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

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

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

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

; Function Attrs: nounwind uwtable
declare dso_local void @Math_interpolatePolygon2D(ptr noundef, ptr noundef, i32 noundef, double noundef) #1

; Function Attrs: nounwind uwtable
define dso_local void @Math_resamplePolygon2D(ptr noundef %0, i32 noundef %1, ptr noundef %2, i32 noundef %3) #1 {
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store i32 %1, ptr %6, align 4, !tbaa !9
  store ptr %2, ptr %7, align 8, !tbaa !5
  store i32 %3, ptr %8, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #2
  %12 = load i32, ptr %6, align 4, !tbaa !9
  %13 = uitofp i32 %12 to double
  %14 = fdiv double 1.000000e+00, %13
  store double %14, ptr %9, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #2
  store double 0.000000e+00, ptr %10, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #2
  store i32 0, ptr %11, align 4, !tbaa !9
  br label %15

15:                                               ; preds = %32, %4
  %16 = load i32, ptr %11, align 4, !tbaa !9
  %17 = load i32, ptr %6, align 4, !tbaa !9
  %18 = icmp ult i32 %16, %17
  br i1 %18, label %20, label %19

19:                                               ; preds = %15
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #2
  br label %35

20:                                               ; preds = %15
  %21 = load ptr, ptr %5, align 8, !tbaa !5
  %22 = load i32, ptr %11, align 4, !tbaa !9
  %23 = zext i32 %22 to i64
  %24 = getelementptr inbounds [2 x double], ptr %21, i64 %23
  %25 = getelementptr inbounds [2 x double], ptr %24, i64 0, i64 0
  %26 = load ptr, ptr %7, align 8, !tbaa !5
  %27 = load i32, ptr %8, align 4, !tbaa !9
  %28 = load double, ptr %10, align 8, !tbaa !11
  call void @Math_interpolatePolygon2D(ptr noundef %25, ptr noundef %26, i32 noundef %27, double noundef %28)
  %29 = load double, ptr %9, align 8, !tbaa !11
  %30 = load double, ptr %10, align 8, !tbaa !11
  %31 = fadd double %30, %29
  store double %31, ptr %10, align 8, !tbaa !11
  br label %32

32:                                               ; preds = %20
  %33 = load i32, ptr %11, align 4, !tbaa !9
  %34 = add i32 %33, 1
  store i32 %34, ptr %11, align 4, !tbaa !9
  br label %15, !llvm.loop !13

35:                                               ; preds = %19
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #2
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #2
  ret void
}

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}


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

; Function Attrs: nounwind uwtable
declare dso_local void @Math_interpolatePolygon2D(ptr noundef, ptr noundef, i32 noundef, double noundef) local_unnamed_addr #0

; Function Attrs: nounwind uwtable
define dso_local void @Math_resamplePolygon2D(ptr noundef %0, i32 noundef %1, ptr noundef %2, i32 noundef %3) local_unnamed_addr #0 {
  %5 = uitofp i32 %1 to double
  %6 = fdiv double 1.000000e+00, %5
  %.not = icmp eq i32 %1, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph.preheader

.lr.ph.preheader:                                 ; preds = %4
  %wide.trip.count = zext i32 %1 to i64
  br label %.lr.ph

._crit_edge:                                      ; preds = %.lr.ph, %4
  ret void

.lr.ph:                                           ; preds = %.lr.ph.preheader, %.lr.ph
  %indvars.iv = phi i64 [ 0, %.lr.ph.preheader ], [ %indvars.iv.next, %.lr.ph ]
  %.01011 = phi double [ 0.000000e+00, %.lr.ph.preheader ], [ %8, %.lr.ph ]
  %7 = getelementptr inbounds [2 x double], ptr %0, i64 %indvars.iv
  tail call void @Math_interpolatePolygon2D(ptr noundef %7, ptr noundef %2, i32 noundef %3, double noundef %.01011)
  %8 = fadd double %6, %.01011
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %.lr.ph, !llvm.loop !5
}

attributes #0 = { 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" }

!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 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass