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

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

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

@RCS_GLOBAL_RLOG_CB = external global ptr, align 8
@.str.1 = external hidden unnamed_addr constant [72 x i8], align 1
@RcsLogLevel = external global i32, align 4
@stderr = external global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [2 x i8], align 1
@Rcs_calloc = external global ptr, align 8
@.str.40 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.41 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.42 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.43 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.44 = external hidden unnamed_addr constant [10 x i8], align 1
@__func__.RcsGraph_beautifyHumanModelBVH = external hidden unnamed_addr constant [31 x i8], align 1
@.str.45 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.46 = external hidden unnamed_addr constant [35 x i8], align 1
@.str.47 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.48 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.49 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.50 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.51 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.52 = external hidden unnamed_addr constant [5 x i8], align 1

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

; Function Attrs: nounwind
declare i32 @fprintf(ptr noundef, ptr noundef, ...) #1

declare ptr @String_clone(ptr noundef) #2

declare void @RcsBody_addShape(ptr noundef, ptr noundef) #2

; 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
define dso_local zeroext i1 @RcsGraph_beautifyHumanModelBVH(ptr noundef %0, double noundef %1) #3 {
  %3 = alloca i1, align 1
  %4 = alloca ptr, align 8
  %5 = alloca double, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca i32, align 4
  %12 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store double %1, ptr %5, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #4
  %13 = load ptr, ptr %4, align 8, !tbaa !5
  %14 = call ptr @RcsGraph_getBodyByName(ptr noundef %13, ptr noundef @.str.40)
  store ptr %14, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #4
  %15 = load ptr, ptr %4, align 8, !tbaa !5
  %16 = call ptr @RcsGraph_getBodyByName(ptr noundef %15, ptr noundef @.str.41)
  store ptr %16, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #4
  %17 = load ptr, ptr %4, align 8, !tbaa !5
  %18 = call ptr @RcsGraph_getBodyByName(ptr noundef %17, ptr noundef @.str.42)
  store ptr %18, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #4
  %19 = load ptr, ptr %4, align 8, !tbaa !5
  %20 = call ptr @RcsGraph_getBodyByName(ptr noundef %19, ptr noundef @.str.43)
  store ptr %20, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #4
  %21 = load ptr, ptr %4, align 8, !tbaa !5
  %22 = call ptr @RcsGraph_getBodyByName(ptr noundef %21, ptr noundef @.str.44)
  store ptr %22, ptr %10, align 8, !tbaa !5
  store double 1.000000e+00, ptr %5, align 8, !tbaa !9
  %23 = load ptr, ptr %6, align 8, !tbaa !5
  %24 = icmp eq ptr %23, null
  br i1 %24, label %25, label %44

25:                                               ; preds = %2
  br label %26

26:                                               ; preds = %25
  %27 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %28 = icmp ne ptr %27, null
  br i1 %28, label %29, label %31

29:                                               ; preds = %26
  %30 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  call void (i32, ptr, ptr, i32, ptr, ...) %30(i32 noundef 4, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 687, ptr noundef @.str.45)
  br label %31

31:                                               ; preds = %29, %26
  %32 = load i32, ptr @RcsLogLevel, align 4, !tbaa !11
  %33 = icmp sle i32 4, %32
  br i1 %33, label %34, label %41

34:                                               ; preds = %31
  %35 = load ptr, ptr @stderr, align 8, !tbaa !5
  %36 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %35, ptr noundef @.str.3, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 687) #4
  %37 = load ptr, ptr @stderr, align 8, !tbaa !5
  %38 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %37, ptr noundef @.str.45) #4
  %39 = load ptr, ptr @stderr, align 8, !tbaa !5
  %40 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %39, ptr noundef @.str.4) #4
  br label %41

41:                                               ; preds = %34, %31
  br label %42

42:                                               ; preds = %41
  br label %43

43:                                               ; preds = %42
  store i1 false, ptr %3, align 1
  store i32 1, ptr %11, align 4
  br label %316

44:                                               ; preds = %2
  %45 = load ptr, ptr %7, align 8, !tbaa !5
  %46 = icmp eq ptr %45, null
  br i1 %46, label %47, label %66

47:                                               ; preds = %44
  br label %48

48:                                               ; preds = %47
  %49 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %50 = icmp ne ptr %49, null
  br i1 %50, label %51, label %53

51:                                               ; preds = %48
  %52 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  call void (i32, ptr, ptr, i32, ptr, ...) %52(i32 noundef 4, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 693, ptr noundef @.str.46)
  br label %53

53:                                               ; preds = %51, %48
  %54 = load i32, ptr @RcsLogLevel, align 4, !tbaa !11
  %55 = icmp sle i32 4, %54
  br i1 %55, label %56, label %63

56:                                               ; preds = %53
  %57 = load ptr, ptr @stderr, align 8, !tbaa !5
  %58 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %57, ptr noundef @.str.3, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 693) #4
  %59 = load ptr, ptr @stderr, align 8, !tbaa !5
  %60 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %59, ptr noundef @.str.46) #4
  %61 = load ptr, ptr @stderr, align 8, !tbaa !5
  %62 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %61, ptr noundef @.str.4) #4
  br label %63

63:                                               ; preds = %56, %53
  br label %64

64:                                               ; preds = %63
  br label %65

65:                                               ; preds = %64
  store i1 false, ptr %3, align 1
  store i32 1, ptr %11, align 4
  br label %316

66:                                               ; preds = %44
  %67 = load ptr, ptr %8, align 8, !tbaa !5
  %68 = icmp eq ptr %67, null
  br i1 %68, label %69, label %88

69:                                               ; preds = %66
  br label %70

70:                                               ; preds = %69
  %71 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %72 = icmp ne ptr %71, null
  br i1 %72, label %73, label %75

73:                                               ; preds = %70
  %74 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  call void (i32, ptr, ptr, i32, ptr, ...) %74(i32 noundef 4, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 699, ptr noundef @.str.47)
  br label %75

75:                                               ; preds = %73, %70
  %76 = load i32, ptr @RcsLogLevel, align 4, !tbaa !11
  %77 = icmp sle i32 4, %76
  br i1 %77, label %78, label %85

78:                                               ; preds = %75
  %79 = load ptr, ptr @stderr, align 8, !tbaa !5
  %80 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %79, ptr noundef @.str.3, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 699) #4
  %81 = load ptr, ptr @stderr, align 8, !tbaa !5
  %82 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %81, ptr noundef @.str.47) #4
  %83 = load ptr, ptr @stderr, align 8, !tbaa !5
  %84 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %83, ptr noundef @.str.4) #4
  br label %85

85:                                               ; preds = %78, %75
  br label %86

86:                                               ; preds = %85
  br label %87

87:                                               ; preds = %86
  store i1 false, ptr %3, align 1
  store i32 1, ptr %11, align 4
  br label %316

88:                                               ; preds = %66
  %89 = load ptr, ptr %9, align 8, !tbaa !5
  %90 = icmp eq ptr %89, null
  br i1 %90, label %91, label %110

91:                                               ; preds = %88
  br label %92

92:                                               ; preds = %91
  %93 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %94 = icmp ne ptr %93, null
  br i1 %94, label %95, label %97

95:                                               ; preds = %92
  %96 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  call void (i32, ptr, ptr, i32, ptr, ...) %96(i32 noundef 4, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 705, ptr noundef @.str.48)
  br label %97

97:                                               ; preds = %95, %92
  %98 = load i32, ptr @RcsLogLevel, align 4, !tbaa !11
  %99 = icmp sle i32 4, %98
  br i1 %99, label %100, label %107

100:                                              ; preds = %97
  %101 = load ptr, ptr @stderr, align 8, !tbaa !5
  %102 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %101, ptr noundef @.str.3, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 705) #4
  %103 = load ptr, ptr @stderr, align 8, !tbaa !5
  %104 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %103, ptr noundef @.str.48) #4
  %105 = load ptr, ptr @stderr, align 8, !tbaa !5
  %106 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %105, ptr noundef @.str.4) #4
  br label %107

107:                                              ; preds = %100, %97
  br label %108

108:                                              ; preds = %107
  br label %109

109:                                              ; preds = %108
  store i1 false, ptr %3, align 1
  store i32 1, ptr %11, align 4
  br label %316

110:                                              ; preds = %88
  %111 = load ptr, ptr %10, align 8, !tbaa !5
  %112 = icmp eq ptr %111, null
  br i1 %112, label %113, label %132

113:                                              ; preds = %110
  br label %114

114:                                              ; preds = %113
  %115 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %116 = icmp ne ptr %115, null
  br i1 %116, label %117, label %119

117:                                              ; preds = %114
  %118 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  call void (i32, ptr, ptr, i32, ptr, ...) %118(i32 noundef 4, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 711, ptr noundef @.str.49)
  br label %119

119:                                              ; preds = %117, %114
  %120 = load i32, ptr @RcsLogLevel, align 4, !tbaa !11
  %121 = icmp sle i32 4, %120
  br i1 %121, label %122, label %129

122:                                              ; preds = %119
  %123 = load ptr, ptr @stderr, align 8, !tbaa !5
  %124 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %123, ptr noundef @.str.3, ptr noundef @.str.1, ptr noundef @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 711) #4
  %125 = load ptr, ptr @stderr, align 8, !tbaa !5
  %126 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %125, ptr noundef @.str.49) #4
  %127 = load ptr, ptr @stderr, align 8, !tbaa !5
  %128 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %127, ptr noundef @.str.4) #4
  br label %129

129:                                              ; preds = %122, %119
  br label %130

130:                                              ; preds = %129
  br label %131

131:                                              ; preds = %130
  store i1 false, ptr %3, align 1
  store i32 1, ptr %11, align 4
  br label %316

132:                                              ; preds = %110
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #4
  %133 = load ptr, ptr @Rcs_calloc, align 8, !tbaa !5
  %134 = call ptr %133(i64 noundef 1, i64 noundef 184)
  store ptr %134, ptr %12, align 8, !tbaa !5
  %135 = load ptr, ptr %12, align 8, !tbaa !5
  %136 = getelementptr inbounds %struct._RcsShape, ptr %135, i32 0, i32 1
  call void @HTr_setIdentity(ptr noundef %136)
  %137 = load ptr, ptr %12, align 8, !tbaa !5
  %138 = getelementptr inbounds %struct._RcsShape, ptr %137, i32 0, i32 1
  %139 = getelementptr inbounds %struct.HTr, ptr %138, i32 0, i32 0
  %140 = getelementptr inbounds [3 x double], ptr %139, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %140, double noundef 0.000000e+00, double noundef 1.200000e-01, double noundef 0.000000e+00)
  %141 = load ptr, ptr %12, align 8, !tbaa !5
  %142 = getelementptr inbounds %struct._RcsShape, ptr %141, i32 0, i32 3
  store double 1.000000e+00, ptr %142, align 8, !tbaa !13
  %143 = load ptr, ptr %12, align 8, !tbaa !5
  %144 = getelementptr inbounds %struct._RcsShape, ptr %143, i32 0, i32 0
  store i32 7, ptr %144, align 8, !tbaa !17
  %145 = load ptr, ptr %12, align 8, !tbaa !5
  %146 = getelementptr inbounds %struct._RcsShape, ptr %145, i32 0, i32 5
  %147 = load i8, ptr %146, align 1, !tbaa !18
  %148 = sext i8 %147 to i32
  %149 = or i32 %148, 4
  %150 = trunc i32 %149 to i8
  store i8 %150, ptr %146, align 1, !tbaa !18
  %151 = load ptr, ptr %12, align 8, !tbaa !5
  %152 = getelementptr inbounds %struct._RcsShape, ptr %151, i32 0, i32 2
  %153 = getelementptr inbounds [3 x double], ptr %152, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %153, double noundef 1.200000e-01, double noundef 0.000000e+00, double noundef 0.000000e+00)
  %154 = call ptr @String_clone(ptr noundef @.str.50)
  %155 = load ptr, ptr %12, align 8, !tbaa !5
  %156 = getelementptr inbounds %struct._RcsShape, ptr %155, i32 0, i32 8
  store ptr %154, ptr %156, align 8, !tbaa !19
  %157 = load ptr, ptr %12, align 8, !tbaa !5
  %158 = getelementptr inbounds %struct._RcsShape, ptr %157, i32 0, i32 1
  %159 = getelementptr inbounds %struct.HTr, ptr %158, i32 0, i32 0
  %160 = getelementptr inbounds [3 x double], ptr %159, i64 0, i64 0
  %161 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %160, double noundef %161)
  %162 = load ptr, ptr %12, align 8, !tbaa !5
  %163 = getelementptr inbounds %struct._RcsShape, ptr %162, i32 0, i32 2
  %164 = getelementptr inbounds [3 x double], ptr %163, i64 0, i64 0
  %165 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %164, double noundef %165)
  %166 = load ptr, ptr %6, align 8, !tbaa !5
  %167 = load ptr, ptr %12, align 8, !tbaa !5
  call void @RcsBody_addShape(ptr noundef %166, ptr noundef %167)
  %168 = load ptr, ptr %12, align 8, !tbaa !5
  %169 = call ptr @RcsShape_clone(ptr noundef %168)
  store ptr %169, ptr %12, align 8, !tbaa !5
  %170 = load ptr, ptr %12, align 8, !tbaa !5
  %171 = getelementptr inbounds %struct._RcsShape, ptr %170, i32 0, i32 1
  %172 = getelementptr inbounds %struct.HTr, ptr %171, i32 0, i32 0
  %173 = getelementptr inbounds [3 x double], ptr %172, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %173, double noundef 0.000000e+00, double noundef 1.600000e-01, double noundef 5.000000e-02)
  %174 = load ptr, ptr %12, align 8, !tbaa !5
  %175 = getelementptr inbounds %struct._RcsShape, ptr %174, i32 0, i32 0
  store i32 4, ptr %175, align 8, !tbaa !17
  %176 = load ptr, ptr %12, align 8, !tbaa !5
  %177 = getelementptr inbounds %struct._RcsShape, ptr %176, i32 0, i32 2
  %178 = getelementptr inbounds [3 x double], ptr %177, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %178, double noundef 1.600000e-01, double noundef 1.000000e-01, double noundef 8.000000e-02)
  %179 = load ptr, ptr %12, align 8, !tbaa !5
  %180 = getelementptr inbounds %struct._RcsShape, ptr %179, i32 0, i32 1
  %181 = getelementptr inbounds %struct.HTr, ptr %180, i32 0, i32 0
  %182 = getelementptr inbounds [3 x double], ptr %181, i64 0, i64 0
  %183 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %182, double noundef %183)
  %184 = load ptr, ptr %12, align 8, !tbaa !5
  %185 = getelementptr inbounds %struct._RcsShape, ptr %184, i32 0, i32 2
  %186 = getelementptr inbounds [3 x double], ptr %185, i64 0, i64 0
  %187 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %186, double noundef %187)
  %188 = load ptr, ptr %6, align 8, !tbaa !5
  %189 = load ptr, ptr %12, align 8, !tbaa !5
  call void @RcsBody_addShape(ptr noundef %188, ptr noundef %189)
  %190 = load ptr, ptr %12, align 8, !tbaa !5
  %191 = call ptr @RcsShape_clone(ptr noundef %190)
  store ptr %191, ptr %12, align 8, !tbaa !5
  %192 = load ptr, ptr %12, align 8, !tbaa !5
  %193 = getelementptr inbounds %struct._RcsShape, ptr %192, i32 0, i32 1
  %194 = getelementptr inbounds %struct.HTr, ptr %193, i32 0, i32 0
  %195 = getelementptr inbounds [3 x double], ptr %194, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %195, double noundef 0.000000e+00, double noundef 2.000000e-02, double noundef -5.000000e-02)
  %196 = load ptr, ptr %12, align 8, !tbaa !5
  %197 = getelementptr inbounds %struct._RcsShape, ptr %196, i32 0, i32 2
  %198 = getelementptr inbounds [3 x double], ptr %197, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %198, double noundef 1.200000e-01, double noundef 4.000000e-02, double noundef 3.000000e-01)
  %199 = call ptr @String_clone(ptr noundef @.str.51)
  %200 = load ptr, ptr %12, align 8, !tbaa !5
  %201 = getelementptr inbounds %struct._RcsShape, ptr %200, i32 0, i32 8
  store ptr %199, ptr %201, align 8, !tbaa !19
  %202 = load ptr, ptr %12, align 8, !tbaa !5
  %203 = getelementptr inbounds %struct._RcsShape, ptr %202, i32 0, i32 1
  %204 = getelementptr inbounds %struct.HTr, ptr %203, i32 0, i32 0
  %205 = getelementptr inbounds [3 x double], ptr %204, i64 0, i64 0
  %206 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %205, double noundef %206)
  %207 = load ptr, ptr %12, align 8, !tbaa !5
  %208 = getelementptr inbounds %struct._RcsShape, ptr %207, i32 0, i32 2
  %209 = getelementptr inbounds [3 x double], ptr %208, i64 0, i64 0
  %210 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %209, double noundef %210)
  %211 = load ptr, ptr %7, align 8, !tbaa !5
  %212 = load ptr, ptr %12, align 8, !tbaa !5
  call void @RcsBody_addShape(ptr noundef %211, ptr noundef %212)
  %213 = load ptr, ptr %12, align 8, !tbaa !5
  %214 = call ptr @RcsShape_clone(ptr noundef %213)
  store ptr %214, ptr %12, align 8, !tbaa !5
  %215 = load ptr, ptr %12, align 8, !tbaa !5
  %216 = getelementptr inbounds %struct._RcsShape, ptr %215, i32 0, i32 1
  %217 = getelementptr inbounds %struct.HTr, ptr %216, i32 0, i32 0
  %218 = getelementptr inbounds [3 x double], ptr %217, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %218, double noundef 0.000000e+00, double noundef 2.000000e-02, double noundef -5.000000e-02)
  %219 = load ptr, ptr %12, align 8, !tbaa !5
  %220 = getelementptr inbounds %struct._RcsShape, ptr %219, i32 0, i32 2
  %221 = getelementptr inbounds [3 x double], ptr %220, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %221, double noundef 1.200000e-01, double noundef 4.000000e-02, double noundef 3.000000e-01)
  %222 = load ptr, ptr %12, align 8, !tbaa !5
  %223 = getelementptr inbounds %struct._RcsShape, ptr %222, i32 0, i32 1
  %224 = getelementptr inbounds %struct.HTr, ptr %223, i32 0, i32 0
  %225 = getelementptr inbounds [3 x double], ptr %224, i64 0, i64 0
  %226 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %225, double noundef %226)
  %227 = load ptr, ptr %12, align 8, !tbaa !5
  %228 = getelementptr inbounds %struct._RcsShape, ptr %227, i32 0, i32 2
  %229 = getelementptr inbounds [3 x double], ptr %228, i64 0, i64 0
  %230 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %229, double noundef %230)
  %231 = load ptr, ptr %8, align 8, !tbaa !5
  %232 = load ptr, ptr %12, align 8, !tbaa !5
  call void @RcsBody_addShape(ptr noundef %231, ptr noundef %232)
  %233 = load ptr, ptr %12, align 8, !tbaa !5
  %234 = call ptr @RcsShape_clone(ptr noundef %233)
  store ptr %234, ptr %12, align 8, !tbaa !5
  %235 = load ptr, ptr %12, align 8, !tbaa !5
  %236 = getelementptr inbounds %struct._RcsShape, ptr %235, i32 0, i32 1
  %237 = getelementptr inbounds %struct.HTr, ptr %236, i32 0, i32 0
  %238 = getelementptr inbounds [3 x double], ptr %237, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %238, double noundef 1.000000e-01, double noundef 0.000000e+00, double noundef 0.000000e+00)
  %239 = load ptr, ptr %12, align 8, !tbaa !5
  %240 = getelementptr inbounds %struct._RcsShape, ptr %239, i32 0, i32 2
  %241 = getelementptr inbounds [3 x double], ptr %240, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %241, double noundef 1.600000e-01, double noundef 2.000000e-02, double noundef 1.000000e-01)
  %242 = call ptr @String_clone(ptr noundef @.str.52)
  %243 = load ptr, ptr %12, align 8, !tbaa !5
  %244 = getelementptr inbounds %struct._RcsShape, ptr %243, i32 0, i32 8
  store ptr %242, ptr %244, align 8, !tbaa !19
  %245 = load ptr, ptr %12, align 8, !tbaa !5
  %246 = getelementptr inbounds %struct._RcsShape, ptr %245, i32 0, i32 1
  %247 = getelementptr inbounds %struct.HTr, ptr %246, i32 0, i32 0
  %248 = getelementptr inbounds [3 x double], ptr %247, i64 0, i64 0
  %249 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %248, double noundef %249)
  %250 = load ptr, ptr %12, align 8, !tbaa !5
  %251 = getelementptr inbounds %struct._RcsShape, ptr %250, i32 0, i32 2
  %252 = getelementptr inbounds [3 x double], ptr %251, i64 0, i64 0
  %253 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %252, double noundef %253)
  %254 = load ptr, ptr %10, align 8, !tbaa !5
  %255 = load ptr, ptr %12, align 8, !tbaa !5
  call void @RcsBody_addShape(ptr noundef %254, ptr noundef %255)
  %256 = load ptr, ptr %12, align 8, !tbaa !5
  %257 = call ptr @RcsShape_clone(ptr noundef %256)
  store ptr %257, ptr %12, align 8, !tbaa !5
  %258 = load ptr, ptr %12, align 8, !tbaa !5
  %259 = getelementptr inbounds %struct._RcsShape, ptr %258, i32 0, i32 1
  %260 = getelementptr inbounds %struct.HTr, ptr %259, i32 0, i32 0
  %261 = getelementptr inbounds [3 x double], ptr %260, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %261, double noundef 3.000000e-02, double noundef -4.000000e-02, double noundef 0.000000e+00)
  %262 = load ptr, ptr %12, align 8, !tbaa !5
  %263 = getelementptr inbounds %struct._RcsShape, ptr %262, i32 0, i32 2
  %264 = getelementptr inbounds [3 x double], ptr %263, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %264, double noundef 2.000000e-02, double noundef 8.000000e-02, double noundef 1.000000e-01)
  %265 = load ptr, ptr %12, align 8, !tbaa !5
  %266 = getelementptr inbounds %struct._RcsShape, ptr %265, i32 0, i32 1
  %267 = getelementptr inbounds %struct.HTr, ptr %266, i32 0, i32 0
  %268 = getelementptr inbounds [3 x double], ptr %267, i64 0, i64 0
  %269 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %268, double noundef %269)
  %270 = load ptr, ptr %12, align 8, !tbaa !5
  %271 = getelementptr inbounds %struct._RcsShape, ptr %270, i32 0, i32 2
  %272 = getelementptr inbounds [3 x double], ptr %271, i64 0, i64 0
  %273 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %272, double noundef %273)
  %274 = load ptr, ptr %10, align 8, !tbaa !5
  %275 = load ptr, ptr %12, align 8, !tbaa !5
  call void @RcsBody_addShape(ptr noundef %274, ptr noundef %275)
  %276 = load ptr, ptr %12, align 8, !tbaa !5
  %277 = call ptr @RcsShape_clone(ptr noundef %276)
  store ptr %277, ptr %12, align 8, !tbaa !5
  %278 = load ptr, ptr %12, align 8, !tbaa !5
  %279 = getelementptr inbounds %struct._RcsShape, ptr %278, i32 0, i32 1
  %280 = getelementptr inbounds %struct.HTr, ptr %279, i32 0, i32 0
  %281 = getelementptr inbounds [3 x double], ptr %280, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %281, double noundef -1.000000e-01, double noundef 0.000000e+00, double noundef 0.000000e+00)
  %282 = load ptr, ptr %12, align 8, !tbaa !5
  %283 = getelementptr inbounds %struct._RcsShape, ptr %282, i32 0, i32 2
  %284 = getelementptr inbounds [3 x double], ptr %283, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %284, double noundef 1.600000e-01, double noundef 2.000000e-02, double noundef 1.000000e-01)
  %285 = load ptr, ptr %12, align 8, !tbaa !5
  %286 = getelementptr inbounds %struct._RcsShape, ptr %285, i32 0, i32 1
  %287 = getelementptr inbounds %struct.HTr, ptr %286, i32 0, i32 0
  %288 = getelementptr inbounds [3 x double], ptr %287, i64 0, i64 0
  %289 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %288, double noundef %289)
  %290 = load ptr, ptr %12, align 8, !tbaa !5
  %291 = getelementptr inbounds %struct._RcsShape, ptr %290, i32 0, i32 2
  %292 = getelementptr inbounds [3 x double], ptr %291, i64 0, i64 0
  %293 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %292, double noundef %293)
  %294 = load ptr, ptr %9, align 8, !tbaa !5
  %295 = load ptr, ptr %12, align 8, !tbaa !5
  call void @RcsBody_addShape(ptr noundef %294, ptr noundef %295)
  %296 = load ptr, ptr %12, align 8, !tbaa !5
  %297 = call ptr @RcsShape_clone(ptr noundef %296)
  store ptr %297, ptr %12, align 8, !tbaa !5
  %298 = load ptr, ptr %12, align 8, !tbaa !5
  %299 = getelementptr inbounds %struct._RcsShape, ptr %298, i32 0, i32 1
  %300 = getelementptr inbounds %struct.HTr, ptr %299, i32 0, i32 0
  %301 = getelementptr inbounds [3 x double], ptr %300, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %301, double noundef -3.000000e-02, double noundef -4.000000e-02, double noundef 0.000000e+00)
  %302 = load ptr, ptr %12, align 8, !tbaa !5
  %303 = getelementptr inbounds %struct._RcsShape, ptr %302, i32 0, i32 2
  %304 = getelementptr inbounds [3 x double], ptr %303, i64 0, i64 0
  call void @Vec3d_set(ptr noundef %304, double noundef 2.000000e-02, double noundef 8.000000e-02, double noundef 1.000000e-01)
  %305 = load ptr, ptr %12, align 8, !tbaa !5
  %306 = getelementptr inbounds %struct._RcsShape, ptr %305, i32 0, i32 1
  %307 = getelementptr inbounds %struct.HTr, ptr %306, i32 0, i32 0
  %308 = getelementptr inbounds [3 x double], ptr %307, i64 0, i64 0
  %309 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %308, double noundef %309)
  %310 = load ptr, ptr %12, align 8, !tbaa !5
  %311 = getelementptr inbounds %struct._RcsShape, ptr %310, i32 0, i32 2
  %312 = getelementptr inbounds [3 x double], ptr %311, i64 0, i64 0
  %313 = load double, ptr %5, align 8, !tbaa !9
  call void @Vec3d_constMulSelf(ptr noundef %312, double noundef %313)
  %314 = load ptr, ptr %9, align 8, !tbaa !5
  %315 = load ptr, ptr %12, align 8, !tbaa !5
  call void @RcsBody_addShape(ptr noundef %314, ptr noundef %315)
  store i1 true, ptr %3, align 1
  store i32 1, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #4
  br label %316

316:                                              ; preds = %132, %131, %109, %87, %65, %43
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #4
  %317 = load i1, ptr %3, align 1
  ret i1 %317
}

declare ptr @RcsGraph_getBodyByName(ptr noundef, ptr noundef) #2

declare void @HTr_setIdentity(ptr noundef) #2

declare void @Vec3d_set(ptr noundef, double noundef, double noundef, double noundef) #2

declare void @Vec3d_constMulSelf(ptr noundef, double noundef) #2

declare ptr @RcsShape_clone(ptr noundef) #2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { "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 = { 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 #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !10, i64 128}
!14 = !{!"_RcsShape", !12, i64 0, !15, i64 8, !7, i64 104, !10, i64 128, !16, i64 136, !7, i64 137, !6, i64 144, !6, i64 152, !6, i64 160, !6, i64 168, !6, i64 176}
!15 = !{!"", !7, i64 0, !7, i64 24}
!16 = !{!"_Bool", !7, i64 0}
!17 = !{!14, !12, i64 0}
!18 = !{!14, !7, i64 137}
!19 = !{!14, !6, i64 160}


; 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.1 = external hidden unnamed_addr constant [72 x i8], align 1
@RcsLogLevel = external local_unnamed_addr global i32, align 4
@stderr = external local_unnamed_addr global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [2 x i8], align 1
@Rcs_calloc = external local_unnamed_addr global ptr, align 8
@.str.40 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.41 = external hidden unnamed_addr constant [9 x i8], align 1
@.str.42 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.43 = external hidden unnamed_addr constant [11 x i8], align 1
@.str.44 = external hidden unnamed_addr constant [10 x i8], align 1
@__func__.RcsGraph_beautifyHumanModelBVH = external hidden unnamed_addr constant [31 x i8], align 1
@.str.45 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.46 = external hidden unnamed_addr constant [35 x i8], align 1
@.str.47 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.48 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.49 = external hidden unnamed_addr constant [36 x i8], align 1
@.str.50 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.51 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.52 = external hidden unnamed_addr constant [5 x i8], align 1

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

declare ptr @String_clone(ptr noundef) local_unnamed_addr #1

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

; Function Attrs: nounwind uwtable
define dso_local noundef zeroext i1 @RcsGraph_beautifyHumanModelBVH(ptr noundef %0, double noundef %1) local_unnamed_addr #2 {
  %3 = tail call ptr @RcsGraph_getBodyByName(ptr noundef %0, ptr noundef nonnull @.str.40) #3
  %4 = tail call ptr @RcsGraph_getBodyByName(ptr noundef %0, ptr noundef nonnull @.str.41) #3
  %5 = tail call ptr @RcsGraph_getBodyByName(ptr noundef %0, ptr noundef nonnull @.str.42) #3
  %6 = tail call ptr @RcsGraph_getBodyByName(ptr noundef %0, ptr noundef nonnull @.str.43) #3
  %7 = tail call ptr @RcsGraph_getBodyByName(ptr noundef %0, ptr noundef nonnull @.str.44) #3
  %8 = icmp eq ptr %3, null
  br i1 %8, label %9, label %22

9:                                                ; preds = %2
  %10 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not103 = icmp eq ptr %10, null
  br i1 %.not103, label %12, label %11

11:                                               ; preds = %9
  tail call void (i32, ptr, ptr, i32, ptr, ...) %10(i32 noundef 4, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 687, ptr noundef nonnull @.str.45) #3
  br label %12

12:                                               ; preds = %11, %9
  %13 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %14 = icmp sgt i32 %13, 3
  br i1 %14, label %15, label %118

15:                                               ; preds = %12
  %16 = load ptr, ptr @stderr, align 8, !tbaa !5
  %17 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %16, ptr noundef nonnull @.str.3, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 687) #4
  %18 = load ptr, ptr @stderr, align 8, !tbaa !5
  %19 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %18, ptr noundef nonnull @.str.45) #4
  %20 = load ptr, ptr @stderr, align 8, !tbaa !5
  %21 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %20, ptr noundef nonnull @.str.4) #4
  br label %118

22:                                               ; preds = %2
  %23 = icmp eq ptr %4, null
  br i1 %23, label %24, label %37

24:                                               ; preds = %22
  %25 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not102 = icmp eq ptr %25, null
  br i1 %.not102, label %27, label %26

26:                                               ; preds = %24
  tail call void (i32, ptr, ptr, i32, ptr, ...) %25(i32 noundef 4, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 693, ptr noundef nonnull @.str.46) #3
  br label %27

27:                                               ; preds = %26, %24
  %28 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %29 = icmp sgt i32 %28, 3
  br i1 %29, label %30, label %118

30:                                               ; preds = %27
  %31 = load ptr, ptr @stderr, align 8, !tbaa !5
  %32 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %31, ptr noundef nonnull @.str.3, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 693) #4
  %33 = load ptr, ptr @stderr, align 8, !tbaa !5
  %34 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %33, ptr noundef nonnull @.str.46) #4
  %35 = load ptr, ptr @stderr, align 8, !tbaa !5
  %36 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %35, ptr noundef nonnull @.str.4) #4
  br label %118

37:                                               ; preds = %22
  %38 = icmp eq ptr %5, null
  br i1 %38, label %39, label %52

39:                                               ; preds = %37
  %40 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not101 = icmp eq ptr %40, null
  br i1 %.not101, label %42, label %41

41:                                               ; preds = %39
  tail call void (i32, ptr, ptr, i32, ptr, ...) %40(i32 noundef 4, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 699, ptr noundef nonnull @.str.47) #3
  br label %42

42:                                               ; preds = %41, %39
  %43 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %44 = icmp sgt i32 %43, 3
  br i1 %44, label %45, label %118

45:                                               ; preds = %42
  %46 = load ptr, ptr @stderr, align 8, !tbaa !5
  %47 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %46, ptr noundef nonnull @.str.3, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 699) #4
  %48 = load ptr, ptr @stderr, align 8, !tbaa !5
  %49 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %48, ptr noundef nonnull @.str.47) #4
  %50 = load ptr, ptr @stderr, align 8, !tbaa !5
  %51 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %50, ptr noundef nonnull @.str.4) #4
  br label %118

52:                                               ; preds = %37
  %53 = icmp eq ptr %6, null
  br i1 %53, label %54, label %67

54:                                               ; preds = %52
  %55 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not100 = icmp eq ptr %55, null
  br i1 %.not100, label %57, label %56

56:                                               ; preds = %54
  tail call void (i32, ptr, ptr, i32, ptr, ...) %55(i32 noundef 4, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 705, ptr noundef nonnull @.str.48) #3
  br label %57

57:                                               ; preds = %56, %54
  %58 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %59 = icmp sgt i32 %58, 3
  br i1 %59, label %60, label %118

60:                                               ; preds = %57
  %61 = load ptr, ptr @stderr, align 8, !tbaa !5
  %62 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %61, ptr noundef nonnull @.str.3, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 705) #4
  %63 = load ptr, ptr @stderr, align 8, !tbaa !5
  %64 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %63, ptr noundef nonnull @.str.48) #4
  %65 = load ptr, ptr @stderr, align 8, !tbaa !5
  %66 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %65, ptr noundef nonnull @.str.4) #4
  br label %118

67:                                               ; preds = %52
  %68 = icmp eq ptr %7, null
  br i1 %68, label %69, label %82

69:                                               ; preds = %67
  %70 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not = icmp eq ptr %70, null
  br i1 %.not, label %72, label %71

71:                                               ; preds = %69
  tail call void (i32, ptr, ptr, i32, ptr, ...) %70(i32 noundef 4, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 711, ptr noundef nonnull @.str.49) #3
  br label %72

72:                                               ; preds = %71, %69
  %73 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %74 = icmp sgt i32 %73, 3
  br i1 %74, label %75, label %118

75:                                               ; preds = %72
  %76 = load ptr, ptr @stderr, align 8, !tbaa !5
  %77 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %76, ptr noundef nonnull @.str.3, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__.RcsGraph_beautifyHumanModelBVH, i32 noundef 711) #4
  %78 = load ptr, ptr @stderr, align 8, !tbaa !5
  %79 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %78, ptr noundef nonnull @.str.49) #4
  %80 = load ptr, ptr @stderr, align 8, !tbaa !5
  %81 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %80, ptr noundef nonnull @.str.4) #4
  br label %118

82:                                               ; preds = %67
  %83 = load ptr, ptr @Rcs_calloc, align 8, !tbaa !5
  %84 = tail call ptr %83(i64 noundef 1, i64 noundef 184) #3
  %85 = getelementptr inbounds i8, ptr %84, i64 8
  tail call void @HTr_setIdentity(ptr noundef nonnull %85) #3
  tail call void @Vec3d_set(ptr noundef nonnull %85, double noundef 0.000000e+00, double noundef 1.200000e-01, double noundef 0.000000e+00) #3
  %86 = getelementptr inbounds i8, ptr %84, i64 128
  store double 1.000000e+00, ptr %86, align 8, !tbaa !11
  store i32 7, ptr %84, align 8, !tbaa !16
  %87 = getelementptr inbounds i8, ptr %84, i64 137
  %88 = load i8, ptr %87, align 1, !tbaa !17
  %89 = or i8 %88, 4
  store i8 %89, ptr %87, align 1, !tbaa !17
  %90 = getelementptr inbounds i8, ptr %84, i64 104
  tail call void @Vec3d_set(ptr noundef nonnull %90, double noundef 1.200000e-01, double noundef 0.000000e+00, double noundef 0.000000e+00) #3
  %91 = tail call ptr @String_clone(ptr noundef nonnull @.str.50) #3
  %92 = getelementptr inbounds i8, ptr %84, i64 160
  store ptr %91, ptr %92, align 8, !tbaa !18
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %85, double noundef 1.000000e+00) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %90, double noundef 1.000000e+00) #3
  tail call void @RcsBody_addShape(ptr noundef nonnull %3, ptr noundef nonnull %84) #3
  %93 = tail call ptr @RcsShape_clone(ptr noundef nonnull %84) #3
  %94 = getelementptr inbounds i8, ptr %93, i64 8
  tail call void @Vec3d_set(ptr noundef nonnull %94, double noundef 0.000000e+00, double noundef 1.600000e-01, double noundef 5.000000e-02) #3
  store i32 4, ptr %93, align 8, !tbaa !16
  %95 = getelementptr inbounds i8, ptr %93, i64 104
  tail call void @Vec3d_set(ptr noundef nonnull %95, double noundef 1.600000e-01, double noundef 1.000000e-01, double noundef 8.000000e-02) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %94, double noundef 1.000000e+00) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %95, double noundef 1.000000e+00) #3
  tail call void @RcsBody_addShape(ptr noundef nonnull %3, ptr noundef nonnull %93) #3
  %96 = tail call ptr @RcsShape_clone(ptr noundef nonnull %93) #3
  %97 = getelementptr inbounds i8, ptr %96, i64 8
  tail call void @Vec3d_set(ptr noundef nonnull %97, double noundef 0.000000e+00, double noundef 2.000000e-02, double noundef -5.000000e-02) #3
  %98 = getelementptr inbounds i8, ptr %96, i64 104
  tail call void @Vec3d_set(ptr noundef nonnull %98, double noundef 1.200000e-01, double noundef 4.000000e-02, double noundef 3.000000e-01) #3
  %99 = tail call ptr @String_clone(ptr noundef nonnull @.str.51) #3
  %100 = getelementptr inbounds i8, ptr %96, i64 160
  store ptr %99, ptr %100, align 8, !tbaa !18
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %97, double noundef 1.000000e+00) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %98, double noundef 1.000000e+00) #3
  tail call void @RcsBody_addShape(ptr noundef nonnull %4, ptr noundef %96) #3
  %101 = tail call ptr @RcsShape_clone(ptr noundef %96) #3
  %102 = getelementptr inbounds i8, ptr %101, i64 8
  tail call void @Vec3d_set(ptr noundef nonnull %102, double noundef 0.000000e+00, double noundef 2.000000e-02, double noundef -5.000000e-02) #3
  %103 = getelementptr inbounds i8, ptr %101, i64 104
  tail call void @Vec3d_set(ptr noundef nonnull %103, double noundef 1.200000e-01, double noundef 4.000000e-02, double noundef 3.000000e-01) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %102, double noundef 1.000000e+00) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %103, double noundef 1.000000e+00) #3
  tail call void @RcsBody_addShape(ptr noundef nonnull %5, ptr noundef %101) #3
  %104 = tail call ptr @RcsShape_clone(ptr noundef %101) #3
  %105 = getelementptr inbounds i8, ptr %104, i64 8
  tail call void @Vec3d_set(ptr noundef nonnull %105, double noundef 1.000000e-01, double noundef 0.000000e+00, double noundef 0.000000e+00) #3
  %106 = getelementptr inbounds i8, ptr %104, i64 104
  tail call void @Vec3d_set(ptr noundef nonnull %106, double noundef 1.600000e-01, double noundef 2.000000e-02, double noundef 1.000000e-01) #3
  %107 = tail call ptr @String_clone(ptr noundef nonnull @.str.52) #3
  %108 = getelementptr inbounds i8, ptr %104, i64 160
  store ptr %107, ptr %108, align 8, !tbaa !18
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %105, double noundef 1.000000e+00) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %106, double noundef 1.000000e+00) #3
  tail call void @RcsBody_addShape(ptr noundef nonnull %7, ptr noundef %104) #3
  %109 = tail call ptr @RcsShape_clone(ptr noundef %104) #3
  %110 = getelementptr inbounds i8, ptr %109, i64 8
  tail call void @Vec3d_set(ptr noundef nonnull %110, double noundef 3.000000e-02, double noundef -4.000000e-02, double noundef 0.000000e+00) #3
  %111 = getelementptr inbounds i8, ptr %109, i64 104
  tail call void @Vec3d_set(ptr noundef nonnull %111, double noundef 2.000000e-02, double noundef 8.000000e-02, double noundef 1.000000e-01) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %110, double noundef 1.000000e+00) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %111, double noundef 1.000000e+00) #3
  tail call void @RcsBody_addShape(ptr noundef nonnull %7, ptr noundef %109) #3
  %112 = tail call ptr @RcsShape_clone(ptr noundef %109) #3
  %113 = getelementptr inbounds i8, ptr %112, i64 8
  tail call void @Vec3d_set(ptr noundef nonnull %113, double noundef -1.000000e-01, double noundef 0.000000e+00, double noundef 0.000000e+00) #3
  %114 = getelementptr inbounds i8, ptr %112, i64 104
  tail call void @Vec3d_set(ptr noundef nonnull %114, double noundef 1.600000e-01, double noundef 2.000000e-02, double noundef 1.000000e-01) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %113, double noundef 1.000000e+00) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %114, double noundef 1.000000e+00) #3
  tail call void @RcsBody_addShape(ptr noundef nonnull %6, ptr noundef %112) #3
  %115 = tail call ptr @RcsShape_clone(ptr noundef %112) #3
  %116 = getelementptr inbounds i8, ptr %115, i64 8
  tail call void @Vec3d_set(ptr noundef nonnull %116, double noundef -3.000000e-02, double noundef -4.000000e-02, double noundef 0.000000e+00) #3
  %117 = getelementptr inbounds i8, ptr %115, i64 104
  tail call void @Vec3d_set(ptr noundef nonnull %117, double noundef 2.000000e-02, double noundef 8.000000e-02, double noundef 1.000000e-01) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %116, double noundef 1.000000e+00) #3
  tail call void @Vec3d_constMulSelf(ptr noundef nonnull %117, double noundef 1.000000e+00) #3
  tail call void @RcsBody_addShape(ptr noundef nonnull %6, ptr noundef %115) #3
  br label %118

118:                                              ; preds = %72, %75, %57, %60, %42, %45, %27, %30, %12, %15, %82
  %.0 = phi i1 [ true, %82 ], [ false, %15 ], [ false, %12 ], [ false, %30 ], [ false, %27 ], [ false, %45 ], [ false, %42 ], [ false, %60 ], [ false, %57 ], [ false, %75 ], [ false, %72 ]
  ret i1 %.0
}

declare ptr @RcsGraph_getBodyByName(ptr noundef, ptr noundef) local_unnamed_addr #1

declare void @HTr_setIdentity(ptr noundef) local_unnamed_addr #1

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

declare void @Vec3d_constMulSelf(ptr noundef, double noundef) local_unnamed_addr #1

declare ptr @RcsShape_clone(ptr 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 = { 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 = { nounwind }
attributes #4 = { cold nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !14, i64 128}
!12 = !{!"_RcsShape", !10, i64 0, !13, i64 8, !7, i64 104, !14, i64 128, !15, i64 136, !7, i64 137, !6, i64 144, !6, i64 152, !6, i64 160, !6, i64 168, !6, i64 176}
!13 = !{!"", !7, i64 0, !7, i64 24}
!14 = !{!"double", !7, i64 0}
!15 = !{!"_Bool", !7, i64 0}
!16 = !{!12, !10, i64 0}
!17 = !{!12, !7, i64 137}
!18 = !{!12, !6, i64 160}


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