; LLVM IR from gazebosim/gz-physics :: tpe/lib/src/aabb_tree/AABB.ll (ZN4aabb4AABB13computeCentreEv)

; 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::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator" = type { i8 }
%"class.aabb::AABB" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector", double }

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; 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 noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN4aabb4AABB13computeCentreEv(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8 %0, ptr noundef nonnull align 8 dereferenceable(80) %1) #2 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i1, align 1
  %6 = alloca %"class.std::allocator", align 1
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  %10 = load ptr, ptr %4, align 8
  store i1 false, ptr %5, align 1
  %11 = getelementptr inbounds %"class.aabb::AABB", ptr %10, i32 0, i32 0
  %12 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #3
  call void @llvm.lifetime.start.p0(i64 1, ptr %6) #3
  call void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #3
  invoke void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %12, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %13 unwind label %20

13:                                               ; preds = %2
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr %6) #3
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #3
  store i32 0, ptr %9, align 4, !tbaa !9
  br label %14

14:                                               ; preds = %40, %13
  %15 = load i32, ptr %9, align 4, !tbaa !9
  %16 = zext i32 %15 to i64
  %17 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #3
  %18 = icmp ult i64 %16, %17
  br i1 %18, label %24, label %19

19:                                               ; preds = %14
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #3
  br label %43

20:                                               ; preds = %2
  %21 = landingpad { ptr, i32 }
          cleanup
  %22 = extractvalue { ptr, i32 } %21, 0
  store ptr %22, ptr %7, align 8
  %23 = extractvalue { ptr, i32 } %21, 1
  store i32 %23, ptr %8, align 4
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr %6) #3
  br label %47

24:                                               ; preds = %14
  %25 = getelementptr inbounds %"class.aabb::AABB", ptr %10, i32 0, i32 0
  %26 = load i32, ptr %9, align 4, !tbaa !9
  %27 = zext i32 %26 to i64
  %28 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %25, i64 noundef %27) #3
  %29 = load double, ptr %28, align 8, !tbaa !11
  %30 = getelementptr inbounds %"class.aabb::AABB", ptr %10, i32 0, i32 1
  %31 = load i32, ptr %9, align 4, !tbaa !9
  %32 = zext i32 %31 to i64
  %33 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %30, i64 noundef %32) #3
  %34 = load double, ptr %33, align 8, !tbaa !11
  %35 = fadd double %29, %34
  %36 = fmul double 5.000000e-01, %35
  %37 = load i32, ptr %9, align 4, !tbaa !9
  %38 = zext i32 %37 to i64
  %39 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %38) #3
  store double %36, ptr %39, align 8, !tbaa !11
  br label %40

40:                                               ; preds = %24
  %41 = load i32, ptr %9, align 4, !tbaa !9
  %42 = add i32 %41, 1
  store i32 %42, ptr %9, align 4, !tbaa !9
  br label %14, !llvm.loop !13

43:                                               ; preds = %19
  store i1 true, ptr %5, align 1
  %44 = load i1, ptr %5, align 1
  br i1 %44, label %46, label %45

45:                                               ; preds = %43
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #3
  br label %46

46:                                               ; preds = %45, %43
  ret void

47:                                               ; preds = %20
  %48 = load ptr, ptr %7, align 8
  %49 = load i32, ptr %8, align 4
  %50 = insertvalue { ptr, i32 } poison, ptr %48, 0
  %51 = insertvalue { ptr, i32 } %50, i32 %49, 1
  resume { ptr, i32 } %51
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}


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

%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator" = type { i8 }

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; 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 noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

; 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 uwtable
define dso_local void @_ZN4aabb4AABB13computeCentreEv(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8 %0, ptr noundef nonnull align 8 dereferenceable(80) %1) local_unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.std::allocator", align 1
  %4 = tail call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #3
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %3) #3
  call void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #3
  invoke void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %4, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %5 unwind label %8

5:                                                ; preds = %2
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %3) #3
  %6 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #3
  %.not = icmp eq i64 %6, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %5
  %7 = getelementptr inbounds i8, ptr %1, i64 24
  br label %10

8:                                                ; preds = %2
  %9 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %3) #3
  resume { ptr, i32 } %9

10:                                               ; preds = %.lr.ph, %10
  %11 = phi i64 [ 0, %.lr.ph ], [ %20, %10 ]
  %.09 = phi i32 [ 0, %.lr.ph ], [ %19, %10 ]
  %12 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %11) #3
  %13 = load double, ptr %12, align 8, !tbaa !5
  %14 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %11) #3
  %15 = load double, ptr %14, align 8, !tbaa !5
  %16 = fadd double %13, %15
  %17 = fmul double %16, 5.000000e-01
  %18 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %11) #3
  store double %17, ptr %18, align 8, !tbaa !5
  %19 = add i32 %.09, 1
  %20 = zext i32 %19 to i64
  %21 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #3
  %22 = icmp ugt i64 %21, %20
  br i1 %22, label %10, label %._crit_edge, !llvm.loop !9

._crit_edge:                                      ; preds = %10, %5
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaIdEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIdED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 = { 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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass