; LLVM IR from erwincoumans/tiny-differentiable-simulator :: third_party/rbdl/src (rbdl_mathutils)

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

%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.102", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.107", %"class.std::vector.107", %"class.std::vector.113", %"class.std::vector.107", %"class.std::vector.107", %"class.std::vector.107", %"class.std::vector", %"class.std::vector.120", %"class.std::vector", %"class.std::vector.127", %"class.std::vector.127", %"class.std::vector.134", %"class.std::vector.139", %"class.std::vector", %"class.std::vector.144", %"class.std::vector.107", %"class.std::vector.149", %"class.std::vector.107", %"class.std::vector.107", %"class.Eigen::Matrix.32", %"class.Eigen::Matrix.32", %"class.std::vector.107", %"class.std::vector.156", %"class.std::vector.156", %"class.std::vector.107", %"class.std::vector.107", %"class.std::vector.120", %"class.std::vector.120", %"class.std::vector.163", i32, %"class.std::vector.170", %"class.std::map" }
%"class.std::vector.102" = type { %"struct.std::_Vector_base.103" }
%"struct.std::_Vector_base.103" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.std::vector.113" = type { %"class.std::vector.114" }
%"class.std::vector.114" = type { %"struct.std::_Vector_base.115" }
%"struct.std::_Vector_base.115" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.127" = type { %"class.std::vector.128" }
%"class.std::vector.128" = type { %"struct.std::_Vector_base.129" }
%"struct.std::_Vector_base.129" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.134" = type { %"struct.std::_Vector_base.135" }
%"struct.std::_Vector_base.135" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.139" = type { %"struct.std::_Vector_base.140" }
%"struct.std::_Vector_base.140" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.144" = type { %"struct.std::_Vector_base.145" }
%"struct.std::_Vector_base.145" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.149" = type { %"class.std::vector.150" }
%"class.std::vector.150" = type { %"struct.std::_Vector_base.151" }
%"struct.std::_Vector_base.151" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.32" = type { %"class.Eigen::PlainObjectBase.33" }
%"class.Eigen::PlainObjectBase.33" = type { %"class.Eigen::DenseStorage.40" }
%"class.Eigen::DenseStorage.40" = type { ptr, i64 }
%"class.std::vector.156" = type { %"class.std::vector.157" }
%"class.std::vector.157" = type { %"struct.std::_Vector_base.158" }
%"struct.std::_Vector_base.158" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.107" = type { %"class.std::vector.108" }
%"class.std::vector.108" = type { %"struct.std::_Vector_base.109" }
%"struct.std::_Vector_base.109" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.120" = type { %"class.std::vector.121" }
%"class.std::vector.121" = type { %"struct.std::_Vector_base.122" }
%"struct.std::_Vector_base.122" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.163" = type { %"class.std::vector.164" }
%"class.std::vector.164" = type { %"struct.std::_Vector_base.165" }
%"struct.std::_Vector_base.165" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.170" = type { %"class.std::vector.171" }
%"class.std::vector.171" = type { %"struct.std::_Vector_base.172" }
%"struct.std::_Vector_base.172" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }

; 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: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #1 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics4Math18SparseFactorizeLTLERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1) #3 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #6
  store i32 0, ptr %5, align 4, !tbaa !9
  br label %11

11:                                               ; preds = %39, %2
  %12 = load i32, ptr %5, align 4, !tbaa !9
  %13 = load ptr, ptr %3, align 8, !tbaa !5
  %14 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %13, i32 0, i32 5
  %15 = load i32, ptr %14, align 8, !tbaa !11
  %16 = icmp ult i32 %12, %15
  br i1 %16, label %18, label %17

17:                                               ; preds = %11
  store i32 2, ptr %6, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #6
  br label %42

18:                                               ; preds = %11
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #6
  %19 = load i32, ptr %5, align 4, !tbaa !9
  %20 = add i32 %19, 1
  store i32 %20, ptr %7, align 4, !tbaa !9
  br label %21

21:                                               ; preds = %35, %18
  %22 = load i32, ptr %7, align 4, !tbaa !9
  %23 = load ptr, ptr %3, align 8, !tbaa !5
  %24 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %23, i32 0, i32 5
  %25 = load i32, ptr %24, align 8, !tbaa !11
  %26 = icmp ult i32 %22, %25
  br i1 %26, label %28, label %27

27:                                               ; preds = %21
  store i32 5, ptr %6, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #6
  br label %38

28:                                               ; preds = %21
  %29 = load ptr, ptr %4, align 8, !tbaa !5
  %30 = load i32, ptr %5, align 4, !tbaa !9
  %31 = zext i32 %30 to i64
  %32 = load i32, ptr %7, align 4, !tbaa !9
  %33 = zext i32 %32 to i64
  %34 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %29, i64 noundef %31, i64 noundef %33)
  store double 0.000000e+00, ptr %34, align 8, !tbaa !90
  br label %35

35:                                               ; preds = %28
  %36 = load i32, ptr %7, align 4, !tbaa !9
  %37 = add i32 %36, 1
  store i32 %37, ptr %7, align 4, !tbaa !9
  br label %21, !llvm.loop !92

38:                                               ; preds = %27
  br label %39

39:                                               ; preds = %38
  %40 = load i32, ptr %5, align 4, !tbaa !9
  %41 = add i32 %40, 1
  store i32 %41, ptr %5, align 4, !tbaa !9
  br label %11, !llvm.loop !94

42:                                               ; preds = %17
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #6
  %43 = load ptr, ptr %3, align 8, !tbaa !5
  %44 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %43, i32 0, i32 5
  %45 = load i32, ptr %44, align 8, !tbaa !11
  store i32 %45, ptr %8, align 4, !tbaa !9
  br label %46

46:                                               ; preds = %179, %42
  %47 = load i32, ptr %8, align 4, !tbaa !9
  %48 = icmp ugt i32 %47, 0
  br i1 %48, label %50, label %49

49:                                               ; preds = %46
  store i32 8, ptr %6, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #6
  br label %182

50:                                               ; preds = %46
  %51 = load ptr, ptr %4, align 8, !tbaa !5
  %52 = load i32, ptr %8, align 4, !tbaa !9
  %53 = sub i32 %52, 1
  %54 = zext i32 %53 to i64
  %55 = load i32, ptr %8, align 4, !tbaa !9
  %56 = sub i32 %55, 1
  %57 = zext i32 %56 to i64
  %58 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %51, i64 noundef %54, i64 noundef %57)
  %59 = load double, ptr %58, align 8, !tbaa !90
  %60 = call double @sqrt(double noundef %59) #6
  %61 = load ptr, ptr %4, align 8, !tbaa !5
  %62 = load i32, ptr %8, align 4, !tbaa !9
  %63 = sub i32 %62, 1
  %64 = zext i32 %63 to i64
  %65 = load i32, ptr %8, align 4, !tbaa !9
  %66 = sub i32 %65, 1
  %67 = zext i32 %66 to i64
  %68 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %61, i64 noundef %64, i64 noundef %67)
  store double %60, ptr %68, align 8, !tbaa !90
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #6
  %69 = load ptr, ptr %3, align 8, !tbaa !5
  %70 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %69, i32 0, i32 1
  %71 = load i32, ptr %8, align 4, !tbaa !9
  %72 = zext i32 %71 to i64
  %73 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %70, i64 noundef %72) #6
  %74 = load i32, ptr %73, align 4, !tbaa !9
  store i32 %74, ptr %9, align 4, !tbaa !9
  br label %75

75:                                               ; preds = %78, %50
  %76 = load i32, ptr %9, align 4, !tbaa !9
  %77 = icmp ne i32 %76, 0
  br i1 %77, label %78, label %112

78:                                               ; preds = %75
  %79 = load ptr, ptr %4, align 8, !tbaa !5
  %80 = load i32, ptr %8, align 4, !tbaa !9
  %81 = sub i32 %80, 1
  %82 = zext i32 %81 to i64
  %83 = load i32, ptr %9, align 4, !tbaa !9
  %84 = sub i32 %83, 1
  %85 = zext i32 %84 to i64
  %86 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %79, i64 noundef %82, i64 noundef %85)
  %87 = load double, ptr %86, align 8, !tbaa !90
  %88 = load ptr, ptr %4, align 8, !tbaa !5
  %89 = load i32, ptr %8, align 4, !tbaa !9
  %90 = sub i32 %89, 1
  %91 = zext i32 %90 to i64
  %92 = load i32, ptr %8, align 4, !tbaa !9
  %93 = sub i32 %92, 1
  %94 = zext i32 %93 to i64
  %95 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %88, i64 noundef %91, i64 noundef %94)
  %96 = load double, ptr %95, align 8, !tbaa !90
  %97 = fdiv double %87, %96
  %98 = load ptr, ptr %4, align 8, !tbaa !5
  %99 = load i32, ptr %8, align 4, !tbaa !9
  %100 = sub i32 %99, 1
  %101 = zext i32 %100 to i64
  %102 = load i32, ptr %9, align 4, !tbaa !9
  %103 = sub i32 %102, 1
  %104 = zext i32 %103 to i64
  %105 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %98, i64 noundef %101, i64 noundef %104)
  store double %97, ptr %105, align 8, !tbaa !90
  %106 = load ptr, ptr %3, align 8, !tbaa !5
  %107 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %106, i32 0, i32 1
  %108 = load i32, ptr %9, align 4, !tbaa !9
  %109 = zext i32 %108 to i64
  %110 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %107, i64 noundef %109) #6
  %111 = load i32, ptr %110, align 4, !tbaa !9
  store i32 %111, ptr %9, align 4, !tbaa !9
  br label %75, !llvm.loop !95

112:                                              ; preds = %75
  %113 = load ptr, ptr %3, align 8, !tbaa !5
  %114 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %113, i32 0, i32 1
  %115 = load i32, ptr %8, align 4, !tbaa !9
  %116 = zext i32 %115 to i64
  %117 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %114, i64 noundef %116) #6
  %118 = load i32, ptr %117, align 4, !tbaa !9
  store i32 %118, ptr %9, align 4, !tbaa !9
  br label %119

119:                                              ; preds = %171, %112
  %120 = load i32, ptr %9, align 4, !tbaa !9
  %121 = icmp ne i32 %120, 0
  br i1 %121, label %122, label %178

122:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #6
  %123 = load i32, ptr %9, align 4, !tbaa !9
  store i32 %123, ptr %10, align 4, !tbaa !9
  br label %124

124:                                              ; preds = %127, %122
  %125 = load i32, ptr %10, align 4, !tbaa !9
  %126 = icmp ne i32 %125, 0
  br i1 %126, label %127, label %171

127:                                              ; preds = %124
  %128 = load ptr, ptr %4, align 8, !tbaa !5
  %129 = load i32, ptr %9, align 4, !tbaa !9
  %130 = sub i32 %129, 1
  %131 = zext i32 %130 to i64
  %132 = load i32, ptr %10, align 4, !tbaa !9
  %133 = sub i32 %132, 1
  %134 = zext i32 %133 to i64
  %135 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %128, i64 noundef %131, i64 noundef %134)
  %136 = load double, ptr %135, align 8, !tbaa !90
  %137 = load ptr, ptr %4, align 8, !tbaa !5
  %138 = load i32, ptr %8, align 4, !tbaa !9
  %139 = sub i32 %138, 1
  %140 = zext i32 %139 to i64
  %141 = load i32, ptr %9, align 4, !tbaa !9
  %142 = sub i32 %141, 1
  %143 = zext i32 %142 to i64
  %144 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %137, i64 noundef %140, i64 noundef %143)
  %145 = load double, ptr %144, align 8, !tbaa !90
  %146 = load ptr, ptr %4, align 8, !tbaa !5
  %147 = load i32, ptr %8, align 4, !tbaa !9
  %148 = sub i32 %147, 1
  %149 = zext i32 %148 to i64
  %150 = load i32, ptr %10, align 4, !tbaa !9
  %151 = sub i32 %150, 1
  %152 = zext i32 %151 to i64
  %153 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %146, i64 noundef %149, i64 noundef %152)
  %154 = load double, ptr %153, align 8, !tbaa !90
  %155 = fneg double %145
  %156 = call double @llvm.fmuladd.f64(double %155, double %154, double %136)
  %157 = load ptr, ptr %4, align 8, !tbaa !5
  %158 = load i32, ptr %9, align 4, !tbaa !9
  %159 = sub i32 %158, 1
  %160 = zext i32 %159 to i64
  %161 = load i32, ptr %10, align 4, !tbaa !9
  %162 = sub i32 %161, 1
  %163 = zext i32 %162 to i64
  %164 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %157, i64 noundef %160, i64 noundef %163)
  store double %156, ptr %164, align 8, !tbaa !90
  %165 = load ptr, ptr %3, align 8, !tbaa !5
  %166 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %165, i32 0, i32 1
  %167 = load i32, ptr %10, align 4, !tbaa !9
  %168 = zext i32 %167 to i64
  %169 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %166, i64 noundef %168) #6
  %170 = load i32, ptr %169, align 4, !tbaa !9
  store i32 %170, ptr %10, align 4, !tbaa !9
  br label %124, !llvm.loop !96

171:                                              ; preds = %124
  %172 = load ptr, ptr %3, align 8, !tbaa !5
  %173 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %172, i32 0, i32 1
  %174 = load i32, ptr %9, align 4, !tbaa !9
  %175 = zext i32 %174 to i64
  %176 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %173, i64 noundef %175) #6
  %177 = load i32, ptr %176, align 4, !tbaa !9
  store i32 %177, ptr %9, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #6
  br label %119, !llvm.loop !97

178:                                              ; preds = %119
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #6
  br label %179

179:                                              ; preds = %178
  %180 = load i32, ptr %8, align 4, !tbaa !9
  %181 = add i32 %180, -1
  store i32 %181, ptr %8, align 4, !tbaa !9
  br label %46, !llvm.loop !98

182:                                              ; preds = %49
  ret void
}

; Function Attrs: nounwind
declare double @sqrt(double noundef) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { 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 #4 = { nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { 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, !10, i64 80}
!12 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !13, i64 0, !13, i64 24, !17, i64 48, !10, i64 72, !10, i64 76, !10, i64 80, !10, i64 84, !21, i64 88, !26, i64 112, !26, i64 136, !31, i64 160, !26, i64 184, !26, i64 208, !26, i64 232, !13, i64 256, !36, i64 280, !13, i64 304, !41, i64 328, !41, i64 352, !46, i64 376, !50, i64 400, !13, i64 424, !54, i64 448, !26, i64 472, !58, i64 496, !26, i64 520, !26, i64 544, !63, i64 568, !63, i64 584, !26, i64 600, !67, i64 624, !67, i64 648, !26, i64 672, !26, i64 696, !36, i64 720, !36, i64 744, !72, i64 768, !10, i64 792, !77, i64 800, !82, i64 824}
!13 = !{!"_ZTSSt6vectorIjSaIjEE", !14, i64 0}
!14 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!17 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"_ZTS9Vector3_t", !22, i64 0}
!22 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!26 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !27, i64 0}
!27 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !28, i64 0}
!28 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!31 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !32, i64 0}
!32 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !33, i64 0}
!33 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!36 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !37, i64 0}
!37 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !38, i64 0}
!38 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !40, i64 0}
!40 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!41 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !42, i64 0}
!42 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !43, i64 0}
!43 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!46 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !47, i64 0}
!47 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !49, i64 0}
!49 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!50 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !51, i64 0}
!51 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !53, i64 0}
!53 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!54 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !55, i64 0}
!55 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !57, i64 0}
!57 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!58 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !59, i64 0}
!59 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !60, i64 0}
!60 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !62, i64 0}
!62 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!63 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !64, i64 0}
!64 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !65, i64 0}
!65 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !66, i64 8}
!66 = !{!"long", !7, i64 0}
!67 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !68, i64 0}
!68 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !69, i64 0}
!69 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !70, i64 0}
!70 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !71, i64 0}
!71 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!72 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !73, i64 0}
!73 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !74, i64 0}
!74 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !76, i64 0}
!76 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!77 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !78, i64 0}
!78 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !79, i64 0}
!79 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !81, i64 0}
!81 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!82 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !83, i64 0}
!83 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !84, i64 0}
!84 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !85, i64 0, !87, i64 8}
!85 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !86, i64 0}
!86 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!87 = !{!"_ZTSSt15_Rb_tree_header", !88, i64 0, !66, i64 32}
!88 = !{!"_ZTSSt18_Rb_tree_node_base", !89, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!89 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!90 = !{!91, !91, i64 0}
!91 = !{!"double", !7, i64 0}
!92 = distinct !{!92, !93}
!93 = !{!"llvm.loop.mustprogress"}
!94 = distinct !{!94, !93}
!95 = distinct !{!95, !93}
!96 = distinct !{!96, !93}
!97 = distinct !{!97, !93}
!98 = distinct !{!98, !93}


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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 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) #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics4Math18SparseFactorizeLTLERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1) local_unnamed_addr #2 {
  %3 = getelementptr inbounds i8, ptr %0, i64 80
  %4 = load i32, ptr %3, align 8, !tbaa !5
  %.not78 = icmp eq i32 %4, 0
  br i1 %.not78, label %._crit_edge77, label %.lr.ph65

.loopexit62:                                      ; preds = %.lr.ph, %.lr.ph65
  %.pre-phi = phi i64 [ %10, %.lr.ph65 ], [ %14, %.lr.ph ]
  %5 = phi i32 [ %9, %.lr.ph65 ], [ %13, %.lr.ph ]
  %6 = icmp ult i64 %indvars.iv.next84, %.pre-phi
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  br i1 %6, label %.lr.ph65, label %.preheader61, !llvm.loop !88

.preheader61:                                     ; preds = %.loopexit62
  %.not74 = icmp eq i32 %5, 0
  br i1 %.not74, label %._crit_edge77, label %.lr.ph76

.lr.ph76:                                         ; preds = %.preheader61
  %7 = getelementptr inbounds i8, ptr %0, i64 24
  %8 = zext i32 %5 to i64
  br label %16

.lr.ph65:                                         ; preds = %2, %.loopexit62
  %9 = phi i32 [ %5, %.loopexit62 ], [ %4, %2 ]
  %indvars.iv83 = phi i64 [ %indvars.iv.next84, %.loopexit62 ], [ 0, %2 ]
  %indvars.iv = phi i64 [ %indvars.iv.next, %.loopexit62 ], [ 1, %2 ]
  %indvars.iv.next84 = add nuw nsw i64 %indvars.iv83, 1
  %10 = zext i32 %9 to i64
  %11 = icmp ult i64 %indvars.iv.next84, %10
  br i1 %11, label %.lr.ph, label %.loopexit62

.lr.ph:                                           ; preds = %.lr.ph65, %.lr.ph
  %indvars.iv80 = phi i64 [ %indvars.iv.next81, %.lr.ph ], [ %indvars.iv, %.lr.ph65 ]
  %12 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %indvars.iv83, i64 noundef %indvars.iv80)
  store double 0.000000e+00, ptr %12, align 8, !tbaa !90
  %indvars.iv.next81 = add nuw nsw i64 %indvars.iv80, 1
  %13 = load i32, ptr %3, align 8, !tbaa !5
  %14 = zext i32 %13 to i64
  %15 = icmp ult i64 %indvars.iv.next81, %14
  br i1 %15, label %.lr.ph, label %.loopexit62, !llvm.loop !92

.loopexit:                                        ; preds = %51, %._crit_edge
  %.not.wide = icmp eq i64 %17, 0
  br i1 %.not.wide, label %._crit_edge77, label %16, !llvm.loop !93

._crit_edge77:                                    ; preds = %.loopexit, %2, %.preheader61
  ret void

16:                                               ; preds = %.lr.ph76, %.loopexit
  %indvars.iv86 = phi i64 [ %8, %.lr.ph76 ], [ %17, %.loopexit ]
  %17 = add nsw i64 %indvars.iv86, -1
  %18 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %17, i64 noundef %17)
  %19 = load double, ptr %18, align 8, !tbaa !90
  %20 = tail call double @sqrt(double noundef %19) #5
  %21 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %17, i64 noundef %17)
  store double %20, ptr %21, align 8, !tbaa !90
  %22 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %indvars.iv86) #5
  %.05366 = load i32, ptr %22, align 4, !tbaa !94
  %.not5867 = icmp eq i32 %.05366, 0
  br i1 %.not5867, label %._crit_edge, label %.lr.ph69

.lr.ph69:                                         ; preds = %16, %.lr.ph69
  %.05368 = phi i32 [ %.053, %.lr.ph69 ], [ %.05366, %16 ]
  %23 = add i32 %.05368, -1
  %24 = zext i32 %23 to i64
  %25 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %17, i64 noundef %24)
  %26 = load double, ptr %25, align 8, !tbaa !90
  %27 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %17, i64 noundef %17)
  %28 = load double, ptr %27, align 8, !tbaa !90
  %29 = fdiv double %26, %28
  %30 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %17, i64 noundef %24)
  store double %29, ptr %30, align 8, !tbaa !90
  %31 = zext i32 %.05368 to i64
  %32 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %31) #5
  %.053 = load i32, ptr %32, align 4, !tbaa !94
  %.not58 = icmp eq i32 %.053, 0
  br i1 %.not58, label %._crit_edge, label %.lr.ph69, !llvm.loop !95

._crit_edge:                                      ; preds = %.lr.ph69, %16
  %33 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %indvars.iv86) #5
  %.171 = load i32, ptr %33, align 4, !tbaa !94
  %.not5972 = icmp eq i32 %.171, 0
  br i1 %.not5972, label %.loopexit, label %.preheader

.preheader:                                       ; preds = %._crit_edge, %51
  %.173 = phi i32 [ %.1, %51 ], [ %.171, %._crit_edge ]
  %34 = add i32 %.173, -1
  %35 = zext i32 %34 to i64
  br label %36

36:                                               ; preds = %.preheader, %36
  %.070 = phi i32 [ %.173, %.preheader ], [ %50, %36 ]
  %37 = add i32 %.070, -1
  %38 = zext i32 %37 to i64
  %39 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %35, i64 noundef %38)
  %40 = load double, ptr %39, align 8, !tbaa !90
  %41 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %17, i64 noundef %35)
  %42 = load double, ptr %41, align 8, !tbaa !90
  %43 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %17, i64 noundef %38)
  %44 = load double, ptr %43, align 8, !tbaa !90
  %45 = fneg double %42
  %46 = tail call double @llvm.fmuladd.f64(double %45, double %44, double %40)
  %47 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %35, i64 noundef %38)
  store double %46, ptr %47, align 8, !tbaa !90
  %48 = zext i32 %.070 to i64
  %49 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %48) #5
  %50 = load i32, ptr %49, align 4, !tbaa !94
  %.not60 = icmp eq i32 %50, 0
  br i1 %.not60, label %51, label %36, !llvm.loop !96

51:                                               ; preds = %36
  %52 = zext i32 %.173 to i64
  %53 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %52) #5
  %.1 = load i32, ptr %53, align 4, !tbaa !94
  %.not59 = icmp eq i32 %.1, 0
  br i1 %.not59, label %.loopexit, label %.preheader, !llvm.loop !97
}

; Function Attrs: mustprogress nofree nounwind willreturn memory(write)
declare double @sqrt(double noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #4 align 2

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = { mustprogress nofree nounwind willreturn memory(write) "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 = { 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 #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, !18, i64 80}
!6 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !7, i64 0, !7, i64 24, !14, i64 48, !18, i64 72, !18, i64 76, !18, i64 80, !18, i64 84, !19, i64 88, !24, i64 112, !24, i64 136, !29, i64 160, !24, i64 184, !24, i64 208, !24, i64 232, !7, i64 256, !34, i64 280, !7, i64 304, !39, i64 328, !39, i64 352, !44, i64 376, !48, i64 400, !7, i64 424, !52, i64 448, !24, i64 472, !56, i64 496, !24, i64 520, !24, i64 544, !61, i64 568, !61, i64 584, !24, i64 600, !65, i64 624, !65, i64 648, !24, i64 672, !24, i64 696, !34, i64 720, !34, i64 744, !70, i64 768, !18, i64 792, !75, i64 800, !80, i64 824}
!7 = !{!"_ZTSSt6vectorIjSaIjEE", !8, i64 0}
!8 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !9, i64 0}
!9 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !10, i64 0}
!10 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!11 = !{!"any pointer", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!18 = !{!"int", !12, i64 0}
!19 = !{!"_ZTS9Vector3_t", !20, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !12, i64 0}
!24 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !25, i64 0}
!25 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!29 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !30, i64 0}
!30 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!34 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !35, i64 0}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!39 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !40, i64 0}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!44 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!48 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !49, i64 0}
!49 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!52 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !53, i64 0}
!53 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !54, i64 0}
!54 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!56 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !57, i64 0}
!57 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !58, i64 0}
!58 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !59, i64 0}
!59 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!61 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !62, i64 0}
!62 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !11, i64 0, !64, i64 8}
!64 = !{!"long", !12, i64 0}
!65 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !66, i64 0}
!66 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !67, i64 0}
!67 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!70 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !71, i64 0}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !72, i64 0}
!72 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!75 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !76, i64 0}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !77, i64 0}
!77 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!80 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !81, i64 0}
!81 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !82, i64 0}
!82 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !83, i64 0, !85, i64 8}
!83 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !84, i64 0}
!84 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!85 = !{!"_ZTSSt15_Rb_tree_header", !86, i64 0, !64, i64 32}
!86 = !{!"_ZTSSt18_Rb_tree_node_base", !87, i64 0, !11, i64 8, !11, i64 16, !11, i64 24}
!87 = !{!"_ZTSSt14_Rb_tree_color", !12, i64 0}
!88 = distinct !{!88, !89}
!89 = !{!"llvm.loop.mustprogress"}
!90 = !{!91, !91, i64 0}
!91 = !{!"double", !12, i64 0}
!92 = distinct !{!92, !89}
!93 = distinct !{!93, !89}
!94 = !{!18, !18, i64 0}
!95 = distinct !{!95, !89}
!96 = distinct !{!96, !89}
!97 = distinct !{!97, !89}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass