; LLVM IR from HRI-EU/Rcs :: src/RcsCore (Rcs_distanceWM5)

; 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"

@RCS_GLOBAL_RLOG_CB = external global ptr, align 8
@.str = external hidden unnamed_addr constant [76 x i8], align 1
@RcsLogLevel = external global i32, align 4
@stderr = external global ptr, align 8
@.str.2 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [2 x i8], align 1
@__func__.Rcs_computePlanePlaneIntersection = external hidden unnamed_addr constant [34 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [61 x i8], align 1

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

; Function Attrs: mustprogress uwtable
define dso_local zeroext i1 @Rcs_computePlanePlaneIntersection(ptr noundef %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5) #1 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store ptr %5, ptr %12, align 8, !tbaa !5
  br label %13

13:                                               ; preds = %6
  %14 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %15 = icmp ne ptr %14, null
  br i1 %15, label %16, label %18

16:                                               ; preds = %13
  %17 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  call void (i32, ptr, ptr, i32, ptr, ...) %17(i32 noundef 4, ptr noundef @.str, ptr noundef @__func__.Rcs_computePlanePlaneIntersection, i32 noundef 3042, ptr noundef @.str.6)
  br label %18

18:                                               ; preds = %16, %13
  %19 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %20 = icmp sle i32 4, %19
  br i1 %20, label %21, label %28

21:                                               ; preds = %18
  %22 = load ptr, ptr @stderr, align 8, !tbaa !5
  %23 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %22, ptr noundef @.str.2, ptr noundef @.str, ptr noundef @__func__.Rcs_computePlanePlaneIntersection, i32 noundef 3042) #2
  %24 = load ptr, ptr @stderr, align 8, !tbaa !5
  %25 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %24, ptr noundef @.str.6) #2
  %26 = load ptr, ptr @stderr, align 8, !tbaa !5
  %27 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %26, ptr noundef @.str.3) #2
  br label %28

28:                                               ; preds = %21, %18
  br label %29

29:                                               ; preds = %28
  ret i1 false
}

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 = { 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 = { 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, !10, i64 0}
!10 = !{!"int", !7, i64 0}


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

@RCS_GLOBAL_RLOG_CB = external local_unnamed_addr global ptr, align 8
@.str = external hidden unnamed_addr constant [76 x i8], align 1
@RcsLogLevel = external local_unnamed_addr global i32, align 4
@stderr = external local_unnamed_addr global ptr, align 8
@.str.2 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [2 x i8], align 1
@__func__.Rcs_computePlanePlaneIntersection = external hidden unnamed_addr constant [34 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [61 x i8], align 1

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @Rcs_computePlanePlaneIntersection(ptr nocapture noundef readnone %0, ptr nocapture noundef readnone %1, ptr nocapture noundef readnone %2, ptr nocapture noundef readnone %3, ptr nocapture noundef readnone %4, ptr nocapture noundef readnone %5) local_unnamed_addr #1 {
  %7 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not = icmp eq ptr %7, null
  br i1 %.not, label %9, label %8

8:                                                ; preds = %6
  tail call void (i32, ptr, ptr, i32, ptr, ...) %7(i32 noundef 4, ptr noundef nonnull @.str, ptr noundef nonnull @__func__.Rcs_computePlanePlaneIntersection, i32 noundef 3042, ptr noundef nonnull @.str.6)
  br label %9

9:                                                ; preds = %8, %6
  %10 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %11 = icmp sgt i32 %10, 3
  br i1 %11, label %12, label %19

12:                                               ; preds = %9
  %13 = load ptr, ptr @stderr, align 8, !tbaa !5
  %14 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %13, ptr noundef nonnull @.str.2, ptr noundef nonnull @.str, ptr noundef nonnull @__func__.Rcs_computePlanePlaneIntersection, i32 noundef 3042) #2
  %15 = load ptr, ptr @stderr, align 8, !tbaa !5
  %16 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %15, ptr noundef nonnull @.str.6) #2
  %17 = load ptr, ptr @stderr, align 8, !tbaa !5
  %18 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %17, ptr noundef nonnull @.str.3) #2
  br label %19

19:                                               ; preds = %9, %12
  ret i1 false
}

attributes #0 = { nofree nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress 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 = { cold nounwind }

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

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


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