; LLVM IR from ThePhysicsGuys/Physics3D :: Physics3D/constraints (hingeConstraint)

; 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.P3D::ConstraintMatrixPack" = type <{ ptr, ptr, i32, [4 x i8] }>
%"struct.P3D::Vector" = type { %union.anon }
%union.anon = type { [3 x double] }
%"struct.P3D::ConstraintMatrixPair" = type { %"class.P3D::Matrix.0", %"class.P3D::Matrix.1" }
%"class.P3D::Matrix.0" = type { [30 x double] }
%"class.P3D::Matrix.1" = type { [30 x double] }
%"struct.P3D::Vector.2" = type { [5 x double] }
%"struct.P3D::Vector.3" = type { %union.anon.4 }
%union.anon.4 = type { [3 x %"struct.P3D::Fix"] }
%"struct.P3D::Fix" = type { i64 }
%"struct.P3D::PositionTemplate" = type { %"struct.P3D::Fix", %"struct.P3D::Fix", %"struct.P3D::Fix" }
%"struct.P3D::Vector.6" = type { %union.anon.7 }
%union.anon.7 = type { [2 x double] }
%"struct.P3D::Vector.9" = type { [6 x double] }
%"class.P3D::Matrix.10" = type { [10 x double] }
%"class.std::initializer_list" = type { ptr, i64 }
%"struct.P3D::HingeConstraint" = type { %"struct.P3D::Constraint", %"struct.P3D::Vector", %"struct.P3D::Vector", %"struct.P3D::Vector", %"struct.P3D::Vector" }
%"struct.P3D::Constraint" = type { ptr }
%"struct.P3D::PhysicalInfo" = type { %"class.P3D::GlobalCFrame", %"struct.P3D::Motion", double, %"class.P3D::Matrix", %"struct.P3D::Vector" }
%"class.P3D::GlobalCFrame" = type { %"struct.P3D::PositionTemplate", %"class.P3D::MatrixRotationTemplate" }
%"class.P3D::MatrixRotationTemplate" = type { %"class.P3D::Matrix" }
%"struct.P3D::Motion" = type { %"struct.P3D::TranslationalMotion", %"struct.P3D::RotationalMotion" }
%"struct.P3D::TranslationalMotion" = type { %"struct.P3D::TaylorExpansion" }
%"struct.P3D::TaylorExpansion" = type { %"struct.P3D::Derivatives" }
%"struct.P3D::Derivatives" = type { [2 x %"struct.P3D::Vector"] }
%"struct.P3D::RotationalMotion" = type { %"struct.P3D::TaylorExpansion" }
%"class.P3D::Matrix" = type { [9 x double] }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZNK3P3D15HingeConstraint11getMatricesERKNS_12PhysicalInfoES3_PdS4_(ptr dead_on_unwind noalias writable sret(%"class.P3D::ConstraintMatrixPack") align 8 %0, ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull align 8 dereferenceable(296) %2, ptr noundef nonnull align 8 dereferenceable(296) %3, ptr noundef %4, ptr noundef %5) unnamed_addr #0 align 2 {
  %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 %"struct.P3D::Vector", align 8
  %13 = alloca %"struct.P3D::Vector", align 8
  %14 = alloca %"struct.P3D::Vector", align 8
  %15 = alloca %"struct.P3D::Vector", align 8
  %16 = alloca %"struct.P3D::Vector", align 8
  %17 = alloca %"struct.P3D::Vector", align 8
  %18 = alloca %"struct.P3D::Vector", align 8
  %19 = alloca %"struct.P3D::Vector", align 8
  %20 = alloca %"struct.P3D::Vector", align 8
  %21 = alloca %"struct.P3D::Vector", align 8
  %22 = alloca %"struct.P3D::Vector", align 8
  %23 = alloca %"struct.P3D::Vector", align 8
  %24 = alloca double, align 8
  %25 = alloca double, align 8
  %26 = alloca %"struct.P3D::ConstraintMatrixPair", align 8
  %27 = alloca %"struct.P3D::ConstraintMatrixPair", align 8
  %28 = alloca %"struct.P3D::Vector.2", align 8
  %29 = alloca %"struct.P3D::Vector", align 8
  %30 = alloca %"struct.P3D::Vector.3", align 8
  %31 = alloca %"struct.P3D::PositionTemplate", align 8
  %32 = alloca %"struct.P3D::PositionTemplate", align 8
  %33 = alloca %"struct.P3D::Vector.6", align 8
  %34 = alloca %"struct.P3D::Vector.2", align 8
  %35 = alloca %"struct.P3D::Vector.9", align 8
  %36 = alloca %"struct.P3D::Vector.2", align 8
  %37 = alloca %"struct.P3D::Vector.9", align 8
  %38 = alloca %"struct.P3D::Vector.2", align 8
  %39 = alloca %"class.P3D::Matrix.10", align 8
  %40 = alloca %"class.std::initializer_list", align 8
  %41 = alloca [2 x %"struct.P3D::Vector.2"], align 8
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  store ptr %4, ptr %10, align 8, !tbaa !5
  store ptr %5, ptr %11, align 8, !tbaa !5
  %42 = load ptr, ptr %7, align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr %12) #5
  %43 = getelementptr inbounds %"struct.P3D::HingeConstraint", ptr %42, i32 0, i32 2
  call void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %12, ptr noundef nonnull align 8 dereferenceable(24) %43) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %14) #5
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %15, ptr align 8 %12, i64 24, i1 false), !tbaa.struct !9
  call void @_ZN3P3D16getPerpendicularIdEENS_6VectorIT_Lm3EEES3_(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %14, ptr noundef byval(%"struct.P3D::Vector") align 8 %15)
  call void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %13, ptr noundef nonnull align 8 dereferenceable(24) %14) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %16) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %17) #5
  call void @_ZN3P3DrmIddEENS_6VectorIDTmimlixfp_Li1Eixfp0_Li2Emlixfp_Li2Eixfp0_Li1EELm3EEERKNS1_IT_Lm3EEERKNS1_IT0_Lm3EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %17, ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef nonnull align 8 dereferenceable(24) %13) #5
  call void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %16, ptr noundef nonnull align 8 dereferenceable(24) %17) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %18) #5
  %44 = getelementptr inbounds %"struct.P3D::HingeConstraint", ptr %42, i32 0, i32 4
  call void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %18, ptr noundef nonnull align 8 dereferenceable(24) %44) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %19) #5
  %45 = load ptr, ptr %8, align 8, !tbaa !5
  %46 = getelementptr inbounds %"struct.P3D::PhysicalInfo", ptr %45, i32 0, i32 0
  call void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %19, ptr noundef nonnull align 8 dereferenceable(96) %46, ptr noundef nonnull align 8 dereferenceable(24) %12)
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #5
  %47 = load ptr, ptr %8, align 8, !tbaa !5
  %48 = getelementptr inbounds %"struct.P3D::PhysicalInfo", ptr %47, i32 0, i32 0
  call void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %20, ptr noundef nonnull align 8 dereferenceable(96) %48, ptr noundef nonnull align 8 dereferenceable(24) %13)
  call void @llvm.lifetime.start.p0(i64 24, ptr %21) #5
  %49 = load ptr, ptr %8, align 8, !tbaa !5
  %50 = getelementptr inbounds %"struct.P3D::PhysicalInfo", ptr %49, i32 0, i32 0
  call void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %21, ptr noundef nonnull align 8 dereferenceable(96) %50, ptr noundef nonnull align 8 dereferenceable(24) %16)
  call void @llvm.lifetime.start.p0(i64 24, ptr %22) #5
  %51 = load ptr, ptr %9, align 8, !tbaa !5
  %52 = getelementptr inbounds %"struct.P3D::PhysicalInfo", ptr %51, i32 0, i32 0
  call void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %22, ptr noundef nonnull align 8 dereferenceable(96) %52, ptr noundef nonnull align 8 dereferenceable(24) %18)
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #5
  call void @_ZN3P3DrmIddEENS_6VectorIDTmimlixfp_Li1Eixfp0_Li2Emlixfp_Li2Eixfp0_Li1EELm3EEERKNS1_IT_Lm3EEERKNS1_IT0_Lm3EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %23, ptr noundef nonnull align 8 dereferenceable(24) %19, ptr noundef nonnull align 8 dereferenceable(24) %22) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #5
  %53 = call noundef double @_ZN3P3DmlIddLm3EEEDTplmlixfp_Li0Eixfp0_Li0Emlixfp_Li1Eixfp0_Li1EERKNS_6VectorIT_XT1_EEERKNS2_IT0_XT1_EEE(ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(24) %23) #5
  store double %53, ptr %24, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #5
  %54 = call noundef double @_ZN3P3DmlIddLm3EEEDTplmlixfp_Li0Eixfp0_Li0Emlixfp_Li1Eixfp0_Li1EERKNS_6VectorIT_XT1_EEERKNS2_IT0_XT1_EEE(ptr noundef nonnull align 8 dereferenceable(24) %21, ptr noundef nonnull align 8 dereferenceable(24) %23) #5
  store double %54, ptr %25, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 480, ptr %26) #5
  %55 = load ptr, ptr %8, align 8, !tbaa !5
  %56 = getelementptr inbounds %"struct.P3D::HingeConstraint", ptr %42, i32 0, i32 1
  call void @_ZN3P3DL12makeMatricesERKNS_12PhysicalInfoERKNS_6VectorIdLm3EEES6_S6_(ptr dead_on_unwind writable sret(%"struct.P3D::ConstraintMatrixPair") align 8 %26, ptr noundef nonnull align 8 dereferenceable(296) %55, ptr noundef nonnull align 8 dereferenceable(24) %56, ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(24) %21)
  call void @llvm.lifetime.start.p0(i64 480, ptr %27) #5
  %57 = load ptr, ptr %9, align 8, !tbaa !5
  %58 = getelementptr inbounds %"struct.P3D::HingeConstraint", ptr %42, i32 0, i32 3
  call void @_ZN3P3DL12makeMatricesERKNS_12PhysicalInfoERKNS_6VectorIdLm3EEES6_S6_(ptr dead_on_unwind writable sret(%"struct.P3D::ConstraintMatrixPair") align 8 %27, ptr noundef nonnull align 8 dereferenceable(296) %57, ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(24) %21)
  call void @llvm.lifetime.start.p0(i64 40, ptr %28) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %29) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %30) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %31) #5
  %59 = load ptr, ptr %9, align 8, !tbaa !5
  %60 = getelementptr inbounds %"struct.P3D::PhysicalInfo", ptr %59, i32 0, i32 0
  %61 = getelementptr inbounds %"struct.P3D::HingeConstraint", ptr %42, i32 0, i32 3
  call void @_ZNK3P3D12GlobalCFrame13localToGlobalERKNS_6VectorIdLm3EEE(ptr dead_on_unwind writable sret(%"struct.P3D::PositionTemplate") align 8 %31, ptr noundef nonnull align 8 dereferenceable(96) %60, ptr noundef nonnull align 8 dereferenceable(24) %61)
  call void @llvm.lifetime.start.p0(i64 24, ptr %32) #5
  %62 = load ptr, ptr %8, align 8, !tbaa !5
  %63 = getelementptr inbounds %"struct.P3D::PhysicalInfo", ptr %62, i32 0, i32 0
  %64 = getelementptr inbounds %"struct.P3D::HingeConstraint", ptr %42, i32 0, i32 1
  call void @_ZNK3P3D12GlobalCFrame13localToGlobalERKNS_6VectorIdLm3EEE(ptr dead_on_unwind writable sret(%"struct.P3D::PositionTemplate") align 8 %32, ptr noundef nonnull align 8 dereferenceable(96) %63, ptr noundef nonnull align 8 dereferenceable(24) %64)
  call void @_ZN3P3DmiINS_3FixILl32EEEEENS_6VectorIT_Lm3EEERKNS_16PositionTemplateIS4_EES9_(ptr dead_on_unwind writable sret(%"struct.P3D::Vector.3") align 8 %30, ptr noundef nonnull align 8 dereferenceable(24) %31, ptr noundef nonnull align 8 dereferenceable(24) %32) #5
  call void @_ZNK3P3D6VectorINS_3FixILl32EEELm3EEcvNS0_IT_Lm3EEEIdEEv(ptr dead_on_unwind writable sret(%"struct.P3D::Vector") align 8 %29, ptr noundef nonnull align 8 dereferenceable(24) %30) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #5
  %65 = load double, ptr %24, align 8, !tbaa !11
  %66 = load double, ptr %25, align 8, !tbaa !11
  call void @_ZN3P3D6VectorIdLm2EEC2Edd(ptr noundef nonnull align 8 dereferenceable(16) %33, double noundef %65, double noundef %66) #5
  call void @_ZN3P3D4joinIdLm3ELm2EEENS_6VectorIT_XplT0_T1_EEERKNS1_IS2_XT0_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector.2") align 8 %28, ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(16) %33) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %32) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %31) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %30) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %29) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %34) #5
  %67 = getelementptr inbounds %"struct.P3D::ConstraintMatrixPair", ptr %26, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 48, ptr %35) #5
  %68 = load ptr, ptr %8, align 8, !tbaa !5
  %69 = getelementptr inbounds %"struct.P3D::PhysicalInfo", ptr %68, i32 0, i32 1
  call void @_ZNK3P3D6Motion14getDerivAsVec6Ei(ptr dead_on_unwind writable sret(%"struct.P3D::Vector.9") align 8 %35, ptr noundef nonnull align 8 dereferenceable(96) %69, i32 noundef 0)
  call void @_ZN3P3DmlIdLm5ELm6EEENS_6VectorIT_XT0_EEERKNS_6MatrixIS2_XT0_EXT1_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector.2") align 8 %34, ptr noundef nonnull align 8 dereferenceable(240) %67, ptr noundef nonnull align 8 dereferenceable(48) %35)
  call void @llvm.lifetime.end.p0(i64 48, ptr %35) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %36) #5
  %70 = getelementptr inbounds %"struct.P3D::ConstraintMatrixPair", ptr %27, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 48, ptr %37) #5
  %71 = load ptr, ptr %9, align 8, !tbaa !5
  %72 = getelementptr inbounds %"struct.P3D::PhysicalInfo", ptr %71, i32 0, i32 1
  call void @_ZNK3P3D6Motion14getDerivAsVec6Ei(ptr dead_on_unwind writable sret(%"struct.P3D::Vector.9") align 8 %37, ptr noundef nonnull align 8 dereferenceable(96) %72, i32 noundef 0)
  call void @_ZN3P3DmlIdLm5ELm6EEENS_6VectorIT_XT0_EEERKNS_6MatrixIS2_XT0_EXT1_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector.2") align 8 %36, ptr noundef nonnull align 8 dereferenceable(240) %70, ptr noundef nonnull align 8 dereferenceable(48) %37)
  call void @llvm.lifetime.end.p0(i64 48, ptr %37) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %38) #5
  call void @_ZN3P3DmiIddLm5EEENS_6VectorIDTmiixfp_Li0Eixfp0_Li0EEXT1_EEERKNS1_IT_XT1_EEERKNS1_IT0_XT1_EEE(ptr dead_on_unwind writable sret(%"struct.P3D::Vector.2") align 8 %38, ptr noundef nonnull align 8 dereferenceable(40) %36, ptr noundef nonnull align 8 dereferenceable(40) %34) #5
  call void @llvm.lifetime.start.p0(i64 80, ptr %39) #5
  call void @llvm.lifetime.start.p0(i64 80, ptr %41) #5
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %41, ptr align 8 %28, i64 40, i1 false), !tbaa.struct !13
  %73 = getelementptr inbounds %"struct.P3D::Vector.2", ptr %41, i64 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %73, ptr align 8 %38, i64 40, i1 false), !tbaa.struct !13
  %74 = getelementptr inbounds %"class.std::initializer_list", ptr %40, i32 0, i32 0
  store ptr %41, ptr %74, align 8, !tbaa !14
  %75 = getelementptr inbounds %"class.std::initializer_list", ptr %40, i32 0, i32 1
  store i64 2, ptr %75, align 8, !tbaa !17
  %76 = getelementptr inbounds { ptr, i64 }, ptr %40, i32 0, i32 0
  %77 = load ptr, ptr %76, align 8
  %78 = getelementptr inbounds { ptr, i64 }, ptr %40, i32 0, i32 1
  %79 = load i64, ptr %78, align 8
  call void @_ZN3P3D6MatrixIdLm5ELm2EE11fromColumnsESt16initializer_listINS_6VectorIdLm5EEEE(ptr dead_on_unwind writable sret(%"class.P3D::Matrix.10") align 8 %39, ptr %77, i64 %79)
  call void @llvm.lifetime.end.p0(i64 80, ptr %41) #5
  %80 = load ptr, ptr %10, align 8, !tbaa !5
  %81 = load ptr, ptr %11, align 8, !tbaa !5
  call void @_ZN3P3D20ConstraintMatrixPackC2ILm5EEEPdS2_RKNS_20ConstraintMatrixPairIXT_EEES6_RKNS_6MatrixIdXT_ELm2EEE(ptr noundef nonnull align 8 dereferenceable(20) %0, ptr noundef %80, ptr noundef %81, ptr noundef nonnull align 8 dereferenceable(480) %26, ptr noundef nonnull align 8 dereferenceable(480) %27, ptr noundef nonnull align 8 dereferenceable(80) %39)
  call void @llvm.lifetime.end.p0(i64 80, ptr %39) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %38) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %36) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %34) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %28) #5
  call void @llvm.lifetime.end.p0(i64 480, ptr %27) #5
  call void @llvm.lifetime.end.p0(i64 480, ptr %26) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %19) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %18) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #5
  ret void
}

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef nonnull align 8 dereferenceable(24)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3D16getPerpendicularIdEENS_6VectorIT_Lm3EEES3_(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef byval(%"struct.P3D::Vector") align 8) #2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3DrmIddEENS_6VectorIDTmimlixfp_Li1Eixfp0_Li2Emlixfp_Li2Eixfp0_Li1EELm3EEERKNS1_IT_Lm3EEERKNS1_IT0_Lm3EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZN3P3DmlIddLm3EEEDTplmlixfp_Li0Eixfp0_Li0Emlixfp_Li1Eixfp0_Li1EERKNS_6VectorIT_XT1_EEERKNS2_IT0_XT1_EEE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #2

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN3P3DL12makeMatricesERKNS_12PhysicalInfoERKNS_6VectorIdLm3EEES6_S6_(ptr dead_on_unwind noalias writable sret(%"struct.P3D::ConstraintMatrixPair") align 8, ptr noundef nonnull align 8 dereferenceable(296), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3D4joinIdLm3ELm2EEENS_6VectorIT_XplT0_T1_EEERKNS1_IS2_XT0_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.2") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3DmiINS_3FixILl32EEEEENS_6VectorIT_Lm3EEERKNS_16PositionTemplateIS4_EES9_(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.3") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3P3D12GlobalCFrame13localToGlobalERKNS_6VectorIdLm3EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::PositionTemplate") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNK3P3D6VectorINS_3FixILl32EEELm3EEcvNS0_IT_Lm3EEEIdEEv(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3D6VectorIdLm2EEC2Edd(ptr noundef nonnull align 8 dereferenceable(16), double noundef, double noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3P3DmlIdLm5ELm6EEENS_6VectorIT_XT0_EEERKNS_6MatrixIS2_XT0_EXT1_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.2") align 8, ptr noundef nonnull align 8 dereferenceable(240), ptr noundef nonnull align 8 dereferenceable(48)) #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3P3D6Motion14getDerivAsVec6Ei(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.9") align 8, ptr noundef nonnull align 8 dereferenceable(96), i32 noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3DmiIddLm5EEENS_6VectorIDTmiixfp_Li0Eixfp0_Li0EEXT1_EEERKNS1_IT_XT1_EEERKNS1_IT0_XT1_EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.2") align 8, ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(40)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3P3D6MatrixIdLm5ELm2EE11fromColumnsESt16initializer_listINS_6VectorIdLm5EEEE(ptr dead_on_unwind noalias writable sret(%"class.P3D::Matrix.10") align 8, ptr, i64) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3P3D20ConstraintMatrixPackC2ILm5EEEPdS2_RKNS_20ConstraintMatrixPairIXT_EEES6_RKNS_6MatrixIdXT_ELm2EEE(ptr noundef nonnull align 8 dereferenceable(20), ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(480), ptr noundef nonnull align 8 dereferenceable(480), ptr noundef nonnull align 8 dereferenceable(80)) unnamed_addr #0 align 2

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 #5 = { 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 = !{i64 0, i64 24, !10}
!10 = !{!7, !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = !{i64 0, i64 40, !10}
!14 = !{!15, !6, i64 0}
!15 = !{!"_ZTSSt16initializer_listIN3P3D6VectorIdLm5EEEE", !6, i64 0, !16, i64 8}
!16 = !{!"long", !7, i64 0}
!17 = !{!15, !16, i64 8}


; 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.P3D::ConstraintMatrixPack" = type <{ ptr, ptr, i32, [4 x i8] }>
%"struct.P3D::Vector" = type { %union.anon }
%union.anon = type { [3 x double] }
%"struct.P3D::ConstraintMatrixPair" = type { %"class.P3D::Matrix.0", %"class.P3D::Matrix.1" }
%"class.P3D::Matrix.0" = type { [30 x double] }
%"class.P3D::Matrix.1" = type { [30 x double] }
%"struct.P3D::Vector.2" = type { [5 x double] }
%"struct.P3D::Vector.3" = type { %union.anon.4 }
%union.anon.4 = type { [3 x %"struct.P3D::Fix"] }
%"struct.P3D::Fix" = type { i64 }
%"struct.P3D::PositionTemplate" = type { %"struct.P3D::Fix", %"struct.P3D::Fix", %"struct.P3D::Fix" }
%"struct.P3D::Vector.6" = type { %union.anon.7 }
%union.anon.7 = type { [2 x double] }
%"struct.P3D::Vector.9" = type { [6 x double] }
%"class.P3D::Matrix.10" = type { [10 x double] }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZNK3P3D15HingeConstraint11getMatricesERKNS_12PhysicalInfoES3_PdS4_(ptr dead_on_unwind noalias writable sret(%"class.P3D::ConstraintMatrixPack") align 8 %0, ptr noundef nonnull align 8 dereferenceable(104) %1, ptr noundef nonnull align 8 dereferenceable(296) %2, ptr noundef nonnull align 8 dereferenceable(296) %3, ptr noundef %4, ptr noundef %5) unnamed_addr #0 align 2 {
  %7 = alloca %"struct.P3D::Vector", align 8
  %8 = alloca %"struct.P3D::Vector", align 8
  %9 = alloca %"struct.P3D::Vector", align 8
  %10 = alloca %"struct.P3D::Vector", align 8
  %11 = alloca %"struct.P3D::Vector", align 8
  %12 = alloca %"struct.P3D::Vector", align 8
  %13 = alloca %"struct.P3D::Vector", align 8
  %14 = alloca %"struct.P3D::Vector", align 8
  %15 = alloca %"struct.P3D::Vector", align 8
  %16 = alloca %"struct.P3D::Vector", align 8
  %17 = alloca %"struct.P3D::Vector", align 8
  %18 = alloca %"struct.P3D::ConstraintMatrixPair", align 8
  %19 = alloca %"struct.P3D::ConstraintMatrixPair", align 8
  %20 = alloca %"struct.P3D::Vector.2", align 8
  %21 = alloca %"struct.P3D::Vector", align 8
  %22 = alloca %"struct.P3D::Vector.3", align 8
  %23 = alloca %"struct.P3D::PositionTemplate", align 8
  %24 = alloca %"struct.P3D::PositionTemplate", align 8
  %25 = alloca %"struct.P3D::Vector.6", align 8
  %26 = alloca %"struct.P3D::Vector.2", align 8
  %27 = alloca %"struct.P3D::Vector.9", align 8
  %28 = alloca %"struct.P3D::Vector.2", align 8
  %29 = alloca %"struct.P3D::Vector.9", align 8
  %30 = alloca %"struct.P3D::Vector.2", align 8
  %31 = alloca %"class.P3D::Matrix.10", align 8
  %32 = alloca [2 x %"struct.P3D::Vector.2"], align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #5
  %33 = getelementptr inbounds i8, ptr %1, i64 32
  call void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %7, ptr noundef nonnull align 8 dereferenceable(24) %33) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #5
  call void @_ZN3P3D16getPerpendicularIdEENS_6VectorIT_Lm3EEES3_(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %9, ptr noundef nonnull byval(%"struct.P3D::Vector") align 8 %7)
  call void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %8, ptr noundef nonnull align 8 dereferenceable(24) %9) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #5
  call void @_ZN3P3DrmIddEENS_6VectorIDTmimlixfp_Li1Eixfp0_Li2Emlixfp_Li2Eixfp0_Li1EELm3EEERKNS1_IT_Lm3EEERKNS1_IT0_Lm3EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %11, ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(24) %8) #5
  call void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %10, ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #5
  %34 = getelementptr inbounds i8, ptr %1, i64 80
  call void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %12, ptr noundef nonnull align 8 dereferenceable(24) %34) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %13) #5
  call void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %13, ptr noundef nonnull align 8 dereferenceable(96) %2, ptr noundef nonnull align 8 dereferenceable(24) %7)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #5
  call void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %14, ptr noundef nonnull align 8 dereferenceable(96) %2, ptr noundef nonnull align 8 dereferenceable(24) %8)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %15) #5
  call void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %15, ptr noundef nonnull align 8 dereferenceable(96) %2, ptr noundef nonnull align 8 dereferenceable(24) %10)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #5
  call void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %16, ptr noundef nonnull align 8 dereferenceable(96) %3, ptr noundef nonnull align 8 dereferenceable(24) %12)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %17) #5
  call void @_ZN3P3DrmIddEENS_6VectorIDTmimlixfp_Li1Eixfp0_Li2Emlixfp_Li2Eixfp0_Li1EELm3EEERKNS1_IT_Lm3EEERKNS1_IT0_Lm3EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %17, ptr noundef nonnull align 8 dereferenceable(24) %13, ptr noundef nonnull align 8 dereferenceable(24) %16) #5
  %35 = call noundef double @_ZN3P3DmlIddLm3EEEDTplmlixfp_Li0Eixfp0_Li0Emlixfp_Li1Eixfp0_Li1EERKNS_6VectorIT_XT1_EEERKNS2_IT0_XT1_EEE(ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef nonnull align 8 dereferenceable(24) %17) #5
  %36 = call noundef double @_ZN3P3DmlIddLm3EEEDTplmlixfp_Li0Eixfp0_Li0Emlixfp_Li1Eixfp0_Li1EERKNS_6VectorIT_XT1_EEERKNS2_IT0_XT1_EEE(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr noundef nonnull align 8 dereferenceable(24) %17) #5
  call void @llvm.lifetime.start.p0(i64 480, ptr nonnull %18) #5
  %37 = getelementptr inbounds i8, ptr %1, i64 8
  call void @_ZN3P3DL12makeMatricesERKNS_12PhysicalInfoERKNS_6VectorIdLm3EEES6_S6_(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::ConstraintMatrixPair") align 8 %18, ptr noundef nonnull align 8 dereferenceable(296) %2, ptr noundef nonnull align 8 dereferenceable(24) %37, ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef nonnull align 8 dereferenceable(24) %15)
  call void @llvm.lifetime.start.p0(i64 480, ptr nonnull %19) #5
  %38 = getelementptr inbounds i8, ptr %1, i64 56
  call void @_ZN3P3DL12makeMatricesERKNS_12PhysicalInfoERKNS_6VectorIdLm3EEES6_S6_(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::ConstraintMatrixPair") align 8 %19, ptr noundef nonnull align 8 dereferenceable(296) %3, ptr noundef nonnull align 8 dereferenceable(24) %38, ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef nonnull align 8 dereferenceable(24) %15)
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %20) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %21) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %22) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %23) #5
  call void @_ZNK3P3D12GlobalCFrame13localToGlobalERKNS_6VectorIdLm3EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::PositionTemplate") align 8 %23, ptr noundef nonnull align 8 dereferenceable(96) %3, ptr noundef nonnull align 8 dereferenceable(24) %38)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %24) #5
  call void @_ZNK3P3D12GlobalCFrame13localToGlobalERKNS_6VectorIdLm3EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::PositionTemplate") align 8 %24, ptr noundef nonnull align 8 dereferenceable(96) %2, ptr noundef nonnull align 8 dereferenceable(24) %37)
  call void @_ZN3P3DmiINS_3FixILl32EEEEENS_6VectorIT_Lm3EEERKNS_16PositionTemplateIS4_EES9_(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector.3") align 8 %22, ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 8 dereferenceable(24) %24) #5
  call void @_ZNK3P3D6VectorINS_3FixILl32EEELm3EEcvNS0_IT_Lm3EEEIdEEv(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector") align 8 %21, ptr noundef nonnull align 8 dereferenceable(24) %22) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %25) #5
  call void @_ZN3P3D6VectorIdLm2EEC2Edd(ptr noundef nonnull align 8 dereferenceable(16) %25, double noundef %35, double noundef %36) #5
  call void @_ZN3P3D4joinIdLm3ELm2EEENS_6VectorIT_XplT0_T1_EEERKNS1_IS2_XT0_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector.2") align 8 %20, ptr noundef nonnull align 8 dereferenceable(24) %21, ptr noundef nonnull align 8 dereferenceable(16) %25) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %24) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %22) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %21) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %26) #5
  %39 = getelementptr inbounds i8, ptr %18, i64 240
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %27) #5
  %40 = getelementptr inbounds i8, ptr %2, i64 96
  call void @_ZNK3P3D6Motion14getDerivAsVec6Ei(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector.9") align 8 %27, ptr noundef nonnull align 8 dereferenceable(96) %40, i32 noundef 0)
  call void @_ZN3P3DmlIdLm5ELm6EEENS_6VectorIT_XT0_EEERKNS_6MatrixIS2_XT0_EXT1_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector.2") align 8 %26, ptr noundef nonnull align 8 dereferenceable(240) %39, ptr noundef nonnull align 8 dereferenceable(48) %27)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %27) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %28) #5
  %41 = getelementptr inbounds i8, ptr %19, i64 240
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %29) #5
  %42 = getelementptr inbounds i8, ptr %3, i64 96
  call void @_ZNK3P3D6Motion14getDerivAsVec6Ei(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector.9") align 8 %29, ptr noundef nonnull align 8 dereferenceable(96) %42, i32 noundef 0)
  call void @_ZN3P3DmlIdLm5ELm6EEENS_6VectorIT_XT0_EEERKNS_6MatrixIS2_XT0_EXT1_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector.2") align 8 %28, ptr noundef nonnull align 8 dereferenceable(240) %41, ptr noundef nonnull align 8 dereferenceable(48) %29)
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %29) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %30) #5
  call void @_ZN3P3DmiIddLm5EEENS_6VectorIDTmiixfp_Li0Eixfp0_Li0EEXT1_EEERKNS1_IT_XT1_EEERKNS1_IT0_XT1_EEE(ptr dead_on_unwind nonnull writable sret(%"struct.P3D::Vector.2") align 8 %30, ptr noundef nonnull align 8 dereferenceable(40) %28, ptr noundef nonnull align 8 dereferenceable(40) %26) #5
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %31) #5
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %32) #5
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(40) %32, ptr noundef nonnull align 8 dereferenceable(40) %20, i64 40, i1 false), !tbaa.struct !5
  %43 = getelementptr inbounds i8, ptr %32, i64 40
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(40) %43, ptr noundef nonnull align 8 dereferenceable(40) %30, i64 40, i1 false), !tbaa.struct !5
  call void @_ZN3P3D6MatrixIdLm5ELm2EE11fromColumnsESt16initializer_listINS_6VectorIdLm5EEEE(ptr dead_on_unwind nonnull writable sret(%"class.P3D::Matrix.10") align 8 %31, ptr nonnull %32, i64 2)
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %32) #5
  call void @_ZN3P3D20ConstraintMatrixPackC2ILm5EEEPdS2_RKNS_20ConstraintMatrixPairIXT_EEES6_RKNS_6MatrixIdXT_ELm2EEE(ptr noundef nonnull align 8 dereferenceable(20) %0, ptr noundef %4, ptr noundef %5, ptr noundef nonnull align 8 dereferenceable(480) %18, ptr noundef nonnull align 8 dereferenceable(480) %19, ptr noundef nonnull align 8 dereferenceable(80) %31)
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %31) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %30) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %28) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %26) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %20) #5
  call void @llvm.lifetime.end.p0(i64 480, ptr nonnull %19) #5
  call void @llvm.lifetime.end.p0(i64 480, ptr nonnull %18) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %15) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %13) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #5
  ret void
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3D9normalizeIdLm3EEENS_6VectorIT_XT0_EEERKS3_(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3D16getPerpendicularIdEENS_6VectorIT_Lm3EEES3_(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef byval(%"struct.P3D::Vector") align 8) local_unnamed_addr #2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3DrmIddEENS_6VectorIDTmimlixfp_Li1Eixfp0_Li2Emlixfp_Li2Eixfp0_Li1EELm3EEERKNS1_IT_Lm3EEERKNS1_IT0_Lm3EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3P3D12GlobalCFrame15localToRelativeERKNS_6VectorIdLm3EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZN3P3DmlIddLm3EEEDTplmlixfp_Li0Eixfp0_Li0Emlixfp_Li1Eixfp0_Li1EERKNS_6VectorIT_XT1_EEERKNS2_IT0_XT1_EEE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN3P3DL12makeMatricesERKNS_12PhysicalInfoERKNS_6VectorIdLm3EEES6_S6_(ptr dead_on_unwind noalias writable sret(%"struct.P3D::ConstraintMatrixPair") align 8, ptr noundef nonnull align 8 dereferenceable(296), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3D4joinIdLm3ELm2EEENS_6VectorIT_XplT0_T1_EEERKNS1_IS2_XT0_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.2") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3DmiINS_3FixILl32EEEEENS_6VectorIT_Lm3EEERKNS_16PositionTemplateIS4_EES9_(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.3") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3P3D12GlobalCFrame13localToGlobalERKNS_6VectorIdLm3EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::PositionTemplate") align 8, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNK3P3D6VectorINS_3FixILl32EEELm3EEcvNS0_IT_Lm3EEEIdEEv(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector") align 8, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3D6VectorIdLm2EEC2Edd(ptr noundef nonnull align 8 dereferenceable(16), double noundef, double noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3P3DmlIdLm5ELm6EEENS_6VectorIT_XT0_EEERKNS_6MatrixIS2_XT0_EXT1_EEERKNS1_IS2_XT1_EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.2") align 8, ptr noundef nonnull align 8 dereferenceable(240), ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3P3D6Motion14getDerivAsVec6Ei(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.9") align 8, ptr noundef nonnull align 8 dereferenceable(96), i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3P3DmiIddLm5EEENS_6VectorIDTmiixfp_Li0Eixfp0_Li0EEXT1_EEERKNS1_IT_XT1_EEERKNS1_IT0_XT1_EEE(ptr dead_on_unwind noalias writable sret(%"struct.P3D::Vector.2") align 8, ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3P3D6MatrixIdLm5ELm2EE11fromColumnsESt16initializer_listINS_6VectorIdLm5EEEE(ptr dead_on_unwind noalias writable sret(%"class.P3D::Matrix.10") align 8, ptr, i64) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3P3D20ConstraintMatrixPackC2ILm5EEEPdS2_RKNS_20ConstraintMatrixPairIXT_EEES6_RKNS_6MatrixIdXT_ELm2EEE(ptr noundef nonnull align 8 dereferenceable(20), ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(480), ptr noundef nonnull align 8 dereferenceable(480), ptr noundef nonnull align 8 dereferenceable(80)) unnamed_addr #0 align 2

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 #5 = { 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 = !{i64 0, i64 40, !6}
!6 = !{!7, !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}


; Effective O3 passes: DSEPass,EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,MemCpyOptPass,SROAPass