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

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

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

@stderr = external global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [68 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [26 x i8], align 1
@__func__.RcsShape_computeAABB = external hidden unnamed_addr constant [21 x i8], align 1
@.str.98 = external hidden unnamed_addr constant [28 x i8], align 1

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

declare void @Vec3d_setZero(ptr noundef) #1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #3

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

declare void @print_trace() #1

; Function Attrs: noreturn nounwind
declare void @exit(i32 noundef) #4

; Function Attrs: nounwind uwtable
declare dso_local ptr @RcsShape_name(i32 noundef) #5

declare void @Vec3d_set(ptr noundef, double noundef, double noundef, double noundef) #1

; Function Attrs: nounwind uwtable
define dso_local void @RcsShape_computeAABB(ptr noundef %0, ptr noundef %1, ptr noundef %2) #5 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #6
  %8 = load ptr, ptr %4, align 8, !tbaa !5
  %9 = getelementptr inbounds %struct._RcsShape, ptr %8, i32 0, i32 2
  %10 = getelementptr inbounds [3 x double], ptr %9, i64 0, i64 0
  store ptr %10, ptr %7, align 8, !tbaa !5
  %11 = load ptr, ptr %4, align 8, !tbaa !5
  %12 = getelementptr inbounds %struct._RcsShape, ptr %11, i32 0, i32 0
  %13 = load i32, ptr %12, align 8, !tbaa !9
  switch i32 %13, label %195 [
    i32 0, label %14
    i32 6, label %14
    i32 12, label %14
    i32 13, label %14
    i32 1, label %17
    i32 2, label %45
    i32 3, label %90
    i32 4, label %96
    i32 5, label %101
    i32 7, label %126
    i32 8, label %150
    i32 10, label %170
  ]

14:                                               ; preds = %3, %3, %3, %3
  %15 = load ptr, ptr %5, align 8, !tbaa !5
  call void @Vec3d_setZero(ptr noundef %15)
  %16 = load ptr, ptr %6, align 8, !tbaa !5
  call void @Vec3d_setZero(ptr noundef %16)
  br label %209

17:                                               ; preds = %3
  %18 = load ptr, ptr %5, align 8, !tbaa !5
  %19 = load ptr, ptr %7, align 8, !tbaa !5
  %20 = getelementptr inbounds double, ptr %19, i64 0
  %21 = load double, ptr %20, align 8, !tbaa !15
  %22 = fneg double %21
  %23 = load ptr, ptr %7, align 8, !tbaa !5
  %24 = getelementptr inbounds double, ptr %23, i64 0
  %25 = load double, ptr %24, align 8, !tbaa !15
  %26 = fneg double %25
  %27 = load ptr, ptr %7, align 8, !tbaa !5
  %28 = getelementptr inbounds double, ptr %27, i64 0
  %29 = load double, ptr %28, align 8, !tbaa !15
  %30 = fneg double %29
  call void @Vec3d_set(ptr noundef %18, double noundef %22, double noundef %26, double noundef %30)
  %31 = load ptr, ptr %6, align 8, !tbaa !5
  %32 = load ptr, ptr %7, align 8, !tbaa !5
  %33 = getelementptr inbounds double, ptr %32, i64 0
  %34 = load double, ptr %33, align 8, !tbaa !15
  %35 = load ptr, ptr %7, align 8, !tbaa !5
  %36 = getelementptr inbounds double, ptr %35, i64 0
  %37 = load double, ptr %36, align 8, !tbaa !15
  %38 = load ptr, ptr %7, align 8, !tbaa !5
  %39 = getelementptr inbounds double, ptr %38, i64 2
  %40 = load double, ptr %39, align 8, !tbaa !15
  %41 = load ptr, ptr %7, align 8, !tbaa !5
  %42 = getelementptr inbounds double, ptr %41, i64 0
  %43 = load double, ptr %42, align 8, !tbaa !15
  %44 = fadd double %40, %43
  call void @Vec3d_set(ptr noundef %31, double noundef %34, double noundef %37, double noundef %44)
  br label %209

45:                                               ; preds = %3
  %46 = load ptr, ptr %5, align 8, !tbaa !5
  %47 = load ptr, ptr %7, align 8, !tbaa !5
  %48 = getelementptr inbounds double, ptr %47, i64 0
  %49 = load double, ptr %48, align 8, !tbaa !15
  %50 = load ptr, ptr %7, align 8, !tbaa !5
  %51 = getelementptr inbounds double, ptr %50, i64 2
  %52 = load double, ptr %51, align 8, !tbaa !15
  %53 = fmul double 5.000000e-01, %52
  %54 = fneg double %53
  %55 = call double @llvm.fmuladd.f64(double -5.000000e-01, double %49, double %54)
  %56 = load ptr, ptr %7, align 8, !tbaa !5
  %57 = getelementptr inbounds double, ptr %56, i64 0
  %58 = load double, ptr %57, align 8, !tbaa !15
  %59 = load ptr, ptr %7, align 8, !tbaa !5
  %60 = getelementptr inbounds double, ptr %59, i64 2
  %61 = load double, ptr %60, align 8, !tbaa !15
  %62 = fmul double 5.000000e-01, %61
  %63 = fneg double %62
  %64 = call double @llvm.fmuladd.f64(double -5.000000e-01, double %58, double %63)
  %65 = load ptr, ptr %7, align 8, !tbaa !5
  %66 = getelementptr inbounds double, ptr %65, i64 2
  %67 = load double, ptr %66, align 8, !tbaa !15
  %68 = fmul double -5.000000e-01, %67
  call void @Vec3d_set(ptr noundef %46, double noundef %55, double noundef %64, double noundef %68)
  %69 = load ptr, ptr %6, align 8, !tbaa !5
  %70 = load ptr, ptr %7, align 8, !tbaa !5
  %71 = getelementptr inbounds double, ptr %70, i64 0
  %72 = load double, ptr %71, align 8, !tbaa !15
  %73 = load ptr, ptr %7, align 8, !tbaa !5
  %74 = getelementptr inbounds double, ptr %73, i64 2
  %75 = load double, ptr %74, align 8, !tbaa !15
  %76 = fmul double 5.000000e-01, %75
  %77 = call double @llvm.fmuladd.f64(double 5.000000e-01, double %72, double %76)
  %78 = load ptr, ptr %7, align 8, !tbaa !5
  %79 = getelementptr inbounds double, ptr %78, i64 0
  %80 = load double, ptr %79, align 8, !tbaa !15
  %81 = load ptr, ptr %7, align 8, !tbaa !5
  %82 = getelementptr inbounds double, ptr %81, i64 2
  %83 = load double, ptr %82, align 8, !tbaa !15
  %84 = fmul double 5.000000e-01, %83
  %85 = call double @llvm.fmuladd.f64(double 5.000000e-01, double %80, double %84)
  %86 = load ptr, ptr %7, align 8, !tbaa !5
  %87 = getelementptr inbounds double, ptr %86, i64 2
  %88 = load double, ptr %87, align 8, !tbaa !15
  %89 = fmul double 5.000000e-01, %88
  call void @Vec3d_set(ptr noundef %69, double noundef %77, double noundef %85, double noundef %89)
  br label %209

90:                                               ; preds = %3
  %91 = load ptr, ptr %4, align 8, !tbaa !5
  %92 = getelementptr inbounds %struct._RcsShape, ptr %91, i32 0, i32 10
  %93 = load ptr, ptr %92, align 8, !tbaa !16
  %94 = load ptr, ptr %5, align 8, !tbaa !5
  %95 = load ptr, ptr %6, align 8, !tbaa !5
  call void @RcsMesh_computeAABB(ptr noundef %93, ptr noundef %94, ptr noundef %95)
  br label %209

96:                                               ; preds = %3
  %97 = load ptr, ptr %5, align 8, !tbaa !5
  %98 = load ptr, ptr %7, align 8, !tbaa !5
  call void @Vec3d_constMul(ptr noundef %97, ptr noundef %98, double noundef -5.000000e-01)
  %99 = load ptr, ptr %6, align 8, !tbaa !5
  %100 = load ptr, ptr %7, align 8, !tbaa !5
  call void @Vec3d_constMul(ptr noundef %99, ptr noundef %100, double noundef 5.000000e-01)
  br label %209

101:                                              ; preds = %3
  %102 = load ptr, ptr %5, align 8, !tbaa !5
  %103 = load ptr, ptr %7, align 8, !tbaa !5
  %104 = getelementptr inbounds double, ptr %103, i64 0
  %105 = load double, ptr %104, align 8, !tbaa !15
  %106 = fneg double %105
  %107 = load ptr, ptr %7, align 8, !tbaa !5
  %108 = getelementptr inbounds double, ptr %107, i64 0
  %109 = load double, ptr %108, align 8, !tbaa !15
  %110 = fneg double %109
  %111 = load ptr, ptr %7, align 8, !tbaa !5
  %112 = getelementptr inbounds double, ptr %111, i64 2
  %113 = load double, ptr %112, align 8, !tbaa !15
  %114 = fmul double -5.000000e-01, %113
  call void @Vec3d_set(ptr noundef %102, double noundef %106, double noundef %110, double noundef %114)
  %115 = load ptr, ptr %6, align 8, !tbaa !5
  %116 = load ptr, ptr %7, align 8, !tbaa !5
  %117 = getelementptr inbounds double, ptr %116, i64 0
  %118 = load double, ptr %117, align 8, !tbaa !15
  %119 = load ptr, ptr %7, align 8, !tbaa !5
  %120 = getelementptr inbounds double, ptr %119, i64 0
  %121 = load double, ptr %120, align 8, !tbaa !15
  %122 = load ptr, ptr %7, align 8, !tbaa !5
  %123 = getelementptr inbounds double, ptr %122, i64 2
  %124 = load double, ptr %123, align 8, !tbaa !15
  %125 = fmul double 5.000000e-01, %124
  call void @Vec3d_set(ptr noundef %115, double noundef %118, double noundef %121, double noundef %125)
  br label %209

126:                                              ; preds = %3
  %127 = load ptr, ptr %5, align 8, !tbaa !5
  %128 = load ptr, ptr %7, align 8, !tbaa !5
  %129 = getelementptr inbounds double, ptr %128, i64 0
  %130 = load double, ptr %129, align 8, !tbaa !15
  %131 = fneg double %130
  %132 = load ptr, ptr %7, align 8, !tbaa !5
  %133 = getelementptr inbounds double, ptr %132, i64 0
  %134 = load double, ptr %133, align 8, !tbaa !15
  %135 = fneg double %134
  %136 = load ptr, ptr %7, align 8, !tbaa !5
  %137 = getelementptr inbounds double, ptr %136, i64 0
  %138 = load double, ptr %137, align 8, !tbaa !15
  %139 = fneg double %138
  call void @Vec3d_set(ptr noundef %127, double noundef %131, double noundef %135, double noundef %139)
  %140 = load ptr, ptr %6, align 8, !tbaa !5
  %141 = load ptr, ptr %7, align 8, !tbaa !5
  %142 = getelementptr inbounds double, ptr %141, i64 0
  %143 = load double, ptr %142, align 8, !tbaa !15
  %144 = load ptr, ptr %7, align 8, !tbaa !5
  %145 = getelementptr inbounds double, ptr %144, i64 0
  %146 = load double, ptr %145, align 8, !tbaa !15
  %147 = load ptr, ptr %7, align 8, !tbaa !5
  %148 = getelementptr inbounds double, ptr %147, i64 0
  %149 = load double, ptr %148, align 8, !tbaa !15
  call void @Vec3d_set(ptr noundef %140, double noundef %143, double noundef %146, double noundef %149)
  br label %209

150:                                              ; preds = %3
  %151 = load ptr, ptr %5, align 8, !tbaa !5
  %152 = load ptr, ptr %7, align 8, !tbaa !5
  %153 = getelementptr inbounds double, ptr %152, i64 0
  %154 = load double, ptr %153, align 8, !tbaa !15
  %155 = fneg double %154
  %156 = load ptr, ptr %7, align 8, !tbaa !5
  %157 = getelementptr inbounds double, ptr %156, i64 0
  %158 = load double, ptr %157, align 8, !tbaa !15
  %159 = fneg double %158
  call void @Vec3d_set(ptr noundef %151, double noundef %155, double noundef %159, double noundef 0.000000e+00)
  %160 = load ptr, ptr %6, align 8, !tbaa !5
  %161 = load ptr, ptr %7, align 8, !tbaa !5
  %162 = getelementptr inbounds double, ptr %161, i64 0
  %163 = load double, ptr %162, align 8, !tbaa !15
  %164 = load ptr, ptr %7, align 8, !tbaa !5
  %165 = getelementptr inbounds double, ptr %164, i64 0
  %166 = load double, ptr %165, align 8, !tbaa !15
  %167 = load ptr, ptr %7, align 8, !tbaa !5
  %168 = getelementptr inbounds double, ptr %167, i64 2
  %169 = load double, ptr %168, align 8, !tbaa !15
  call void @Vec3d_set(ptr noundef %160, double noundef %163, double noundef %166, double noundef %169)
  br label %209

170:                                              ; preds = %3
  %171 = load ptr, ptr %5, align 8, !tbaa !5
  %172 = load ptr, ptr %7, align 8, !tbaa !5
  %173 = getelementptr inbounds double, ptr %172, i64 0
  %174 = load double, ptr %173, align 8, !tbaa !15
  %175 = fneg double %174
  %176 = load ptr, ptr %7, align 8, !tbaa !5
  %177 = getelementptr inbounds double, ptr %176, i64 0
  %178 = load double, ptr %177, align 8, !tbaa !15
  %179 = fneg double %178
  %180 = load ptr, ptr %7, align 8, !tbaa !5
  %181 = getelementptr inbounds double, ptr %180, i64 2
  %182 = load double, ptr %181, align 8, !tbaa !15
  %183 = fmul double -5.000000e-01, %182
  call void @Vec3d_set(ptr noundef %171, double noundef %175, double noundef %179, double noundef %183)
  %184 = load ptr, ptr %6, align 8, !tbaa !5
  %185 = load ptr, ptr %7, align 8, !tbaa !5
  %186 = getelementptr inbounds double, ptr %185, i64 0
  %187 = load double, ptr %186, align 8, !tbaa !15
  %188 = load ptr, ptr %7, align 8, !tbaa !5
  %189 = getelementptr inbounds double, ptr %188, i64 0
  %190 = load double, ptr %189, align 8, !tbaa !15
  %191 = load ptr, ptr %7, align 8, !tbaa !5
  %192 = getelementptr inbounds double, ptr %191, i64 2
  %193 = load double, ptr %192, align 8, !tbaa !15
  %194 = fmul double 5.000000e-01, %193
  call void @Vec3d_set(ptr noundef %184, double noundef %187, double noundef %190, double noundef %194)
  br label %209

195:                                              ; preds = %3
  br label %196

196:                                              ; preds = %195
  %197 = load ptr, ptr @stderr, align 8, !tbaa !5
  %198 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %197, ptr noundef @.str.10, ptr noundef @.str.7, ptr noundef @__func__.RcsShape_computeAABB, i32 noundef 2061) #6
  %199 = load ptr, ptr @stderr, align 8, !tbaa !5
  %200 = load ptr, ptr %4, align 8, !tbaa !5
  %201 = getelementptr inbounds %struct._RcsShape, ptr %200, i32 0, i32 0
  %202 = load i32, ptr %201, align 8, !tbaa !9
  %203 = call ptr @RcsShape_name(i32 noundef %202)
  %204 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %199, ptr noundef @.str.98, ptr noundef %203) #6
  %205 = load ptr, ptr @stderr, align 8, !tbaa !5
  %206 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %205, ptr noundef @.str.3) #6
  call void @print_trace()
  call void @exit(i32 noundef 1) #7
  unreachable

207:                                              ; No predecessors!
  br label %208

208:                                              ; preds = %207
  br label %209

209:                                              ; preds = %208, %170, %150, %126, %101, %96, %90, %45, %17, %14
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #6
  ret void
}

declare void @RcsMesh_computeAABB(ptr noundef, ptr noundef, ptr noundef) #1

declare void @Vec3d_constMul(ptr noundef, ptr noundef, double noundef) #1

attributes #0 = { nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { "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 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { nounwind }
attributes #7 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !11, i64 0}
!10 = !{!"_RcsShape", !11, i64 0, !12, i64 8, !7, i64 104, !13, i64 128, !14, i64 136, !7, i64 137, !6, i64 144, !6, i64 152, !6, i64 160, !6, i64 168, !6, i64 176}
!11 = !{!"int", !7, i64 0}
!12 = !{!"", !7, i64 0, !7, i64 24}
!13 = !{!"double", !7, i64 0}
!14 = !{!"_Bool", !7, i64 0}
!15 = !{!13, !13, i64 0}
!16 = !{!10, !6, i64 176}


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

@stderr = external local_unnamed_addr global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [68 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [26 x i8], align 1
@__func__.RcsShape_computeAABB = external hidden unnamed_addr constant [21 x i8], align 1
@.str.98 = external hidden unnamed_addr constant [28 x i8], align 1

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

declare void @Vec3d_setZero(ptr noundef) local_unnamed_addr #1

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #2

declare void @print_trace() local_unnamed_addr #1

; Function Attrs: noreturn nounwind
declare void @exit(i32 noundef) local_unnamed_addr #3

; Function Attrs: nounwind uwtable
declare dso_local ptr @RcsShape_name(i32 noundef) local_unnamed_addr #4

declare void @Vec3d_set(ptr noundef, double noundef, double noundef, double noundef) local_unnamed_addr #1

; Function Attrs: nounwind uwtable
define dso_local void @RcsShape_computeAABB(ptr noundef %0, ptr noundef %1, ptr noundef %2) local_unnamed_addr #4 {
  %4 = getelementptr inbounds i8, ptr %0, i64 104
  %5 = load i32, ptr %0, align 8, !tbaa !5
  switch i32 %5, label %56 [
    i32 0, label %6
    i32 6, label %6
    i32 12, label %6
    i32 13, label %6
    i32 1, label %7
    i32 2, label %14
    i32 3, label %24
    i32 4, label %27
    i32 5, label %28
    i32 7, label %37
    i32 8, label %41
    i32 10, label %47
  ]

6:                                                ; preds = %3, %3, %3, %3
  tail call void @Vec3d_setZero(ptr noundef %1) #5
  tail call void @Vec3d_setZero(ptr noundef %2) #5
  br label %65

7:                                                ; preds = %3
  %8 = load double, ptr %4, align 8, !tbaa !14
  %9 = fneg double %8
  tail call void @Vec3d_set(ptr noundef %1, double noundef %9, double noundef %9, double noundef %9) #5
  %10 = load double, ptr %4, align 8, !tbaa !14
  %11 = getelementptr inbounds i8, ptr %0, i64 120
  %12 = load double, ptr %11, align 8, !tbaa !14
  %13 = fadd double %10, %12
  tail call void @Vec3d_set(ptr noundef %2, double noundef %10, double noundef %10, double noundef %13) #5
  br label %65

14:                                               ; preds = %3
  %15 = load double, ptr %4, align 8, !tbaa !14
  %16 = getelementptr inbounds i8, ptr %0, i64 120
  %17 = load double, ptr %16, align 8, !tbaa !14
  %18 = fmul double %17, -5.000000e-01
  %19 = tail call double @llvm.fmuladd.f64(double %15, double -5.000000e-01, double %18)
  tail call void @Vec3d_set(ptr noundef %1, double noundef %19, double noundef %19, double noundef %18) #5
  %20 = load double, ptr %4, align 8, !tbaa !14
  %21 = load double, ptr %16, align 8, !tbaa !14
  %22 = fmul double %21, 5.000000e-01
  %23 = tail call double @llvm.fmuladd.f64(double %20, double 5.000000e-01, double %22)
  tail call void @Vec3d_set(ptr noundef %2, double noundef %23, double noundef %23, double noundef %22) #5
  br label %65

24:                                               ; preds = %3
  %25 = getelementptr inbounds i8, ptr %0, i64 176
  %26 = load ptr, ptr %25, align 8, !tbaa !15
  tail call void @RcsMesh_computeAABB(ptr noundef %26, ptr noundef %1, ptr noundef %2) #5
  br label %65

27:                                               ; preds = %3
  tail call void @Vec3d_constMul(ptr noundef %1, ptr noundef nonnull %4, double noundef -5.000000e-01) #5
  tail call void @Vec3d_constMul(ptr noundef %2, ptr noundef nonnull %4, double noundef 5.000000e-01) #5
  br label %65

28:                                               ; preds = %3
  %29 = load double, ptr %4, align 8, !tbaa !14
  %30 = fneg double %29
  %31 = getelementptr inbounds i8, ptr %0, i64 120
  %32 = load double, ptr %31, align 8, !tbaa !14
  %33 = fmul double %32, -5.000000e-01
  tail call void @Vec3d_set(ptr noundef %1, double noundef %30, double noundef %30, double noundef %33) #5
  %34 = load double, ptr %4, align 8, !tbaa !14
  %35 = load double, ptr %31, align 8, !tbaa !14
  %36 = fmul double %35, 5.000000e-01
  tail call void @Vec3d_set(ptr noundef %2, double noundef %34, double noundef %34, double noundef %36) #5
  br label %65

37:                                               ; preds = %3
  %38 = load double, ptr %4, align 8, !tbaa !14
  %39 = fneg double %38
  tail call void @Vec3d_set(ptr noundef %1, double noundef %39, double noundef %39, double noundef %39) #5
  %40 = load double, ptr %4, align 8, !tbaa !14
  tail call void @Vec3d_set(ptr noundef %2, double noundef %40, double noundef %40, double noundef %40) #5
  br label %65

41:                                               ; preds = %3
  %42 = load double, ptr %4, align 8, !tbaa !14
  %43 = fneg double %42
  tail call void @Vec3d_set(ptr noundef %1, double noundef %43, double noundef %43, double noundef 0.000000e+00) #5
  %44 = load double, ptr %4, align 8, !tbaa !14
  %45 = getelementptr inbounds i8, ptr %0, i64 120
  %46 = load double, ptr %45, align 8, !tbaa !14
  tail call void @Vec3d_set(ptr noundef %2, double noundef %44, double noundef %44, double noundef %46) #5
  br label %65

47:                                               ; preds = %3
  %48 = load double, ptr %4, align 8, !tbaa !14
  %49 = fneg double %48
  %50 = getelementptr inbounds i8, ptr %0, i64 120
  %51 = load double, ptr %50, align 8, !tbaa !14
  %52 = fmul double %51, -5.000000e-01
  tail call void @Vec3d_set(ptr noundef %1, double noundef %49, double noundef %49, double noundef %52) #5
  %53 = load double, ptr %4, align 8, !tbaa !14
  %54 = load double, ptr %50, align 8, !tbaa !14
  %55 = fmul double %54, 5.000000e-01
  tail call void @Vec3d_set(ptr noundef %2, double noundef %53, double noundef %53, double noundef %55) #5
  br label %65

56:                                               ; preds = %3
  %57 = load ptr, ptr @stderr, align 8, !tbaa !16
  %58 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %57, ptr noundef nonnull @.str.10, ptr noundef nonnull @.str.7, ptr noundef nonnull @__func__.RcsShape_computeAABB, i32 noundef 2061) #6
  %59 = load ptr, ptr @stderr, align 8, !tbaa !16
  %60 = load i32, ptr %0, align 8, !tbaa !5
  %61 = tail call ptr @RcsShape_name(i32 noundef %60)
  %62 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %59, ptr noundef nonnull @.str.98, ptr noundef %61) #6
  %63 = load ptr, ptr @stderr, align 8, !tbaa !16
  %64 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %63, ptr noundef nonnull @.str.3) #6
  tail call void @print_trace() #5
  tail call void @exit(i32 noundef 1) #7
  unreachable

65:                                               ; preds = %47, %41, %37, %28, %27, %24, %14, %7, %6
  ret void
}

declare void @RcsMesh_computeAABB(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #1

declare void @Vec3d_constMul(ptr noundef, ptr noundef, double noundef) local_unnamed_addr #1

attributes #0 = { nofree nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { "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 nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #5 = { nounwind }
attributes #6 = { cold nounwind }
attributes #7 = { noreturn 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, !7, i64 0}
!6 = !{!"_RcsShape", !7, i64 0, !10, i64 8, !8, i64 104, !11, i64 128, !12, i64 136, !8, i64 137, !13, i64 144, !13, i64 152, !13, i64 160, !13, i64 168, !13, i64 176}
!7 = !{!"int", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"", !8, i64 0, !8, i64 24}
!11 = !{!"double", !8, i64 0}
!12 = !{!"_Bool", !8, i64 0}
!13 = !{!"any pointer", !8, i64 0}
!14 = !{!11, !11, i64 0}
!15 = !{!6, !13, i64 176}
!16 = !{!13, !13, i64 0}


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