; LLVM IR from atabakd/MuJoCo-Tutorials :: src/0_preliminaries/pd.ll (Z12mycontrollerPK8_mjModelP7_mjData)

; 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.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%struct._mjModel = type { i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, %struct._mjOption, %struct._mjVisual, %struct._mjStatistic, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%struct._mjOption = type { double, double, double, double, double, double, [3 x double], [3 x double], [3 x double], double, double, double, [2 x double], [5 x double], i32, i32, i32, i32, i32, i32, i32, i32, i32, i32 }
%struct._mjVisual = type { %struct.anon, %struct.anon.0, %struct.anon.1, %struct.anon.2, %struct.anon.3, %struct.anon.4 }
%struct.anon = type { float, float, float, float, i32, i32 }
%struct.anon.0 = type { i32, i32, i32, i32, i32 }
%struct.anon.1 = type { [3 x float], [3 x float], [3 x float], i32 }
%struct.anon.2 = type { float, float, float, float, float, float, float, float, float, float, float, float, float }
%struct.anon.3 = type { float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float }
%struct.anon.4 = type { [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float] }
%struct._mjStatistic = type { double, double, double, double, [3 x double] }
%struct._mjData = type { i32, i32, i32, i32, i32, i32, [8 x %struct._mjWarningStat], [13 x %struct._mjTimerStat], [1000 x %struct._mjSolverStat], i32, i32, [2 x double], i32, i32, i32, i32, double, [2 x double], ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%struct._mjWarningStat = type { i32, i32 }
%struct._mjTimerStat = type { double, i32 }
%struct._mjSolverStat = type { double, double, double, i32, i32, i32, i32 }

@position_history = external dso_local global double, align 8
@previous_time = external dso_local global double, align 8
@ctrl_update_freq = external dso_local global float, align 4
@last_update = external dso_local global double, align 8
@ctrl = external dso_local global double, align 8
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str = external hidden unnamed_addr constant [33 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [16 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: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress uwtable
define dso_local void @_Z12mycontrollerPK8_mjModelP7_mjData(ptr noundef %0, ptr noundef %1) #1 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca double, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %6 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str)
  %7 = load ptr, ptr %3, align 8, !tbaa !5
  %8 = getelementptr inbounds %struct._mjModel, ptr %7, i32 0, i32 0
  %9 = load i32, ptr %8, align 8, !tbaa !9
  %10 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %6, i32 noundef %9)
  %11 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %12 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.1)
  %13 = load ptr, ptr %3, align 8, !tbaa !5
  %14 = getelementptr inbounds %struct._mjModel, ptr %13, i32 0, i32 1
  %15 = load i32, ptr %14, align 4, !tbaa !23
  %16 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %12, i32 noundef %15)
  %17 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %18 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.2)
  %19 = load ptr, ptr %4, align 8, !tbaa !5
  %20 = getelementptr inbounds %struct._mjData, ptr %19, i32 0, i32 20
  %21 = load ptr, ptr %20, align 8, !tbaa !24
  %22 = getelementptr inbounds double, ptr %21, i64 0
  %23 = load double, ptr %22, align 8, !tbaa !26
  %24 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %18, double noundef %23)
  %25 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %26 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.3)
  %27 = load ptr, ptr %4, align 8, !tbaa !5
  %28 = getelementptr inbounds %struct._mjData, ptr %27, i32 0, i32 21
  %29 = load ptr, ptr %28, align 8, !tbaa !27
  %30 = getelementptr inbounds double, ptr %29, i64 0
  %31 = load double, ptr %30, align 8, !tbaa !26
  %32 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %26, double noundef %31)
  %33 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %34 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.4)
  %35 = load ptr, ptr %4, align 8, !tbaa !5
  %36 = getelementptr inbounds %struct._mjData, ptr %35, i32 0, i32 32
  %37 = load ptr, ptr %36, align 8, !tbaa !28
  %38 = getelementptr inbounds double, ptr %37, i64 0
  %39 = load double, ptr %38, align 8, !tbaa !26
  %40 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %34, double noundef %39)
  %41 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %40, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %42 = load double, ptr @previous_time, align 8, !tbaa !26
  %43 = fcmp oeq double %42, 0.000000e+00
  br i1 %43, label %44, label %48

44:                                               ; preds = %2
  %45 = load ptr, ptr %4, align 8, !tbaa !5
  %46 = getelementptr inbounds %struct._mjData, ptr %45, i32 0, i32 16
  %47 = load double, ptr %46, align 8, !tbaa !29
  store double %47, ptr @previous_time, align 8, !tbaa !26
  br label %102

48:                                               ; preds = %2
  %49 = load ptr, ptr %4, align 8, !tbaa !5
  %50 = getelementptr inbounds %struct._mjData, ptr %49, i32 0, i32 16
  %51 = load double, ptr %50, align 8, !tbaa !29
  %52 = load double, ptr @last_update, align 8, !tbaa !26
  %53 = fsub double %51, %52
  %54 = load float, ptr @ctrl_update_freq, align 4, !tbaa !30
  %55 = fpext float %54 to double
  %56 = fdiv double 1.000000e+00, %55
  %57 = fcmp ogt double %53, %56
  br i1 %57, label %58, label %92

58:                                               ; preds = %48
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #5
  %59 = load ptr, ptr %4, align 8, !tbaa !5
  %60 = getelementptr inbounds %struct._mjData, ptr %59, i32 0, i32 32
  %61 = load ptr, ptr %60, align 8, !tbaa !28
  %62 = getelementptr inbounds double, ptr %61, i64 0
  %63 = load double, ptr %62, align 8, !tbaa !26
  %64 = load double, ptr @position_history, align 8, !tbaa !26
  %65 = fsub double %63, %64
  %66 = load ptr, ptr %4, align 8, !tbaa !5
  %67 = getelementptr inbounds %struct._mjData, ptr %66, i32 0, i32 16
  %68 = load double, ptr %67, align 8, !tbaa !29
  %69 = load double, ptr @previous_time, align 8, !tbaa !26
  %70 = fsub double %68, %69
  %71 = fdiv double %65, %70
  store double %71, ptr %5, align 8, !tbaa !26
  %72 = load double, ptr %5, align 8, !tbaa !26
  %73 = fneg double %72
  %74 = load ptr, ptr %4, align 8, !tbaa !5
  %75 = getelementptr inbounds %struct._mjData, ptr %74, i32 0, i32 32
  %76 = load ptr, ptr %75, align 8, !tbaa !28
  %77 = getelementptr inbounds double, ptr %76, i64 0
  %78 = load double, ptr %77, align 8, !tbaa !26
  %79 = call double @llvm.fmuladd.f64(double -1.000000e+01, double %78, double %73)
  %80 = fmul double 3.500000e+00, %79
  store double %80, ptr @ctrl, align 8, !tbaa !26
  %81 = load ptr, ptr %4, align 8, !tbaa !5
  %82 = getelementptr inbounds %struct._mjData, ptr %81, i32 0, i32 16
  %83 = load double, ptr %82, align 8, !tbaa !29
  store double %83, ptr @last_update, align 8, !tbaa !26
  %84 = load ptr, ptr %4, align 8, !tbaa !5
  %85 = getelementptr inbounds %struct._mjData, ptr %84, i32 0, i32 32
  %86 = load ptr, ptr %85, align 8, !tbaa !28
  %87 = getelementptr inbounds double, ptr %86, i64 0
  %88 = load double, ptr %87, align 8, !tbaa !26
  store double %88, ptr @position_history, align 8, !tbaa !26
  %89 = load ptr, ptr %4, align 8, !tbaa !5
  %90 = getelementptr inbounds %struct._mjData, ptr %89, i32 0, i32 16
  %91 = load double, ptr %90, align 8, !tbaa !29
  store double %91, ptr @previous_time, align 8, !tbaa !26
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #5
  br label %92

92:                                               ; preds = %58, %48
  %93 = load double, ptr @ctrl, align 8, !tbaa !26
  %94 = load ptr, ptr %4, align 8, !tbaa !5
  %95 = getelementptr inbounds %struct._mjData, ptr %94, i32 0, i32 24
  %96 = load ptr, ptr %95, align 8, !tbaa !31
  %97 = getelementptr inbounds double, ptr %96, i64 0
  store double %93, ptr %97, align 8, !tbaa !26
  %98 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.5)
  %99 = load double, ptr @ctrl, align 8, !tbaa !26
  %100 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %98, double noundef %99)
  %101 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %100, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  br label %102

102:                                              ; preds = %92, %44
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #2

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #3

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8), double noundef) #1 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #4

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 #3 = { "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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = !{!10, !11, i64 0}
!10 = !{!"_ZTS8_mjModel", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !11, i64 44, !11, i64 48, !11, i64 52, !11, i64 56, !11, i64 60, !11, i64 64, !11, i64 68, !11, i64 72, !11, i64 76, !11, i64 80, !11, i64 84, !11, i64 88, !11, i64 92, !11, i64 96, !11, i64 100, !11, i64 104, !11, i64 108, !11, i64 112, !11, i64 116, !11, i64 120, !11, i64 124, !11, i64 128, !11, i64 132, !11, i64 136, !11, i64 140, !11, i64 144, !11, i64 148, !11, i64 152, !11, i64 156, !11, i64 160, !11, i64 164, !11, i64 168, !11, i64 172, !11, i64 176, !11, i64 180, !11, i64 184, !11, i64 188, !11, i64 192, !11, i64 196, !11, i64 200, !11, i64 204, !11, i64 208, !11, i64 212, !11, i64 216, !11, i64 220, !11, i64 224, !12, i64 232, !14, i64 472, !22, i64 1024, !6, i64 1080, !6, i64 1088, !6, i64 1096, !6, i64 1104, !6, i64 1112, !6, i64 1120, !6, i64 1128, !6, i64 1136, !6, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !6, i64 1176, !6, i64 1184, !6, i64 1192, !6, i64 1200, !6, i64 1208, !6, i64 1216, !6, i64 1224, !6, i64 1232, !6, i64 1240, !6, i64 1248, !6, i64 1256, !6, i64 1264, !6, i64 1272, !6, i64 1280, !6, i64 1288, !6, i64 1296, !6, i64 1304, !6, i64 1312, !6, i64 1320, !6, i64 1328, !6, i64 1336, !6, i64 1344, !6, i64 1352, !6, i64 1360, !6, i64 1368, !6, i64 1376, !6, i64 1384, !6, i64 1392, !6, i64 1400, !6, i64 1408, !6, i64 1416, !6, i64 1424, !6, i64 1432, !6, i64 1440, !6, i64 1448, !6, i64 1456, !6, i64 1464, !6, i64 1472, !6, i64 1480, !6, i64 1488, !6, i64 1496, !6, i64 1504, !6, i64 1512, !6, i64 1520, !6, i64 1528, !6, i64 1536, !6, i64 1544, !6, i64 1552, !6, i64 1560, !6, i64 1568, !6, i64 1576, !6, i64 1584, !6, i64 1592, !6, i64 1600, !6, i64 1608, !6, i64 1616, !6, i64 1624, !6, i64 1632, !6, i64 1640, !6, i64 1648, !6, i64 1656, !6, i64 1664, !6, i64 1672, !6, i64 1680, !6, i64 1688, !6, i64 1696, !6, i64 1704, !6, i64 1712, !6, i64 1720, !6, i64 1728, !6, i64 1736, !6, i64 1744, !6, i64 1752, !6, i64 1760, !6, i64 1768, !6, i64 1776, !6, i64 1784, !6, i64 1792, !6, i64 1800, !6, i64 1808, !6, i64 1816, !6, i64 1824, !6, i64 1832, !6, i64 1840, !6, i64 1848, !6, i64 1856, !6, i64 1864, !6, i64 1872, !6, i64 1880, !6, i64 1888, !6, i64 1896, !6, i64 1904, !6, i64 1912, !6, i64 1920, !6, i64 1928, !6, i64 1936, !6, i64 1944, !6, i64 1952, !6, i64 1960, !6, i64 1968, !6, i64 1976, !6, i64 1984, !6, i64 1992, !6, i64 2000, !6, i64 2008, !6, i64 2016, !6, i64 2024, !6, i64 2032, !6, i64 2040, !6, i64 2048, !6, i64 2056, !6, i64 2064, !6, i64 2072, !6, i64 2080, !6, i64 2088, !6, i64 2096, !6, i64 2104, !6, i64 2112, !6, i64 2120, !6, i64 2128, !6, i64 2136, !6, i64 2144, !6, i64 2152, !6, i64 2160, !6, i64 2168, !6, i64 2176, !6, i64 2184, !6, i64 2192, !6, i64 2200, !6, i64 2208, !6, i64 2216, !6, i64 2224, !6, i64 2232, !6, i64 2240, !6, i64 2248, !6, i64 2256, !6, i64 2264, !6, i64 2272, !6, i64 2280, !6, i64 2288, !6, i64 2296, !6, i64 2304, !6, i64 2312, !6, i64 2320, !6, i64 2328, !6, i64 2336, !6, i64 2344, !6, i64 2352, !6, i64 2360, !6, i64 2368, !6, i64 2376, !6, i64 2384, !6, i64 2392, !6, i64 2400, !6, i64 2408, !6, i64 2416, !6, i64 2424, !6, i64 2432, !6, i64 2440, !6, i64 2448, !6, i64 2456, !6, i64 2464, !6, i64 2472, !6, i64 2480, !6, i64 2488, !6, i64 2496, !6, i64 2504, !6, i64 2512, !6, i64 2520, !6, i64 2528, !6, i64 2536, !6, i64 2544, !6, i64 2552, !6, i64 2560, !6, i64 2568, !6, i64 2576, !6, i64 2584, !6, i64 2592, !6, i64 2600, !6, i64 2608, !6, i64 2616, !6, i64 2624, !6, i64 2632, !6, i64 2640, !6, i64 2648, !6, i64 2656, !6, i64 2664, !6, i64 2672, !6, i64 2680, !6, i64 2688, !6, i64 2696, !6, i64 2704, !6, i64 2712, !6, i64 2720, !6, i64 2728, !6, i64 2736, !6, i64 2744, !6, i64 2752, !6, i64 2760, !6, i64 2768, !6, i64 2776, !6, i64 2784, !6, i64 2792, !6, i64 2800, !6, i64 2808, !6, i64 2816, !6, i64 2824, !6, i64 2832, !6, i64 2840, !6, i64 2848, !6, i64 2856, !6, i64 2864, !6, i64 2872, !6, i64 2880, !6, i64 2888, !6, i64 2896, !6, i64 2904, !6, i64 2912, !6, i64 2920, !6, i64 2928, !6, i64 2936, !6, i64 2944, !6, i64 2952, !6, i64 2960, !6, i64 2968, !6, i64 2976, !6, i64 2984, !6, i64 2992, !6, i64 3000, !6, i64 3008, !6, i64 3016, !6, i64 3024, !6, i64 3032, !6, i64 3040, !6, i64 3048, !6, i64 3056, !6, i64 3064, !6, i64 3072, !6, i64 3080, !6, i64 3088, !6, i64 3096, !6, i64 3104, !6, i64 3112, !6, i64 3120, !6, i64 3128, !6, i64 3136, !6, i64 3144, !6, i64 3152, !6, i64 3160, !6, i64 3168, !6, i64 3176, !6, i64 3184, !6, i64 3192}
!11 = !{!"int", !7, i64 0}
!12 = !{!"_ZTS9_mjOption", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !7, i64 48, !7, i64 72, !7, i64 96, !13, i64 120, !13, i64 128, !13, i64 136, !7, i64 144, !7, i64 160, !11, i64 200, !11, i64 204, !11, i64 208, !11, i64 212, !11, i64 216, !11, i64 220, !11, i64 224, !11, i64 228, !11, i64 232, !11, i64 236}
!13 = !{!"double", !7, i64 0}
!14 = !{!"_ZTS9_mjVisual", !15, i64 0, !17, i64 24, !18, i64 44, !19, i64 84, !20, i64 136, !21, i64 200}
!15 = !{!"_ZTSN9_mjVisualUt_E", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !11, i64 16, !11, i64 20}
!16 = !{!"float", !7, i64 0}
!17 = !{!"_ZTSN9_mjVisualUt0_E", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16}
!18 = !{!"_ZTSN9_mjVisualUt1_E", !7, i64 0, !7, i64 12, !7, i64 24, !11, i64 36}
!19 = !{!"_ZTSN9_mjVisualUt2_E", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32, !16, i64 36, !16, i64 40, !16, i64 44, !16, i64 48}
!20 = !{!"_ZTSN9_mjVisualUt3_E", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32, !16, i64 36, !16, i64 40, !16, i64 44, !16, i64 48, !16, i64 52, !16, i64 56, !16, i64 60}
!21 = !{!"_ZTSN9_mjVisualUt4_E", !7, i64 0, !7, i64 16, !7, i64 32, !7, i64 48, !7, i64 64, !7, i64 80, !7, i64 96, !7, i64 112, !7, i64 128, !7, i64 144, !7, i64 160, !7, i64 176, !7, i64 192, !7, i64 208, !7, i64 224, !7, i64 240, !7, i64 256, !7, i64 272, !7, i64 288, !7, i64 304, !7, i64 320, !7, i64 336}
!22 = !{!"_ZTS12_mjStatistic", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24, !7, i64 32}
!23 = !{!10, !11, i64 4}
!24 = !{!25, !6, i64 40376}
!25 = !{!"_ZTS7_mjData", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !7, i64 24, !7, i64 88, !7, i64 296, !11, i64 40296, !11, i64 40300, !7, i64 40304, !11, i64 40320, !11, i64 40324, !11, i64 40328, !11, i64 40332, !13, i64 40336, !7, i64 40344, !6, i64 40360, !6, i64 40368, !6, i64 40376, !6, i64 40384, !6, i64 40392, !6, i64 40400, !6, i64 40408, !6, i64 40416, !6, i64 40424, !6, i64 40432, !6, i64 40440, !6, i64 40448, !6, i64 40456, !6, i64 40464, !6, i64 40472, !6, i64 40480, !6, i64 40488, !6, i64 40496, !6, i64 40504, !6, i64 40512, !6, i64 40520, !6, i64 40528, !6, i64 40536, !6, i64 40544, !6, i64 40552, !6, i64 40560, !6, i64 40568, !6, i64 40576, !6, i64 40584, !6, i64 40592, !6, i64 40600, !6, i64 40608, !6, i64 40616, !6, i64 40624, !6, i64 40632, !6, i64 40640, !6, i64 40648, !6, i64 40656, !6, i64 40664, !6, i64 40672, !6, i64 40680, !6, i64 40688, !6, i64 40696, !6, i64 40704, !6, i64 40712, !6, i64 40720, !6, i64 40728, !6, i64 40736, !6, i64 40744, !6, i64 40752, !6, i64 40760, !6, i64 40768, !6, i64 40776, !6, i64 40784, !6, i64 40792, !6, i64 40800, !6, i64 40808, !6, i64 40816, !6, i64 40824, !6, i64 40832, !6, i64 40840, !6, i64 40848, !6, i64 40856, !6, i64 40864, !6, i64 40872, !6, i64 40880, !6, i64 40888, !6, i64 40896, !6, i64 40904, !6, i64 40912, !6, i64 40920, !6, i64 40928, !6, i64 40936, !6, i64 40944, !6, i64 40952, !6, i64 40960, !6, i64 40968, !6, i64 40976, !6, i64 40984, !6, i64 40992, !6, i64 41000, !6, i64 41008, !6, i64 41016, !6, i64 41024, !6, i64 41032, !6, i64 41040, !6, i64 41048, !6, i64 41056, !6, i64 41064, !6, i64 41072, !6, i64 41080, !6, i64 41088, !6, i64 41096, !6, i64 41104, !6, i64 41112}
!26 = !{!13, !13, i64 0}
!27 = !{!25, !6, i64 40384}
!28 = !{!25, !6, i64 40472}
!29 = !{!25, !13, i64 40336}
!30 = !{!16, !16, i64 0}
!31 = !{!25, !6, i64 40408}


; 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.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }

@position_history = external dso_local local_unnamed_addr global double, align 8
@previous_time = external dso_local local_unnamed_addr global double, align 8
@ctrl_update_freq = external dso_local local_unnamed_addr global float, align 4
@last_update = external dso_local local_unnamed_addr global double, align 8
@ctrl = external dso_local local_unnamed_addr global double, align 8
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str = external hidden unnamed_addr constant [33 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [16 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local void @_Z12mycontrollerPK8_mjModelP7_mjData(ptr nocapture noundef readonly %0, ptr nocapture noundef readonly %1) local_unnamed_addr #0 {
  %3 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str)
  %4 = load i32, ptr %0, align 8, !tbaa !5
  %5 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %3, i32 noundef %4)
  %6 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %5, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %7 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.1)
  %8 = getelementptr inbounds i8, ptr %0, i64 4
  %9 = load i32, ptr %8, align 4, !tbaa !22
  %10 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %7, i32 noundef %9)
  %11 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %12 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.2)
  %13 = getelementptr inbounds i8, ptr %1, i64 40376
  %14 = load ptr, ptr %13, align 8, !tbaa !23
  %15 = load double, ptr %14, align 8, !tbaa !25
  %16 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %12, double noundef %15)
  %17 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %18 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.3)
  %19 = getelementptr inbounds i8, ptr %1, i64 40384
  %20 = load ptr, ptr %19, align 8, !tbaa !26
  %21 = load double, ptr %20, align 8, !tbaa !25
  %22 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %18, double noundef %21)
  %23 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %24 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.4)
  %25 = getelementptr inbounds i8, ptr %1, i64 40472
  %26 = load ptr, ptr %25, align 8, !tbaa !27
  %27 = load double, ptr %26, align 8, !tbaa !25
  %28 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %24, double noundef %27)
  %29 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %28, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %30 = load double, ptr @previous_time, align 8, !tbaa !25
  %31 = fcmp oeq double %30, 0.000000e+00
  %32 = getelementptr inbounds i8, ptr %1, i64 40336
  %33 = load double, ptr %32, align 8, !tbaa !28
  br i1 %31, label %34, label %35

34:                                               ; preds = %2
  store double %33, ptr @previous_time, align 8, !tbaa !25
  br label %61

35:                                               ; preds = %2
  %36 = load double, ptr @last_update, align 8, !tbaa !25
  %37 = fsub double %33, %36
  %38 = load float, ptr @ctrl_update_freq, align 4, !tbaa !29
  %39 = fpext float %38 to double
  %40 = fdiv double 1.000000e+00, %39
  %41 = fcmp ogt double %37, %40
  br i1 %41, label %42, label %._crit_edge

._crit_edge:                                      ; preds = %35
  %.pre = load double, ptr @ctrl, align 8, !tbaa !25
  br label %53

42:                                               ; preds = %35
  %43 = load ptr, ptr %25, align 8, !tbaa !27
  %44 = load double, ptr %43, align 8, !tbaa !25
  %45 = load double, ptr @position_history, align 8, !tbaa !25
  %46 = fsub double %44, %45
  %47 = fsub double %33, %30
  %48 = fneg double %46
  %49 = fdiv double %48, %47
  %50 = tail call double @llvm.fmuladd.f64(double %44, double -1.000000e+01, double %49)
  %51 = fmul double %50, 3.500000e+00
  store double %51, ptr @ctrl, align 8, !tbaa !25
  store double %33, ptr @last_update, align 8, !tbaa !25
  %52 = load double, ptr %43, align 8, !tbaa !25
  store double %52, ptr @position_history, align 8, !tbaa !25
  store double %33, ptr @previous_time, align 8, !tbaa !25
  br label %53

53:                                               ; preds = %._crit_edge, %42
  %54 = phi double [ %.pre, %._crit_edge ], [ %51, %42 ]
  %55 = getelementptr inbounds i8, ptr %1, i64 40408
  %56 = load ptr, ptr %55, align 8, !tbaa !30
  store double %54, ptr %56, align 8, !tbaa !25
  %57 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.5)
  %58 = load double, ptr @ctrl, align 8, !tbaa !25
  %59 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %57, double noundef %58)
  %60 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %59, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  br label %61

61:                                               ; preds = %53, %34
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #1

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #1

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8), double noundef) local_unnamed_addr #0 align 2

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

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 = { 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 #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 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 0}
!6 = !{!"_ZTS8_mjModel", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40, !7, i64 44, !7, i64 48, !7, i64 52, !7, i64 56, !7, i64 60, !7, i64 64, !7, i64 68, !7, i64 72, !7, i64 76, !7, i64 80, !7, i64 84, !7, i64 88, !7, i64 92, !7, i64 96, !7, i64 100, !7, i64 104, !7, i64 108, !7, i64 112, !7, i64 116, !7, i64 120, !7, i64 124, !7, i64 128, !7, i64 132, !7, i64 136, !7, i64 140, !7, i64 144, !7, i64 148, !7, i64 152, !7, i64 156, !7, i64 160, !7, i64 164, !7, i64 168, !7, i64 172, !7, i64 176, !7, i64 180, !7, i64 184, !7, i64 188, !7, i64 192, !7, i64 196, !7, i64 200, !7, i64 204, !7, i64 208, !7, i64 212, !7, i64 216, !7, i64 220, !7, i64 224, !10, i64 232, !12, i64 472, !20, i64 1024, !21, i64 1080, !21, i64 1088, !21, i64 1096, !21, i64 1104, !21, i64 1112, !21, i64 1120, !21, i64 1128, !21, i64 1136, !21, i64 1144, !21, i64 1152, !21, i64 1160, !21, i64 1168, !21, i64 1176, !21, i64 1184, !21, i64 1192, !21, i64 1200, !21, i64 1208, !21, i64 1216, !21, i64 1224, !21, i64 1232, !21, i64 1240, !21, i64 1248, !21, i64 1256, !21, i64 1264, !21, i64 1272, !21, i64 1280, !21, i64 1288, !21, i64 1296, !21, i64 1304, !21, i64 1312, !21, i64 1320, !21, i64 1328, !21, i64 1336, !21, i64 1344, !21, i64 1352, !21, i64 1360, !21, i64 1368, !21, i64 1376, !21, i64 1384, !21, i64 1392, !21, i64 1400, !21, i64 1408, !21, i64 1416, !21, i64 1424, !21, i64 1432, !21, i64 1440, !21, i64 1448, !21, i64 1456, !21, i64 1464, !21, i64 1472, !21, i64 1480, !21, i64 1488, !21, i64 1496, !21, i64 1504, !21, i64 1512, !21, i64 1520, !21, i64 1528, !21, i64 1536, !21, i64 1544, !21, i64 1552, !21, i64 1560, !21, i64 1568, !21, i64 1576, !21, i64 1584, !21, i64 1592, !21, i64 1600, !21, i64 1608, !21, i64 1616, !21, i64 1624, !21, i64 1632, !21, i64 1640, !21, i64 1648, !21, i64 1656, !21, i64 1664, !21, i64 1672, !21, i64 1680, !21, i64 1688, !21, i64 1696, !21, i64 1704, !21, i64 1712, !21, i64 1720, !21, i64 1728, !21, i64 1736, !21, i64 1744, !21, i64 1752, !21, i64 1760, !21, i64 1768, !21, i64 1776, !21, i64 1784, !21, i64 1792, !21, i64 1800, !21, i64 1808, !21, i64 1816, !21, i64 1824, !21, i64 1832, !21, i64 1840, !21, i64 1848, !21, i64 1856, !21, i64 1864, !21, i64 1872, !21, i64 1880, !21, i64 1888, !21, i64 1896, !21, i64 1904, !21, i64 1912, !21, i64 1920, !21, i64 1928, !21, i64 1936, !21, i64 1944, !21, i64 1952, !21, i64 1960, !21, i64 1968, !21, i64 1976, !21, i64 1984, !21, i64 1992, !21, i64 2000, !21, i64 2008, !21, i64 2016, !21, i64 2024, !21, i64 2032, !21, i64 2040, !21, i64 2048, !21, i64 2056, !21, i64 2064, !21, i64 2072, !21, i64 2080, !21, i64 2088, !21, i64 2096, !21, i64 2104, !21, i64 2112, !21, i64 2120, !21, i64 2128, !21, i64 2136, !21, i64 2144, !21, i64 2152, !21, i64 2160, !21, i64 2168, !21, i64 2176, !21, i64 2184, !21, i64 2192, !21, i64 2200, !21, i64 2208, !21, i64 2216, !21, i64 2224, !21, i64 2232, !21, i64 2240, !21, i64 2248, !21, i64 2256, !21, i64 2264, !21, i64 2272, !21, i64 2280, !21, i64 2288, !21, i64 2296, !21, i64 2304, !21, i64 2312, !21, i64 2320, !21, i64 2328, !21, i64 2336, !21, i64 2344, !21, i64 2352, !21, i64 2360, !21, i64 2368, !21, i64 2376, !21, i64 2384, !21, i64 2392, !21, i64 2400, !21, i64 2408, !21, i64 2416, !21, i64 2424, !21, i64 2432, !21, i64 2440, !21, i64 2448, !21, i64 2456, !21, i64 2464, !21, i64 2472, !21, i64 2480, !21, i64 2488, !21, i64 2496, !21, i64 2504, !21, i64 2512, !21, i64 2520, !21, i64 2528, !21, i64 2536, !21, i64 2544, !21, i64 2552, !21, i64 2560, !21, i64 2568, !21, i64 2576, !21, i64 2584, !21, i64 2592, !21, i64 2600, !21, i64 2608, !21, i64 2616, !21, i64 2624, !21, i64 2632, !21, i64 2640, !21, i64 2648, !21, i64 2656, !21, i64 2664, !21, i64 2672, !21, i64 2680, !21, i64 2688, !21, i64 2696, !21, i64 2704, !21, i64 2712, !21, i64 2720, !21, i64 2728, !21, i64 2736, !21, i64 2744, !21, i64 2752, !21, i64 2760, !21, i64 2768, !21, i64 2776, !21, i64 2784, !21, i64 2792, !21, i64 2800, !21, i64 2808, !21, i64 2816, !21, i64 2824, !21, i64 2832, !21, i64 2840, !21, i64 2848, !21, i64 2856, !21, i64 2864, !21, i64 2872, !21, i64 2880, !21, i64 2888, !21, i64 2896, !21, i64 2904, !21, i64 2912, !21, i64 2920, !21, i64 2928, !21, i64 2936, !21, i64 2944, !21, i64 2952, !21, i64 2960, !21, i64 2968, !21, i64 2976, !21, i64 2984, !21, i64 2992, !21, i64 3000, !21, i64 3008, !21, i64 3016, !21, i64 3024, !21, i64 3032, !21, i64 3040, !21, i64 3048, !21, i64 3056, !21, i64 3064, !21, i64 3072, !21, i64 3080, !21, i64 3088, !21, i64 3096, !21, i64 3104, !21, i64 3112, !21, i64 3120, !21, i64 3128, !21, i64 3136, !21, i64 3144, !21, i64 3152, !21, i64 3160, !21, i64 3168, !21, i64 3176, !21, i64 3184, !21, i64 3192}
!7 = !{!"int", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTS9_mjOption", !11, i64 0, !11, i64 8, !11, i64 16, !11, i64 24, !11, i64 32, !11, i64 40, !8, i64 48, !8, i64 72, !8, i64 96, !11, i64 120, !11, i64 128, !11, i64 136, !8, i64 144, !8, i64 160, !7, i64 200, !7, i64 204, !7, i64 208, !7, i64 212, !7, i64 216, !7, i64 220, !7, i64 224, !7, i64 228, !7, i64 232, !7, i64 236}
!11 = !{!"double", !8, i64 0}
!12 = !{!"_ZTS9_mjVisual", !13, i64 0, !15, i64 24, !16, i64 44, !17, i64 84, !18, i64 136, !19, i64 200}
!13 = !{!"_ZTSN9_mjVisualUt_E", !14, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !7, i64 16, !7, i64 20}
!14 = !{!"float", !8, i64 0}
!15 = !{!"_ZTSN9_mjVisualUt0_E", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16}
!16 = !{!"_ZTSN9_mjVisualUt1_E", !8, i64 0, !8, i64 12, !8, i64 24, !7, i64 36}
!17 = !{!"_ZTSN9_mjVisualUt2_E", !14, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !14, i64 24, !14, i64 28, !14, i64 32, !14, i64 36, !14, i64 40, !14, i64 44, !14, i64 48}
!18 = !{!"_ZTSN9_mjVisualUt3_E", !14, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !14, i64 24, !14, i64 28, !14, i64 32, !14, i64 36, !14, i64 40, !14, i64 44, !14, i64 48, !14, i64 52, !14, i64 56, !14, i64 60}
!19 = !{!"_ZTSN9_mjVisualUt4_E", !8, i64 0, !8, i64 16, !8, i64 32, !8, i64 48, !8, i64 64, !8, i64 80, !8, i64 96, !8, i64 112, !8, i64 128, !8, i64 144, !8, i64 160, !8, i64 176, !8, i64 192, !8, i64 208, !8, i64 224, !8, i64 240, !8, i64 256, !8, i64 272, !8, i64 288, !8, i64 304, !8, i64 320, !8, i64 336}
!20 = !{!"_ZTS12_mjStatistic", !11, i64 0, !11, i64 8, !11, i64 16, !11, i64 24, !8, i64 32}
!21 = !{!"any pointer", !8, i64 0}
!22 = !{!6, !7, i64 4}
!23 = !{!24, !21, i64 40376}
!24 = !{!"_ZTS7_mjData", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !8, i64 24, !8, i64 88, !8, i64 296, !7, i64 40296, !7, i64 40300, !8, i64 40304, !7, i64 40320, !7, i64 40324, !7, i64 40328, !7, i64 40332, !11, i64 40336, !8, i64 40344, !21, i64 40360, !21, i64 40368, !21, i64 40376, !21, i64 40384, !21, i64 40392, !21, i64 40400, !21, i64 40408, !21, i64 40416, !21, i64 40424, !21, i64 40432, !21, i64 40440, !21, i64 40448, !21, i64 40456, !21, i64 40464, !21, i64 40472, !21, i64 40480, !21, i64 40488, !21, i64 40496, !21, i64 40504, !21, i64 40512, !21, i64 40520, !21, i64 40528, !21, i64 40536, !21, i64 40544, !21, i64 40552, !21, i64 40560, !21, i64 40568, !21, i64 40576, !21, i64 40584, !21, i64 40592, !21, i64 40600, !21, i64 40608, !21, i64 40616, !21, i64 40624, !21, i64 40632, !21, i64 40640, !21, i64 40648, !21, i64 40656, !21, i64 40664, !21, i64 40672, !21, i64 40680, !21, i64 40688, !21, i64 40696, !21, i64 40704, !21, i64 40712, !21, i64 40720, !21, i64 40728, !21, i64 40736, !21, i64 40744, !21, i64 40752, !21, i64 40760, !21, i64 40768, !21, i64 40776, !21, i64 40784, !21, i64 40792, !21, i64 40800, !21, i64 40808, !21, i64 40816, !21, i64 40824, !21, i64 40832, !21, i64 40840, !21, i64 40848, !21, i64 40856, !21, i64 40864, !21, i64 40872, !21, i64 40880, !21, i64 40888, !21, i64 40896, !21, i64 40904, !21, i64 40912, !21, i64 40920, !21, i64 40928, !21, i64 40936, !21, i64 40944, !21, i64 40952, !21, i64 40960, !21, i64 40968, !21, i64 40976, !21, i64 40984, !21, i64 40992, !21, i64 41000, !21, i64 41008, !21, i64 41016, !21, i64 41024, !21, i64 41032, !21, i64 41040, !21, i64 41048, !21, i64 41056, !21, i64 41064, !21, i64 41072, !21, i64 41080, !21, i64 41088, !21, i64 41096, !21, i64 41104, !21, i64 41112}
!25 = !{!11, !11, i64 0}
!26 = !{!24, !21, i64 40384}
!27 = !{!24, !21, i64 40472}
!28 = !{!24, !11, i64 40336}
!29 = !{!14, !14, i64 0}
!30 = !{!24, !21, i64 40408}


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