; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/SparseCMPC.ll (ZN10SparseCMPC7buildCTEv)

; 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"

%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [9 x double] }
%"class.Eigen::Product" = type { %"class.Eigen::Product.83", ptr }
%"class.Eigen::Product.83" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Inverse" = type { ptr }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.110" }
%"class.Eigen::MapBase.110" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%struct.BblockID = type { i32, i32 }
%"class.Eigen::Matrix.13" = type { %"class.Eigen::PlainObjectBase.14" }
%"class.Eigen::PlainObjectBase.14" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { %"struct.Eigen::internal::plain_array.22" }
%"struct.Eigen::internal::plain_array.22" = type { [3 x double] }
%"class.Eigen::Block.128" = type { %"class.Eigen::BlockImpl.129" }
%"class.Eigen::BlockImpl.129" = type { %"class.Eigen::internal::BlockImpl_dense.130" }
%"class.Eigen::internal::BlockImpl_dense.130" = type { %"class.Eigen::MapBase.131", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.131" = type { %"class.Eigen::MapBase.132" }
%"class.Eigen::MapBase.132" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::Product.139" = type { ptr, ptr }
%"class.Eigen::Block.146" = type { %"class.Eigen::BlockImpl.147" }
%"class.Eigen::BlockImpl.147" = type { %"class.Eigen::internal::BlockImpl_dense.148" }
%"class.Eigen::internal::BlockImpl_dense.148" = type { %"class.Eigen::MapBase.149", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.149" = type { %"class.Eigen::MapBase.150" }
%"class.Eigen::MapBase.150" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseBinaryOp" = type <{ [8 x i8], %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.165" = type { [3 x i8] }
%class.SparseCMPC = type <{ %"class.Eigen::Matrix", [8 x i8], %"class.Eigen::Matrix.3", double, double, double, double, %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.23", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.std::vector", %"class.std::vector.33", %"class.std::vector.38", %"class.std::vector.43", %"class.std::vector.49", %"class.std::vector.54", %"class.std::vector.60", %"class.std::vector.60", %"class.std::vector.65", %"class.std::vector.65", %"class.std::vector.38", %"class.std::vector.38", %"class.std::vector.38", %"class.Eigen::Matrix.70", i32, i32, i32, [12 x i8] }>
%"class.Eigen::Matrix.23" = type { %"class.Eigen::PlainObjectBase.24" }
%"class.Eigen::PlainObjectBase.24" = type { %"class.Eigen::DenseStorage.31" }
%"class.Eigen::DenseStorage.31" = type { %"struct.Eigen::internal::plain_array.32" }
%"struct.Eigen::internal::plain_array.32" = type { [4 x double] }
%"class.Eigen::Matrix.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { %"struct.Eigen::internal::plain_array.12" }
%"struct.Eigen::internal::plain_array.12" = type { [12 x double] }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl" }
%"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl" = type { %"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl_data" }
%"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.43" = type { %"struct.std::_Vector_base.44" }
%"struct.std::_Vector_base.44" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.49" = type { %"struct.std::_Vector_base.50" }
%"struct.std::_Vector_base.50" = type { %"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl" }
%"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl" = type { %"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl_data" }
%"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.54" = type { %"struct.std::_Vector_base.55" }
%"struct.std::_Vector_base.55" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.60" = type { %"struct.std::_Vector_base.61" }
%"struct.std::_Vector_base.61" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.65" = type { %"struct.std::_Vector_base.66" }
%"struct.std::_Vector_base.66" = type { %"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl" }
%"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl" = type { %"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { ptr, i64 }
%struct.ContactState = type { %union.anon.117 }
%union.anon.117 = type { [4 x i8] }

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC7buildCTEv(ptr noundef nonnull align 16 dereferenceable(964) %0) #1 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca %"class.Eigen::Matrix", align 8
  %6 = alloca %"class.Eigen::Matrix", align 8
  %7 = alloca %"class.Eigen::Product", align 8
  %8 = alloca %"class.Eigen::Product.83", align 8
  %9 = alloca %"class.Eigen::Transpose", align 8
  %10 = alloca %"class.Eigen::Matrix", align 8
  %11 = alloca %"class.Eigen::Inverse", align 8
  %12 = alloca ptr, align 8
  %13 = alloca %"class.Eigen::Block", align 8
  %14 = alloca ptr, align 8
  %15 = alloca i32, align 4
  %16 = alloca %struct.BblockID, align 4
  %17 = alloca ptr, align 8
  %18 = alloca %"class.Eigen::Matrix.13", align 8
  %19 = alloca %"class.Eigen::Block.128", align 8
  %20 = alloca %"class.Eigen::Product.139", align 8
  %21 = alloca %"class.Eigen::Matrix", align 8
  %22 = alloca %"class.Eigen::Block.146", align 8
  %23 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %24 = alloca %"class.Eigen::CwiseNullaryOp.165", align 1
  %25 = alloca %"class.Eigen::Block.146", align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %26 = load ptr, ptr %2, align 8
  %27 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 18
  call void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %27) #4
  %28 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 18
  %29 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 29
  %30 = load i32, ptr %29, align 8, !tbaa !9
  %31 = zext i32 %30 to i64
  call void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %28, i64 noundef %31)
  %32 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 19
  call void @_ZNSt6vectorI8BblockIDSaIS0_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %32) #4
  %33 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 20
  call void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %33) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #4
  store i32 0, ptr %3, align 4, !tbaa !65
  br label %34

34:                                               ; preds = %115, %1
  %35 = load i32, ptr %3, align 4, !tbaa !65
  %36 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 29
  %37 = load i32, ptr %36, align 8, !tbaa !9
  %38 = icmp ult i32 %35, %37
  br i1 %38, label %40, label %39

39:                                               ; preds = %34
  store i32 2, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #4
  br label %118

40:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 72, ptr %5) #4
  %41 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 10
  %42 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %41, i64 noundef 2)
  %43 = load double, ptr %42, align 8, !tbaa !66
  call void @_ZN3ori18coordinateRotationIdEEN5Eigen6MatrixIT_Li3ELi3ELi0ELi3ELi3EEENS_14CoordinateAxisES3_(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix") align 8 %5, i32 noundef 2, double noundef %43)
  call void @llvm.lifetime.start.p0(i64 72, ptr %6) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %7) #4
  call void @llvm.lifetime.start.p0(i64 16, ptr %8) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #4
  %44 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %5)
  %45 = getelementptr inbounds %"class.Eigen::Transpose", ptr %9, i32 0, i32 0
  store ptr %44, ptr %45, align 8
  %46 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 0
  %47 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %9, ptr noundef nonnull align 1 dereferenceable(1) %46)
  %48 = getelementptr inbounds { ptr, ptr }, ptr %8, i32 0, i32 0
  %49 = extractvalue { ptr, ptr } %47, 0
  store ptr %49, ptr %48, align 8
  %50 = getelementptr inbounds { ptr, ptr }, ptr %8, i32 0, i32 1
  %51 = extractvalue { ptr, ptr } %47, 1
  store ptr %51, ptr %50, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEES4_Li0EEEEmlIS4_EEKNS1_IS6_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product") align 8 %7, ptr noundef nonnull align 1 dereferenceable(1) %8, ptr noundef nonnull align 1 dereferenceable(1) %5)
  call void @_ZN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEC2INS_7ProductINS3_INS_9TransposeIS1_EES1_Li0EEES1_Li0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %6, ptr noundef nonnull align 1 dereferenceable(1) %7)
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr %8) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr %10) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #4
  %52 = call ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %6)
  %53 = getelementptr inbounds %"class.Eigen::Inverse", ptr %11, i32 0, i32 0
  store ptr %52, ptr %53, align 8
  call void @_ZN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEC2INS_7InverseIS1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %10, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #4
  %54 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 18
  %55 = load i32, ptr %3, align 4, !tbaa !65
  %56 = zext i32 %55 to i64
  %57 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %56) #4
  store ptr %57, ptr %12, align 8, !tbaa !5
  %58 = load ptr, ptr %12, align 8, !tbaa !5
  %59 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %58)
  %60 = load ptr, ptr %12, align 8, !tbaa !5
  %61 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %60, i64 noundef 3, i64 noundef 9)
  store double 1.000000e+00, ptr %61, align 8, !tbaa !66
  %62 = load ptr, ptr %12, align 8, !tbaa !5
  %63 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 4, i64 noundef 10)
  store double 1.000000e+00, ptr %63, align 8, !tbaa !66
  %64 = load ptr, ptr %12, align 8, !tbaa !5
  %65 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %64, i64 noundef 5, i64 noundef 11)
  store double 1.000000e+00, ptr %65, align 8, !tbaa !66
  call void @llvm.lifetime.start.p0(i64 56, ptr %13) #4
  %66 = load ptr, ptr %12, align 8, !tbaa !5
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %66, i64 noundef 0, i64 noundef 6, i32 noundef 3, i32 noundef 3)
  %67 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELin1ELin1ELb0EEaSINS1_IdLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %13, ptr noundef nonnull align 1 dereferenceable(1) %5)
  call void @llvm.lifetime.end.p0(i64 56, ptr %13) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #4
  %68 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 15
  %69 = load i32, ptr %3, align 4, !tbaa !65
  %70 = zext i32 %69 to i64
  %71 = call noundef nonnull align 1 dereferenceable(4) ptr @_ZNSt6vectorI12ContactStateSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %68, i64 noundef %70) #4
  store ptr %71, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #4
  store i32 0, ptr %15, align 4, !tbaa !65
  br label %72

72:                                               ; preds = %111, %40
  %73 = load i32, ptr %15, align 4, !tbaa !65
  %74 = icmp ult i32 %73, 4
  br i1 %74, label %76, label %75

75:                                               ; preds = %72
  store i32 5, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #4
  br label %114

76:                                               ; preds = %72
  %77 = load ptr, ptr %14, align 8, !tbaa !5
  %78 = getelementptr inbounds %struct.ContactState, ptr %77, i32 0, i32 0
  %79 = load i32, ptr %15, align 4, !tbaa !65
  %80 = zext i32 %79 to i64
  %81 = getelementptr inbounds [4 x i8], ptr %78, i64 0, i64 %80
  %82 = load i8, ptr %81, align 1, !tbaa !67, !range !68, !noundef !69
  %83 = trunc i8 %82 to i1
  br i1 %83, label %84, label %110

84:                                               ; preds = %76
  %85 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 20
  %86 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12emplace_backIJEEERS2_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %85)
  %87 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 19
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #4
  %88 = getelementptr inbounds %struct.BblockID, ptr %16, i32 0, i32 0
  %89 = load i32, ptr %15, align 4, !tbaa !65
  store i32 %89, ptr %88, align 4, !tbaa !70
  %90 = getelementptr inbounds %struct.BblockID, ptr %16, i32 0, i32 1
  %91 = load i32, ptr %3, align 4, !tbaa !65
  store i32 %91, ptr %90, align 4, !tbaa !72
  call void @_ZNSt6vectorI8BblockIDSaIS0_EE9push_backEOS0_(ptr noundef nonnull align 8 dereferenceable(24) %87, ptr noundef nonnull align 4 dereferenceable(8) %16)
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #4
  %92 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 20
  %93 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %92) #4
  store ptr %93, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr %18) #4
  call void @llvm.lifetime.start.p0(i64 56, ptr %19) #4
  %94 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 13
  %95 = load i32, ptr %15, align 4, !tbaa !65
  %96 = mul i32 %95, 3
  %97 = zext i32 %96 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.128") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %94, i64 noundef %97, i64 noundef 0, i32 noundef 3, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IdLi12ELi1ELi0ELi12ELi1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %18, ptr noundef nonnull align 1 dereferenceable(1) %19)
  call void @llvm.lifetime.end.p0(i64 56, ptr %19) #4
  %98 = load ptr, ptr %17, align 8, !tbaa !5
  %99 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %98)
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr %21) #4
  call void @_ZN3ori11crossMatrixIN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEENS2_INT_6ScalarELi3ELi3ELi0ELi3ELi3EEERKNS1_10MatrixBaseIS4_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %18)
  %100 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %10, ptr noundef nonnull align 1 dereferenceable(1) %21)
  %101 = getelementptr inbounds { ptr, ptr }, ptr %20, i32 0, i32 0
  %102 = extractvalue { ptr, ptr } %100, 0
  store ptr %102, ptr %101, align 8
  %103 = getelementptr inbounds { ptr, ptr }, ptr %20, i32 0, i32 1
  %104 = extractvalue { ptr, ptr } %100, 1
  store ptr %104, ptr %103, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %22) #4
  %105 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.146") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %105, i64 noundef 6, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %106 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi3ELi3ELi0ELi3ELi3EEES6_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %22, ptr noundef nonnull align 1 dereferenceable(1) %20)
  call void @llvm.lifetime.end.p0(i64 56, ptr %22) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %21) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #4
  call void @llvm.lifetime.start.p0(i64 32, ptr %23) #4
  call void @llvm.lifetime.start.p0(i64 3, ptr %24) #4
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.165") align 1 %24)
  %107 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 3
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIdEENS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEdvIdEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSD_NSB_IdSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %24, ptr noundef nonnull align 8 dereferenceable(8) %107)
  call void @llvm.lifetime.start.p0(i64 56, ptr %25) #4
  %108 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.146") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %108, i64 noundef 9, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %109 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIdEENS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIdEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %25, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 56, ptr %25) #4
  call void @llvm.lifetime.end.p0(i64 3, ptr %24) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr %23) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %18) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #4
  br label %110

110:                                              ; preds = %84, %76
  br label %111

111:                                              ; preds = %110
  %112 = load i32, ptr %15, align 4, !tbaa !65
  %113 = add i32 %112, 1
  store i32 %113, ptr %15, align 4, !tbaa !65
  br label %72, !llvm.loop !73

114:                                              ; preds = %75
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %10) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %6) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %5) #4
  br label %115

115:                                              ; preds = %114
  %116 = load i32, ptr %3, align 4, !tbaa !65
  %117 = add i32 %116, 1
  store i32 %117, ptr %3, align 4, !tbaa !65
  br label %34, !llvm.loop !75

118:                                              ; preds = %39
  %119 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 19
  %120 = call noundef i64 @_ZNKSt6vectorI8BblockIDSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %119) #4
  %121 = trunc i64 %120 to i32
  %122 = getelementptr inbounds %class.SparseCMPC, ptr %26, i32 0, i32 30
  store i32 %121, ptr %122, align 4, !tbaa !76
  ret void
}

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI8BblockIDSaIS0_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3ori18coordinateRotationIdEEN5Eigen6MatrixIT_Li3ELi3ELi0ELi3ELi3EEENS_14CoordinateAxisES3_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix") align 8, i32 noundef, double noundef) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEES4_Li0EEEEmlIS4_EEKNS1_IS6_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEC2INS_7ProductINS3_INS_9TransposeIS1_EES1_Li0EEES1_Li0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEC2INS_7InverseIS1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELin1ELin1ELb0EEaSINS1_IdLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(4) ptr @_ZNSt6vectorI12ContactStateSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12emplace_backIJEEERS2_DpOT_(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI8BblockIDSaIS0_EE9push_backEOS0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE4backEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.128") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IdLi12ELi1ELi0ELi12ELi1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3ori11crossMatrixIN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEENS2_INT_6ScalarELi3ELi3ELi0ELi3ELi3EEERKNS1_10MatrixBaseIS4_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.146") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi3ELi3ELi0ELi3ELi3EEES6_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.165") align 1) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIdEENS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEdvIdEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSD_NSB_IdSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIdEENS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIdEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI8BblockIDSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress 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 = { mustprogress 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 = { inlinehint mustprogress 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 #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++ TBAA"}
!9 = !{!10, !64, i64 952}
!10 = !{!"_ZTS10SparseCMPC", !11, i64 0, !15, i64 80, !19, i64 176, !19, i64 184, !19, i64 192, !19, i64 200, !20, i64 208, !20, i64 232, !20, i64 256, !20, i64 280, !24, i64 304, !15, i64 336, !15, i64 432, !15, i64 528, !28, i64 624, !32, i64 648, !36, i64 672, !40, i64 696, !44, i64 720, !48, i64 744, !52, i64 768, !52, i64 792, !56, i64 816, !56, i64 840, !36, i64 864, !36, i64 888, !36, i64 912, !60, i64 936, !64, i64 952, !64, i64 956, !64, i64 960}
!11 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !12, i64 0}
!12 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!15 = !{!"_ZTSN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen12DenseStorageIdLi12ELi12ELi1ELi0EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi12ELi0ELi16EEE", !7, i64 0}
!19 = !{!"double", !7, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!24 = !{!"_ZTSN5Eigen6MatrixIdLi4ELi1ELi0ELi4ELi1EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen12DenseStorageIdLi4ELi4ELi1ELi0EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi4ELi0ELi16EEE", !7, i64 0}
!28 = !{!"_ZTSSt6vectorI12ContactStateSaIS0_EE", !29, i64 0}
!29 = !{!"_ZTSSt12_Vector_baseI12ContactStateSaIS0_EE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE12_Vector_implE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!32 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !33, i64 0}
!33 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!36 = !{!"_ZTSSt6vectorIdSaIdEE", !37, i64 0}
!37 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!44 = !{!"_ZTSSt6vectorI8BblockIDSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSSt12_Vector_baseI8BblockIDSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE12_Vector_implE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!48 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !49, i64 0}
!49 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!52 = !{!"_ZTSSt6vectorIjSaIjEE", !53, i64 0}
!53 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !54, i64 0}
!54 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!56 = !{!"_ZTSSt6vectorI12SparseTripleIdESaIS1_EE", !57, i64 0}
!57 = !{!"_ZTSSt12_Vector_baseI12SparseTripleIdESaIS1_EE", !58, i64 0}
!58 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE12_Vector_implE", !59, i64 0}
!59 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!60 = !{!"_ZTSN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEE", !61, i64 0}
!61 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEEE", !62, i64 0}
!62 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELi1ELi0EEE", !6, i64 0, !63, i64 8}
!63 = !{!"long", !7, i64 0}
!64 = !{!"int", !7, i64 0}
!65 = !{!64, !64, i64 0}
!66 = !{!19, !19, i64 0}
!67 = !{!7, !7, i64 0}
!68 = !{i8 0, i8 2}
!69 = !{}
!70 = !{!71, !64, i64 0}
!71 = !{!"_ZTS8BblockID", !64, i64 0, !64, i64 4}
!72 = !{!71, !64, i64 4}
!73 = distinct !{!73, !74}
!74 = !{!"llvm.loop.mustprogress"}
!75 = distinct !{!75, !74}
!76 = !{!10, !64, i64 956}


; 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"

%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [9 x double] }
%"class.Eigen::Product" = type { %"class.Eigen::Product.83", ptr }
%"class.Eigen::Product.83" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::Inverse" = type { ptr }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.110" }
%"class.Eigen::MapBase.110" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%struct.BblockID = type { i32, i32 }
%"class.Eigen::Matrix.13" = type { %"class.Eigen::PlainObjectBase.14" }
%"class.Eigen::PlainObjectBase.14" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { %"struct.Eigen::internal::plain_array.22" }
%"struct.Eigen::internal::plain_array.22" = type { [3 x double] }
%"class.Eigen::Block.128" = type { %"class.Eigen::BlockImpl.129" }
%"class.Eigen::BlockImpl.129" = type { %"class.Eigen::internal::BlockImpl_dense.130" }
%"class.Eigen::internal::BlockImpl_dense.130" = type { %"class.Eigen::MapBase.131", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.131" = type { %"class.Eigen::MapBase.132" }
%"class.Eigen::MapBase.132" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::Product.139" = type { ptr, ptr }
%"class.Eigen::Block.146" = type { %"class.Eigen::BlockImpl.147" }
%"class.Eigen::BlockImpl.147" = type { %"class.Eigen::internal::BlockImpl_dense.148" }
%"class.Eigen::internal::BlockImpl_dense.148" = type { %"class.Eigen::MapBase.149", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.149" = type { %"class.Eigen::MapBase.150" }
%"class.Eigen::MapBase.150" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseBinaryOp" = type <{ [8 x i8], %"class.Eigen::CwiseNullaryOp", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.165" = type { [3 x i8] }

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC7buildCTEv(ptr noundef nonnull align 16 dereferenceable(964) %0) local_unnamed_addr #1 align 2 {
  %2 = alloca %"class.Eigen::Matrix", align 8
  %3 = alloca %"class.Eigen::Matrix", align 8
  %4 = alloca %"class.Eigen::Product", align 8
  %5 = alloca %"class.Eigen::Product.83", align 8
  %6 = alloca %"class.Eigen::Transpose", align 8
  %7 = alloca %"class.Eigen::Matrix", align 8
  %8 = alloca %"class.Eigen::Inverse", align 8
  %9 = alloca %"class.Eigen::Block", align 8
  %10 = alloca %struct.BblockID, align 4
  %11 = alloca %"class.Eigen::Matrix.13", align 8
  %12 = alloca %"class.Eigen::Block.128", align 8
  %13 = alloca %"class.Eigen::Product.139", align 8
  %14 = alloca %"class.Eigen::Matrix", align 8
  %15 = alloca %"class.Eigen::Block.146", align 8
  %16 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %17 = alloca %"class.Eigen::CwiseNullaryOp.165", align 1
  %18 = alloca %"class.Eigen::Block.146", align 8
  %19 = getelementptr inbounds i8, ptr %0, i64 696
  tail call void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %19) #4
  %20 = getelementptr inbounds i8, ptr %0, i64 952
  %21 = load i32, ptr %20, align 8, !tbaa !5
  %22 = zext i32 %21 to i64
  tail call void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %22)
  %23 = getelementptr inbounds i8, ptr %0, i64 720
  tail call void @_ZNSt6vectorI8BblockIDSaIS0_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #4
  %24 = getelementptr inbounds i8, ptr %0, i64 744
  tail call void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #4
  %25 = load i32, ptr %20, align 8, !tbaa !5
  %.not = icmp eq i32 %25, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %1
  %26 = getelementptr inbounds i8, ptr %0, i64 280
  %27 = getelementptr inbounds i8, ptr %5, i64 8
  %28 = getelementptr inbounds i8, ptr %0, i64 624
  %29 = getelementptr inbounds i8, ptr %10, i64 4
  %30 = getelementptr inbounds i8, ptr %0, i64 432
  %31 = getelementptr inbounds i8, ptr %13, i64 8
  %32 = getelementptr inbounds i8, ptr %0, i64 176
  br label %36

._crit_edge:                                      ; preds = %105, %1
  %33 = call noundef i64 @_ZNKSt6vectorI8BblockIDSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #4
  %34 = trunc i64 %33 to i32
  %35 = getelementptr inbounds i8, ptr %0, i64 956
  store i32 %34, ptr %35, align 4, !tbaa !64
  ret void

36:                                               ; preds = %.lr.ph, %105
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %105 ]
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %2) #4
  %37 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %26, i64 noundef 2)
  %38 = load double, ptr %37, align 8, !tbaa !65
  call void @_ZN3ori18coordinateRotationIdEEN5Eigen6MatrixIT_Li3ELi3ELi0ELi3ELi3EEENS_14CoordinateAxisES3_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix") align 8 %2, i32 noundef 2, double noundef %38)
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %3) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #4
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #4
  %39 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %2)
  store ptr %39, ptr %6, align 8
  %40 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %6, ptr noundef nonnull align 1 dereferenceable(1) %0)
  %41 = extractvalue { ptr, ptr } %40, 0
  store ptr %41, ptr %5, align 8
  %42 = extractvalue { ptr, ptr } %40, 1
  store ptr %42, ptr %27, align 8
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEES4_Li0EEEEmlIS4_EEKNS1_IS6_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product") align 8 %4, ptr noundef nonnull align 1 dereferenceable(1) %5, ptr noundef nonnull align 1 dereferenceable(1) %2)
  call void @_ZN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEC2INS_7ProductINS3_INS_9TransposeIS1_EES1_Li0EEES1_Li0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %3, ptr noundef nonnull align 1 dereferenceable(1) %4)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %7) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #4
  %43 = call ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1) %3)
  store ptr %43, ptr %8, align 8
  call void @_ZN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEC2INS_7InverseIS1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %7, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #4
  %44 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %indvars.iv) #4
  %45 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %44)
  %46 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 3, i64 noundef 9)
  store double 1.000000e+00, ptr %46, align 8, !tbaa !65
  %47 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 4, i64 noundef 10)
  store double 1.000000e+00, ptr %47, align 8, !tbaa !65
  %48 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 5, i64 noundef 11)
  store double 1.000000e+00, ptr %48, align 8, !tbaa !65
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %9) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 0, i64 noundef 6, i32 noundef 3, i32 noundef 3)
  %49 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELin1ELin1ELb0EEaSINS1_IdLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %9, ptr noundef nonnull align 1 dereferenceable(1) %2)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %9) #4
  %50 = call noundef nonnull align 1 dereferenceable(4) ptr @_ZNSt6vectorI12ContactStateSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %28, i64 noundef %indvars.iv) #4
  %51 = load i8, ptr %50, align 1, !tbaa !66, !range !67, !noundef !68
  %52 = trunc nuw i8 %51 to i1
  br i1 %52, label %53, label %63

53:                                               ; preds = %36
  %54 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12emplace_backIJEEERS2_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %24)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #4
  store i32 0, ptr %10, align 4, !tbaa !69
  %55 = trunc nuw i64 %indvars.iv to i32
  store i32 %55, ptr %29, align 4, !tbaa !71
  call void @_ZNSt6vectorI8BblockIDSaIS0_EE9push_backEOS0_(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 4 dereferenceable(8) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #4
  %56 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #4
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %12) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.128") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef 0, i64 noundef 0, i32 noundef 3, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IdLi12ELi1ELi0ELi12ELi1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %12) #4
  %57 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %56)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %14) #4
  call void @_ZN3ori11crossMatrixIN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEENS2_INT_6ScalarELi3ELi3ELi0ELi3ELi3EEERKNS1_10MatrixBaseIS4_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %11)
  %58 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %7, ptr noundef nonnull align 1 dereferenceable(1) %14)
  %59 = extractvalue { ptr, ptr } %58, 0
  store ptr %59, ptr %13, align 8
  %60 = extractvalue { ptr, ptr } %58, 1
  store ptr %60, ptr %31, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %15) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.146") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %56, i64 noundef 6, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %61 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi3ELi3ELi0ELi3ELi3EEES6_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %15, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %16) #4
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %17) #4
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.165") align 1 %17)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIdEENS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEdvIdEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSD_NSB_IdSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 8 dereferenceable(8) %32)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %18) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.146") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %56, i64 noundef 9, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %62 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIdEENS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIdEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %18, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %18) #4
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %17) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %16) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #4
  br label %63

63:                                               ; preds = %36, %53
  %64 = getelementptr inbounds i8, ptr %50, i64 1
  %65 = load i8, ptr %64, align 1, !tbaa !66, !range !67, !noundef !68
  %66 = trunc nuw i8 %65 to i1
  br i1 %66, label %67, label %77

67:                                               ; preds = %63
  %68 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12emplace_backIJEEERS2_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %24)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #4
  store i32 1, ptr %10, align 4, !tbaa !69
  %69 = trunc nuw i64 %indvars.iv to i32
  store i32 %69, ptr %29, align 4, !tbaa !71
  call void @_ZNSt6vectorI8BblockIDSaIS0_EE9push_backEOS0_(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 4 dereferenceable(8) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #4
  %70 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #4
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %12) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.128") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef 3, i64 noundef 0, i32 noundef 3, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IdLi12ELi1ELi0ELi12ELi1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %12) #4
  %71 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %70)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %14) #4
  call void @_ZN3ori11crossMatrixIN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEENS2_INT_6ScalarELi3ELi3ELi0ELi3ELi3EEERKNS1_10MatrixBaseIS4_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %11)
  %72 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %7, ptr noundef nonnull align 1 dereferenceable(1) %14)
  %73 = extractvalue { ptr, ptr } %72, 0
  store ptr %73, ptr %13, align 8
  %74 = extractvalue { ptr, ptr } %72, 1
  store ptr %74, ptr %31, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %15) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.146") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %70, i64 noundef 6, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %75 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi3ELi3ELi0ELi3ELi3EEES6_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %15, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %16) #4
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %17) #4
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.165") align 1 %17)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIdEENS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEdvIdEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSD_NSB_IdSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 8 dereferenceable(8) %32)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %18) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.146") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %70, i64 noundef 9, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %76 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIdEENS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIdEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %18, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %18) #4
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %17) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %16) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #4
  br label %77

77:                                               ; preds = %67, %63
  %78 = getelementptr inbounds i8, ptr %50, i64 2
  %79 = load i8, ptr %78, align 1, !tbaa !66, !range !67, !noundef !68
  %80 = trunc nuw i8 %79 to i1
  br i1 %80, label %81, label %91

81:                                               ; preds = %77
  %82 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12emplace_backIJEEERS2_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %24)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #4
  store i32 2, ptr %10, align 4, !tbaa !69
  %83 = trunc nuw i64 %indvars.iv to i32
  store i32 %83, ptr %29, align 4, !tbaa !71
  call void @_ZNSt6vectorI8BblockIDSaIS0_EE9push_backEOS0_(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 4 dereferenceable(8) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #4
  %84 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #4
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %12) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.128") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef 6, i64 noundef 0, i32 noundef 3, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IdLi12ELi1ELi0ELi12ELi1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %12) #4
  %85 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %84)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %14) #4
  call void @_ZN3ori11crossMatrixIN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEENS2_INT_6ScalarELi3ELi3ELi0ELi3ELi3EEERKNS1_10MatrixBaseIS4_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %11)
  %86 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %7, ptr noundef nonnull align 1 dereferenceable(1) %14)
  %87 = extractvalue { ptr, ptr } %86, 0
  store ptr %87, ptr %13, align 8
  %88 = extractvalue { ptr, ptr } %86, 1
  store ptr %88, ptr %31, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %15) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.146") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %84, i64 noundef 6, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %89 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi3ELi3ELi0ELi3ELi3EEES6_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %15, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %16) #4
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %17) #4
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.165") align 1 %17)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIdEENS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEdvIdEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSD_NSB_IdSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 8 dereferenceable(8) %32)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %18) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.146") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %84, i64 noundef 9, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %90 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIdEENS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIdEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %18, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %18) #4
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %17) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %16) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #4
  br label %91

91:                                               ; preds = %81, %77
  %92 = getelementptr inbounds i8, ptr %50, i64 3
  %93 = load i8, ptr %92, align 1, !tbaa !66, !range !67, !noundef !68
  %94 = trunc nuw i8 %93 to i1
  br i1 %94, label %95, label %105

95:                                               ; preds = %91
  %96 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12emplace_backIJEEERS2_DpOT_(ptr noundef nonnull align 8 dereferenceable(24) %24)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #4
  store i32 3, ptr %10, align 4, !tbaa !69
  %97 = trunc nuw i64 %indvars.iv to i32
  store i32 %97, ptr %29, align 4, !tbaa !71
  call void @_ZNSt6vectorI8BblockIDSaIS0_EE9push_backEOS0_(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 4 dereferenceable(8) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #4
  %98 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE4backEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #4
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %12) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.128") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef 9, i64 noundef 0, i32 noundef 3, i32 noundef 1)
  call void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IdLi12ELi1ELi0ELi12ELi1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %12) #4
  %99 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %98)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %14) #4
  call void @_ZN3ori11crossMatrixIN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEENS2_INT_6ScalarELi3ELi3ELi0ELi3ELi3EEERKNS1_10MatrixBaseIS4_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %11)
  %100 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) %7, ptr noundef nonnull align 1 dereferenceable(1) %14)
  %101 = extractvalue { ptr, ptr } %100, 0
  store ptr %101, ptr %13, align 8
  %102 = extractvalue { ptr, ptr } %100, 1
  store ptr %102, ptr %31, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %15) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.146") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %98, i64 noundef 6, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %103 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi3ELi3ELi0ELi3ELi3EEES6_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %15, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %16) #4
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %17) #4
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.165") align 1 %17)
  call void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIdEENS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEdvIdEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSD_NSB_IdSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 8 dereferenceable(8) %32)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %18) #4
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.146") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %98, i64 noundef 9, i64 noundef 0, i32 noundef 3, i32 noundef 3)
  %104 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIdEENS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIdEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %18, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %18) #4
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %17) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %16) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #4
  br label %105

105:                                              ; preds = %95, %91
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %7) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %3) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %2) #4
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %106 = load i32, ptr %20, align 8, !tbaa !5
  %107 = zext i32 %106 to i64
  %108 = icmp ult i64 %indvars.iv.next, %107
  br i1 %108, label %36, label %._crit_edge, !llvm.loop !72
}

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI8BblockIDSaIS0_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3ori18coordinateRotationIdEEN5Eigen6MatrixIT_Li3ELi3ELi0ELi3ELi3EEENS_14CoordinateAxisES3_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix") align 8, i32 noundef, double noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_9TransposeINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEES4_Li0EEEEmlIS4_EEKNS1_IS6_T_Li0EEERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEC2INS_7ProductINS3_INS_9TransposeIS1_EES1_Li0EEES1_Li0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE7inverseEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEC2INS_7InverseIS1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEELin1ELin1ELb0EEaSINS1_IdLi3ELi3ELi0ELi3ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 1 dereferenceable(4) ptr @_ZNSt6vectorI12ContactStateSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12emplace_backIJEEERS2_DpOT_(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI8BblockIDSaIS0_EE9push_backEOS0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE4backEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.128") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2INS_5BlockINS0_IdLi12ELi1ELi0ELi12ELi1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3ori11crossMatrixIN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEENS2_INT_6ScalarELi3ELi3ELi0ELi3ELi3EEERKNS1_10MatrixBaseIS4_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.146") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_7ProductINS1_IdLi3ELi3ELi0ELi3ELi3EEES6_Li0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.165") align 1) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_14CwiseNullaryOpINS_8internal18scalar_identity_opIdEENS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEdvIdEEKNS_13CwiseBinaryOpINS2_18scalar_quotient_opIdNS2_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdSD_NSB_IdSD_EEEEEE5valueEE4typeEEEKS7_KNS2_19plain_constant_typeIS7_SI_E4typeEEERKSD_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal18scalar_quotient_opIddEEKNS_14CwiseNullaryOpINS6_18scalar_identity_opIdEENS1_IdLi3ELi3ELi0ELi3ELi3EEEEEKNS9_INS6_18scalar_constant_opIdEEKSC_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI8BblockIDSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress 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 = { mustprogress 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 = { inlinehint mustprogress 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 #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, !63, i64 952}
!6 = !{!"_ZTS10SparseCMPC", !7, i64 0, !13, i64 80, !17, i64 176, !17, i64 184, !17, i64 192, !17, i64 200, !18, i64 208, !18, i64 232, !18, i64 256, !18, i64 280, !22, i64 304, !13, i64 336, !13, i64 432, !13, i64 528, !26, i64 624, !31, i64 648, !35, i64 672, !39, i64 696, !43, i64 720, !47, i64 744, !51, i64 768, !51, i64 792, !55, i64 816, !55, i64 840, !35, i64 864, !35, i64 888, !35, i64 912, !59, i64 936, !63, i64 952, !63, i64 956, !63, i64 960}
!7 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !8, i64 0}
!8 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !9, i64 0}
!9 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !10, i64 0}
!10 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"_ZTSN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen12DenseStorageIdLi12ELi12ELi1ELi0EEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi12ELi0ELi16EEE", !11, i64 0}
!17 = !{!"double", !11, i64 0}
!18 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !11, i64 0}
!22 = !{!"_ZTSN5Eigen6MatrixIdLi4ELi1ELi0ELi4ELi1EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen12DenseStorageIdLi4ELi4ELi1ELi0EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi4ELi0ELi16EEE", !11, i64 0}
!26 = !{!"_ZTSSt6vectorI12ContactStateSaIS0_EE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseI12ContactStateSaIS0_EE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!30 = !{!"any pointer", !11, i64 0}
!31 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!35 = !{!"_ZTSSt6vectorIdSaIdEE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!39 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !40, i64 0}
!40 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!43 = !{!"_ZTSSt6vectorI8BblockIDSaIS0_EE", !44, i64 0}
!44 = !{!"_ZTSSt12_Vector_baseI8BblockIDSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE12_Vector_implE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!47 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !48, i64 0}
!48 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !49, i64 0}
!49 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!51 = !{!"_ZTSSt6vectorIjSaIjEE", !52, i64 0}
!52 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !53, i64 0}
!53 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !54, i64 0}
!54 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!55 = !{!"_ZTSSt6vectorI12SparseTripleIdESaIS1_EE", !56, i64 0}
!56 = !{!"_ZTSSt12_Vector_baseI12SparseTripleIdESaIS1_EE", !57, i64 0}
!57 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE12_Vector_implE", !58, i64 0}
!58 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!59 = !{!"_ZTSN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEE", !60, i64 0}
!60 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEEE", !61, i64 0}
!61 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELi1ELi0EEE", !30, i64 0, !62, i64 8}
!62 = !{!"long", !11, i64 0}
!63 = !{!"int", !11, i64 0}
!64 = !{!6, !63, i64 956}
!65 = !{!17, !17, i64 0}
!66 = !{!11, !11, i64 0}
!67 = !{i8 0, i8 2}
!68 = !{}
!69 = !{!70, !63, i64 0}
!70 = !{!"_ZTS8BblockID", !63, i64 0, !63, i64 4}
!71 = !{!70, !63, i64 4}
!72 = distinct !{!72, !73}
!73 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass