, ptr %74, align 8, !tbaa !24
  %.not47 = icmp eq ptr %75, null
  %76 = select i1 %.not47, ptr @.str.34, ptr %75
  %77 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.36, ptr noundef nonnull %76) #4
  %78 = getelementptr inbounds i8, ptr %1, i64 168
  %79 = load ptr, ptr %78, align 8, !tbaa !25
  %.not48 = icmp eq ptr %79, null
  %80 = select i1 %.not48, ptr @.str.34, ptr %79
  %81 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.37, ptr noundef nonnull %80) #4
  %82 = getelementptr inbounds i8, ptr %1, i64 176
  %83 = load ptr, ptr %82, align 8, !tbaa !26
  %.not49 = icmp eq ptr %83, null
  %84 = select i1 %.not49, ptr @.str.40, ptr @.str.39
  %85 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %0, ptr noundef nonnull @.str.38, ptr noundef nonnull %84) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %3) #4
  br label %86

86:                                               ; preds = %11, %8, %60
  ret void
}

declare void @HTr_fprint(ptr noundef, ptr noundef) local_unnamed_addr #3

declare void @Mat3d_toEulerAngles(ptr noundef, ptr noundef) local_unnamed_addr #3

attributes #0 = { nofree 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { "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 #4 = { nounwind }
attributes #5 = { cold 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 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 0}
!12 = !{!"_RcsShape", !10, i64 0, !13, i64 8, !7, i64 104, !14, i64 128, !15, i64 136, !7, i64 137, !6, i64 144, !6, i64 152, !6, i64 160, !6, i64 168, !6, i64 176}
!13 = !{!"", !7, i64 0, !7, i64 24}
!14 = !{!"double", !7, i64 0}
!15 = !{!"_Bool", !7, i64 0}
!16 = !{!14, !14, i64 0}
!17 = !{!12, !14, i64 128}
!18 = !{!12, !7, i64 137}
!19 = !{!12, !15, i64 136}
!20 = !{i8 0, i8 2}
!21 = !{}
!22 = !{!12, !6, i64 144}
!23 = !{!12, !6, i64 152}
!24 = !{!12, !6, i64 160}
!25 = !{!12, !6, i64 168}
!26 = !{!12, !6, i64 176}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,SROAPass,SimplifyCFGPass,TailCallElimPass