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

; 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.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.Eigen::Transpose.209" = type { ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.202" }
%"class.Eigen::MapBase.202" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Product" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, %"class.Eigen::Product.274", [8 x i8] }>
%"class.Eigen::Product.274" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Solve.281" = type { ptr, ptr }
%"class.Eigen::LLT" = type { %"class.Eigen::Matrix.41", double, i8, i32 }
%"class.Eigen::CwiseBinaryOp.289" = type <{ ptr, %"class.Eigen::Product.295", [8 x i8] }>
%"class.Eigen::Product.295" = type { %"class.Eigen::Transpose.209", ptr }

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

declare i32 @__gxx_personality_v0(...)

; 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 ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics38SolveConstrainedSystemRangeSpaceSparseERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKS4_RKNS3_IdLin1ELi1ELi0ELin1ELi1EEESA_RS8_SB_S5_SB_NS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(16) %8, i32 noundef %9) #2 personality ptr @__gxx_personality_v0 {
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca i32, align 4
  %21 = alloca %"class.Eigen::Matrix.41", align 8
  %22 = alloca %"class.Eigen::Transpose.209", align 8
  %23 = alloca i32, align 4
  %24 = alloca ptr, align 8
  %25 = alloca i32, align 4
  %26 = alloca %"class.Eigen::Matrix", align 8
  %27 = alloca %"class.Eigen::Block", align 8
  %28 = alloca %"class.Eigen::Block", align 8
  %29 = alloca %"class.Eigen::Matrix", align 8
  %30 = alloca %"class.Eigen::Product", align 8
  %31 = alloca %"class.Eigen::Transpose", align 8
  %32 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %33 = alloca %"class.Eigen::Product.274", align 8
  %34 = alloca %"class.Eigen::Transpose", align 8
  %35 = alloca %"class.Eigen::Solve.281", align 8
  %36 = alloca %"class.Eigen::LLT", align 8
  %37 = alloca %"class.Eigen::CwiseBinaryOp.289", align 8
  %38 = alloca %"class.Eigen::Product.295", align 8
  %39 = alloca %"class.Eigen::Transpose.209", align 8
  store ptr %0, ptr %11, align 8, !tbaa !5
  store ptr %1, ptr %12, align 8, !tbaa !5
  store ptr %2, ptr %13, align 8, !tbaa !5
  store ptr %3, ptr %14, align 8, !tbaa !5
  store ptr %4, ptr %15, align 8, !tbaa !5
  store ptr %5, ptr %16, align 8, !tbaa !5
  store ptr %6, ptr %17, align 8, !tbaa !5
  store ptr %7, ptr %18, align 8, !tbaa !5
  store ptr %8, ptr %19, align 8, !tbaa !5
  store i32 %9, ptr %20, align 4, !tbaa !9
  %40 = load ptr, ptr %11, align 8, !tbaa !5
  %41 = load ptr, ptr %12, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics4Math18SparseFactorizeLTLERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(872) %40, ptr noundef nonnull align 8 dereferenceable(24) %41)
  call void @llvm.lifetime.start.p0(i64 24, ptr %21) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #5
  %42 = load ptr, ptr %13, align 8, !tbaa !5
  %43 = call ptr @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %42)
  %44 = getelementptr inbounds %"class.Eigen::Transpose.209", ptr %22, i32 0, i32 0
  store ptr %43, ptr %44, align 8
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_9TransposeIKS1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(24) %21, ptr noundef nonnull align 8 dereferenceable(8) %22)
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #5
  store i32 0, ptr %23, align 4, !tbaa !11
  br label %45

45:                                               ; preds = %73, %10
  %46 = load i32, ptr %23, align 4, !tbaa !11
  %47 = zext i32 %46 to i64
  %48 = invoke noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %21)
          to label %49 unwind label %52

49:                                               ; preds = %45
  %50 = icmp slt i64 %47, %48
  br i1 %50, label %56, label %51

51:                                               ; preds = %49
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #5
  br label %91

52:                                               ; preds = %45
  %53 = landingpad { ptr, i32 }
          cleanup
  %54 = extractvalue { ptr, i32 } %53, 0
  store ptr %54, ptr %24, align 8
  %55 = extractvalue { ptr, i32 } %53, 1
  store i32 %55, ptr %25, align 4
  br label %90

56:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr %27) #5
  %57 = load i32, ptr %23, align 4, !tbaa !11
  %58 = zext i32 %57 to i64
  %59 = invoke noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %21)
          to label %60 unwind label %76

60:                                               ; preds = %56
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIliEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %21, i64 noundef 0, i64 noundef %58, i64 noundef %59, i32 noundef 1)
          to label %61 unwind label %76

61:                                               ; preds = %60
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %26, ptr noundef nonnull align 1 dereferenceable(1) %27)
          to label %62 unwind label %76

62:                                               ; preds = %61
  call void @llvm.lifetime.end.p0(i64 56, ptr %27) #5
  %63 = load ptr, ptr %11, align 8, !tbaa !5
  %64 = load ptr, ptr %12, align 8, !tbaa !5
  invoke void @_ZN17RigidBodyDynamics4Math14SparseSolveLTxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %63, ptr noundef nonnull align 8 dereferenceable(24) %64, ptr noundef nonnull align 8 dereferenceable(16) %26)
          to label %65 unwind label %80

65:                                               ; preds = %62
  call void @llvm.lifetime.start.p0(i64 56, ptr %28) #5
  %66 = load i32, ptr %23, align 4, !tbaa !11
  %67 = zext i32 %66 to i64
  %68 = invoke noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %21)
          to label %69 unwind label %84

69:                                               ; preds = %65
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIliEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %21, i64 noundef 0, i64 noundef %67, i64 noundef %68, i32 noundef 1)
          to label %70 unwind label %84

70:                                               ; preds = %69
  %71 = invoke noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS1_IdLin1ELi1ELi0ELin1ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %28, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %72 unwind label %84

72:                                               ; preds = %70
  call void @llvm.lifetime.end.p0(i64 56, ptr %28) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %26) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #5
  br label %73

73:                                               ; preds = %72
  %74 = load i32, ptr %23, align 4, !tbaa !11
  %75 = add i32 %74, 1
  store i32 %75, ptr %23, align 4, !tbaa !11
  br label %45, !llvm.loop !13

76:                                               ; preds = %61, %60, %56
  %77 = landingpad { ptr, i32 }
          cleanup
  %78 = extractvalue { ptr, i32 } %77, 0
  store ptr %78, ptr %24, align 8
  %79 = extractvalue { ptr, i32 } %77, 1
  store i32 %79, ptr %25, align 4
  call void @llvm.lifetime.end.p0(i64 56, ptr %27) #5
  br label %89

80:                                               ; preds = %62
  %81 = landingpad { ptr, i32 }
          cleanup
  %82 = extractvalue { ptr, i32 } %81, 0
  store ptr %82, ptr %24, align 8
  %83 = extractvalue { ptr, i32 } %81, 1
  store i32 %83, ptr %25, align 4
  br label %88

84:                                               ; preds = %70, %69, %65
  %85 = landingpad { ptr, i32 }
          cleanup
  %86 = extractvalue { ptr, i32 } %85, 0
  store ptr %86, ptr %24, align 8
  %87 = extractvalue { ptr, i32 } %85, 1
  store i32 %87, ptr %25, align 4
  call void @llvm.lifetime.end.p0(i64 56, ptr %28) #5
  br label %88

88:                                               ; preds = %84, %80
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %26) #5
  br label %89

89:                                               ; preds = %88, %76
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #5
  br label %90

90:                                               ; preds = %89, %52
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #5
  br label %190

91:                                               ; preds = %51
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #5
  %92 = load ptr, ptr %14, align 8, !tbaa !5
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(16) %29, ptr noundef nonnull align 8 dereferenceable(16) %92)
          to label %93 unwind label %159

93:                                               ; preds = %91
  %94 = load ptr, ptr %11, align 8, !tbaa !5
  %95 = load ptr, ptr %12, align 8, !tbaa !5
  invoke void @_ZN17RigidBodyDynamics4Math14SparseSolveLTxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %94, ptr noundef nonnull align 8 dereferenceable(24) %95, ptr noundef nonnull align 8 dereferenceable(16) %29)
          to label %96 unwind label %163

96:                                               ; preds = %93
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #5
  %97 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %98 unwind label %167

98:                                               ; preds = %96
  %99 = getelementptr inbounds %"class.Eigen::Transpose", ptr %31, i32 0, i32 0
  store ptr %97, ptr %99, align 8
  %100 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %101 unwind label %167

101:                                              ; preds = %98
  %102 = getelementptr inbounds { ptr, ptr }, ptr %30, i32 0, i32 0
  %103 = extractvalue { ptr, ptr } %100, 0
  store ptr %103, ptr %102, align 8
  %104 = getelementptr inbounds { ptr, ptr }, ptr %30, i32 0, i32 1
  %105 = extractvalue { ptr, ptr } %100, 1
  store ptr %105, ptr %104, align 8
  %106 = load ptr, ptr %18, align 8, !tbaa !5
  %107 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS_9TransposeIS1_EES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %106, ptr noundef nonnull align 1 dereferenceable(1) %30)
          to label %108 unwind label %167

108:                                              ; preds = %101
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #5
  call void @llvm.lifetime.start.p0(i64 32, ptr %32) #5
  %109 = load ptr, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #5
  %110 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %111 unwind label %171

111:                                              ; preds = %108
  %112 = getelementptr inbounds %"class.Eigen::Transpose", ptr %34, i32 0, i32 0
  store ptr %110, ptr %112, align 8
  %113 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %34, ptr noundef nonnull align 1 dereferenceable(1) %29)
          to label %114 unwind label %171

114:                                              ; preds = %111
  %115 = getelementptr inbounds { ptr, ptr }, ptr %33, i32 0, i32 0
  %116 = extractvalue { ptr, ptr } %113, 0
  store ptr %116, ptr %115, align 8
  %117 = getelementptr inbounds { ptr, ptr }, ptr %33, i32 0, i32 1
  %118 = extractvalue { ptr, ptr } %113, 1
  store ptr %118, ptr %117, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %32, ptr noundef nonnull align 1 dereferenceable(1) %109, ptr noundef nonnull align 1 dereferenceable(1) %33)
          to label %119 unwind label %171

119:                                              ; preds = %114
  %120 = load ptr, ptr %19, align 8, !tbaa !5
  %121 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_Li0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %120, ptr noundef nonnull align 1 dereferenceable(1) %32)
          to label %122 unwind label %171

122:                                              ; preds = %119
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %32) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %36) #5
  %123 = load ptr, ptr %18, align 8, !tbaa !5
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3lltEv(ptr dead_on_unwind writable sret(%"class.Eigen::LLT") align 8 %36, ptr noundef nonnull align 1 dereferenceable(1) %123)
          to label %124 unwind label %175

124:                                              ; preds = %122
  %125 = load ptr, ptr %19, align 8, !tbaa !5
  %126 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %36, ptr noundef nonnull align 1 dereferenceable(1) %125)
          to label %127 unwind label %179

127:                                              ; preds = %124
  %128 = getelementptr inbounds { ptr, ptr }, ptr %35, i32 0, i32 0
  %129 = extractvalue { ptr, ptr } %126, 0
  store ptr %129, ptr %128, align 8
  %130 = getelementptr inbounds { ptr, ptr }, ptr %35, i32 0, i32 1
  %131 = extractvalue { ptr, ptr } %126, 1
  store ptr %131, ptr %130, align 8
  %132 = load ptr, ptr %17, align 8, !tbaa !5
  %133 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_3LLTINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1EEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %132, ptr noundef nonnull align 1 dereferenceable(1) %35)
          to label %134 unwind label %179

134:                                              ; preds = %127
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %36) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %36) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #5
  call void @llvm.lifetime.start.p0(i64 32, ptr %37) #5
  %135 = load ptr, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #5
  %136 = load ptr, ptr %13, align 8, !tbaa !5
  %137 = invoke ptr @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %136)
          to label %138 unwind label %184

138:                                              ; preds = %134
  %139 = getelementptr inbounds %"class.Eigen::Transpose.209", ptr %39, i32 0, i32 0
  store ptr %137, ptr %139, align 8
  %140 = load ptr, ptr %17, align 8, !tbaa !5
  %141 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS5_T_Li0EEERKNS0_ISA_EE(ptr noundef nonnull align 1 dereferenceable(1) %39, ptr noundef nonnull align 1 dereferenceable(1) %140)
          to label %142 unwind label %184

142:                                              ; preds = %138
  %143 = getelementptr inbounds { ptr, ptr }, ptr %38, i32 0, i32 0
  %144 = extractvalue { ptr, ptr } %141, 0
  store ptr %144, ptr %143, align 8
  %145 = getelementptr inbounds { ptr, ptr }, ptr %38, i32 0, i32 1
  %146 = extractvalue { ptr, ptr } %141, 1
  store ptr %146, ptr %145, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEplINS_7ProductINS_9TransposeIKNS1_IdLin1ELin1ELi0ELin1ELin1EEEEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.289") align 8 %37, ptr noundef nonnull align 1 dereferenceable(1) %135, ptr noundef nonnull align 1 dereferenceable(1) %38)
          to label %147 unwind label %184

147:                                              ; preds = %142
  %148 = load ptr, ptr %16, align 8, !tbaa !5
  %149 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKS1_KNS_7ProductINS_9TransposeIKNS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_Li0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %148, ptr noundef nonnull align 1 dereferenceable(1) %37)
          to label %150 unwind label %184

150:                                              ; preds = %147
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %37) #5
  %151 = load ptr, ptr %11, align 8, !tbaa !5
  %152 = load ptr, ptr %12, align 8, !tbaa !5
  %153 = load ptr, ptr %16, align 8, !tbaa !5
  invoke void @_ZN17RigidBodyDynamics4Math14SparseSolveLTxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %151, ptr noundef nonnull align 8 dereferenceable(24) %152, ptr noundef nonnull align 8 dereferenceable(16) %153)
          to label %154 unwind label %163

154:                                              ; preds = %150
  %155 = load ptr, ptr %11, align 8, !tbaa !5
  %156 = load ptr, ptr %12, align 8, !tbaa !5
  %157 = load ptr, ptr %16, align 8, !tbaa !5
  invoke void @_ZN17RigidBodyDynamics4Math13SparseSolveLxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %155, ptr noundef nonnull align 8 dereferenceable(24) %156, ptr noundef nonnull align 8 dereferenceable(16) %157)
          to label %158 unwind label %163

158:                                              ; preds = %154
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %29) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #5
  ret void

159:                                              ; preds = %91
  %160 = landingpad { ptr, i32 }
          cleanup
  %161 = extractvalue { ptr, i32 } %160, 0
  store ptr %161, ptr %24, align 8
  %162 = extractvalue { ptr, i32 } %160, 1
  store i32 %162, ptr %25, align 4
  br label %189

163:                                              ; preds = %154, %150, %93
  %164 = landingpad { ptr, i32 }
          cleanup
  %165 = extractvalue { ptr, i32 } %164, 0
  store ptr %165, ptr %24, align 8
  %166 = extractvalue { ptr, i32 } %164, 1
  store i32 %166, ptr %25, align 4
  br label %188

167:                                              ; preds = %101, %98, %96
  %168 = landingpad { ptr, i32 }
          cleanup
  %169 = extractvalue { ptr, i32 } %168, 0
  store ptr %169, ptr %24, align 8
  %170 = extractvalue { ptr, i32 } %168, 1
  store i32 %170, ptr %25, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #5
  br label %188

171:                                              ; preds = %119, %114, %111, %108
  %172 = landingpad { ptr, i32 }
          cleanup
  %173 = extractvalue { ptr, i32 } %172, 0
  store ptr %173, ptr %24, align 8
  %174 = extractvalue { ptr, i32 } %172, 1
  store i32 %174, ptr %25, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %32) #5
  br label %188

175:                                              ; preds = %122
  %176 = landingpad { ptr, i32 }
          cleanup
  %177 = extractvalue { ptr, i32 } %176, 0
  store ptr %177, ptr %24, align 8
  %178 = extractvalue { ptr, i32 } %176, 1
  store i32 %178, ptr %25, align 4
  br label %183

179:                                              ; preds = %127, %124
  %180 = landingpad { ptr, i32 }
          cleanup
  %181 = extractvalue { ptr, i32 } %180, 0
  store ptr %181, ptr %24, align 8
  %182 = extractvalue { ptr, i32 } %180, 1
  store i32 %182, ptr %25, align 4
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %36) #5
  br label %183

183:                                              ; preds = %179, %175
  call void @llvm.lifetime.end.p0(i64 40, ptr %36) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #5
  br label %188

184:                                              ; preds = %147, %142, %138, %134
  %185 = landingpad { ptr, i32 }
          cleanup
  %186 = extractvalue { ptr, i32 } %185, 0
  store ptr %186, ptr %24, align 8
  %187 = extractvalue { ptr, i32 } %185, 1
  store i32 %187, ptr %25, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %37) #5
  br label %188

188:                                              ; preds = %184, %183, %171, %167, %163
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %29) #5
  br label %189

189:                                              ; preds = %188, %159
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #5
  br label %190

190:                                              ; preds = %189, %90
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #5
  br label %191

191:                                              ; preds = %190
  %192 = load ptr, ptr %24, align 8
  %193 = load i32, ptr %25, align 4
  %194 = insertvalue { ptr, i32 } poison, ptr %192, 0
  %195 = insertvalue { ptr, i32 } %194, i32 %193, 1
  resume { ptr, i32 } %195
}

declare void @_ZN17RigidBodyDynamics4Math18SparseFactorizeLTLERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(24)) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_9TransposeIKS1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIliEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i64 noundef, i32 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

declare void @_ZN17RigidBodyDynamics4Math14SparseSolveLTxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS1_IdLin1ELi1ELi0ELin1ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS_9TransposeIS1_EES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_Li0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3lltEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::LLT") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_3LLTINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1EEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEplINS_7ProductINS_9TransposeIKNS1_IdLin1ELin1ELi0ELin1ELin1EEEEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.289") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS5_T_Li0EEERKNS0_ISA_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKS1_KNS_7ProductINS_9TransposeIKNS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_Li0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

declare void @_ZN17RigidBodyDynamics4Math13SparseSolveLxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 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 = { 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 = { inlinehint 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, !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 = !{!"_ZTSN17RigidBodyDynamics4Math12LinearSolverE", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !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.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.Eigen::Transpose.209" = type { ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.202" }
%"class.Eigen::MapBase.202" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Product" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::CwiseBinaryOp" = type <{ ptr, %"class.Eigen::Product.274", [8 x i8] }>
%"class.Eigen::Product.274" = type { %"class.Eigen::Transpose", ptr }
%"class.Eigen::Solve.281" = type { ptr, ptr }
%"class.Eigen::LLT" = type { %"class.Eigen::Matrix.41", double, i8, i32 }
%"class.Eigen::CwiseBinaryOp.289" = type <{ ptr, %"class.Eigen::Product.295", [8 x i8] }>
%"class.Eigen::Product.295" = type { %"class.Eigen::Transpose.209", ptr }

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

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress 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 ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics38SolveConstrainedSystemRangeSpaceSparseERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKS4_RKNS3_IdLin1ELi1ELi0ELin1ELi1EEESA_RS8_SB_S5_SB_NS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(16) %8, i32 noundef %9) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %11 = alloca %"class.Eigen::Matrix.41", align 8
  %12 = alloca %"class.Eigen::Transpose.209", align 8
  %13 = alloca %"class.Eigen::Matrix", align 8
  %14 = alloca %"class.Eigen::Block", align 8
  %15 = alloca %"class.Eigen::Block", align 8
  %16 = alloca %"class.Eigen::Matrix", align 8
  %17 = alloca %"class.Eigen::Product", align 8
  %18 = alloca %"class.Eigen::Transpose", align 8
  %19 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %20 = alloca %"class.Eigen::Product.274", align 8
  %21 = alloca %"class.Eigen::Transpose", align 8
  %22 = alloca %"class.Eigen::Solve.281", align 8
  %23 = alloca %"class.Eigen::LLT", align 8
  %24 = alloca %"class.Eigen::CwiseBinaryOp.289", align 8
  %25 = alloca %"class.Eigen::Product.295", align 8
  %26 = alloca %"class.Eigen::Transpose.209", align 8
  tail call void @_ZN17RigidBodyDynamics4Math18SparseFactorizeLTLERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #5
  %27 = tail call ptr @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %2)
  store ptr %27, ptr %12, align 8
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_9TransposeIKS1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(8) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #5
  %28 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %11)
  %29 = icmp sgt i64 %28, 0
  br i1 %29, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %40, %10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #5
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(16) %16, ptr noundef nonnull align 8 dereferenceable(16) %3)
          to label %53 unwind label %94

.lr.ph:                                           ; preds = %10, %40
  %30 = phi i64 [ %42, %40 ], [ 0, %10 ]
  %.03545 = phi i32 [ %41, %40 ], [ 0, %10 ]
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %14) #5
  %31 = invoke noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %32 unwind label %45

32:                                               ; preds = %.lr.ph
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIliEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 0, i64 noundef %30, i64 noundef %31, i32 noundef 1)
          to label %33 unwind label %45

33:                                               ; preds = %32
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
          to label %34 unwind label %45

34:                                               ; preds = %33
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %14) #5
  invoke void @_ZN17RigidBodyDynamics4Math14SparseSolveLTxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(16) %13)
          to label %35 unwind label %47

35:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %15) #5
  %36 = invoke noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %37 unwind label %49

37:                                               ; preds = %35
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIliEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 0, i64 noundef %30, i64 noundef %36, i32 noundef 1)
          to label %38 unwind label %49

38:                                               ; preds = %37
  %39 = invoke noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS1_IdLin1ELi1ELi0ELin1ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %15, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %40 unwind label %49

40:                                               ; preds = %38
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %15) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %13) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #5
  %41 = add i32 %.03545, 1
  %42 = zext i32 %41 to i64
  %43 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %11)
  %44 = icmp sgt i64 %43, %42
  br i1 %44, label %.lr.ph, label %._crit_edge, !llvm.loop !5

45:                                               ; preds = %33, %32, %.lr.ph
  %46 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %14) #5
  br label %52

47:                                               ; preds = %34
  %48 = landingpad { ptr, i32 }
          cleanup
  br label %51

49:                                               ; preds = %38, %37, %35
  %50 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %15) #5
  br label %51

51:                                               ; preds = %49, %47
  %.pn41 = phi { ptr, i32 } [ %50, %49 ], [ %48, %47 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %13) #5
  br label %52

52:                                               ; preds = %51, %45
  %.pn41.pn = phi { ptr, i32 } [ %.pn41, %51 ], [ %46, %45 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #5
  br label %111

53:                                               ; preds = %._crit_edge
  invoke void @_ZN17RigidBodyDynamics4Math14SparseSolveLTxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(16) %16)
          to label %54 unwind label %96

54:                                               ; preds = %53
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #5
  %55 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %56 unwind label %98

56:                                               ; preds = %54
  store ptr %55, ptr %18, align 8
  %57 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %58 unwind label %98

58:                                               ; preds = %56
  %59 = extractvalue { ptr, ptr } %57, 0
  store ptr %59, ptr %17, align 8
  %60 = getelementptr inbounds i8, ptr %17, i64 8
  %61 = extractvalue { ptr, ptr } %57, 1
  store ptr %61, ptr %60, align 8
  %62 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS_9TransposeIS1_EES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %63 unwind label %98

63:                                               ; preds = %58
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #5
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %19) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #5
  %64 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %65 unwind label %100

65:                                               ; preds = %63
  store ptr %64, ptr %21, align 8
  %66 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %21, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %67 unwind label %100

67:                                               ; preds = %65
  %68 = extractvalue { ptr, ptr } %66, 0
  store ptr %68, ptr %20, align 8
  %69 = getelementptr inbounds i8, ptr %20, i64 8
  %70 = extractvalue { ptr, ptr } %66, 1
  store ptr %70, ptr %69, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %4, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %71 unwind label %100

71:                                               ; preds = %67
  %72 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_Li0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %8, ptr noundef nonnull align 1 dereferenceable(1) %19)
          to label %73 unwind label %100

73:                                               ; preds = %71
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %19) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %23) #5
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3lltEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::LLT") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %74 unwind label %102

74:                                               ; preds = %73
  %75 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %76 unwind label %104

76:                                               ; preds = %74
  %77 = extractvalue { ptr, ptr } %75, 0
  store ptr %77, ptr %22, align 8
  %78 = getelementptr inbounds i8, ptr %22, i64 8
  %79 = extractvalue { ptr, ptr } %75, 1
  store ptr %79, ptr %78, align 8
  %80 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_3LLTINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1EEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %81 unwind label %104

81:                                               ; preds = %76
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %23) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %23) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #5
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %24) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %25) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #5
  %82 = invoke ptr @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %2)
          to label %83 unwind label %107

83:                                               ; preds = %81
  store ptr %82, ptr %26, align 8
  %84 = invoke { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS5_T_Li0EEERKNS0_ISA_EE(ptr noundef nonnull align 1 dereferenceable(1) %26, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %85 unwind label %107

85:                                               ; preds = %83
  %86 = extractvalue { ptr, ptr } %84, 0
  store ptr %86, ptr %25, align 8
  %87 = getelementptr inbounds i8, ptr %25, i64 8
  %88 = extractvalue { ptr, ptr } %84, 1
  store ptr %88, ptr %87, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEplINS_7ProductINS_9TransposeIKNS1_IdLin1ELin1ELi0ELin1ELin1EEEEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.289") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %3, ptr noundef nonnull align 1 dereferenceable(1) %25)
          to label %89 unwind label %107

89:                                               ; preds = %85
  %90 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKS1_KNS_7ProductINS_9TransposeIKNS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_Li0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull align 1 dereferenceable(1) %24)
          to label %91 unwind label %107

91:                                               ; preds = %89
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %24) #5
  invoke void @_ZN17RigidBodyDynamics4Math14SparseSolveLTxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %92 unwind label %96

92:                                               ; preds = %91
  invoke void @_ZN17RigidBodyDynamics4Math13SparseSolveLxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(16) %5)
          to label %93 unwind label %96

93:                                               ; preds = %92
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #5
  ret void

94:                                               ; preds = %._crit_edge
  %95 = landingpad { ptr, i32 }
          cleanup
  br label %110

96:                                               ; preds = %92, %91, %53
  %97 = landingpad { ptr, i32 }
          cleanup
  br label %109

98:                                               ; preds = %58, %56, %54
  %99 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #5
  br label %109

100:                                              ; preds = %71, %67, %65, %63
  %101 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %19) #5
  br label %109

102:                                              ; preds = %73
  %103 = landingpad { ptr, i32 }
          cleanup
  br label %106

104:                                              ; preds = %76, %74
  %105 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40) %23) #5
  br label %106

106:                                              ; preds = %104, %102
  %.pn = phi { ptr, i32 } [ %105, %104 ], [ %103, %102 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %23) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #5
  br label %109

107:                                              ; preds = %89, %85, %83, %81
  %108 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %24) #5
  br label %109

109:                                              ; preds = %107, %106, %100, %98, %96
  %.pn38 = phi { ptr, i32 } [ %97, %96 ], [ %108, %107 ], [ %.pn, %106 ], [ %101, %100 ], [ %99, %98 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16) #5
  br label %110

110:                                              ; preds = %109, %94
  %.pn38.pn = phi { ptr, i32 } [ %.pn38, %109 ], [ %95, %94 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #5
  br label %111

111:                                              ; preds = %110, %52
  %.pn41.pn.pn = phi { ptr, i32 } [ %.pn41.pn, %52 ], [ %.pn38.pn, %110 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #5
  resume { ptr, i32 } %.pn41.pn.pn
}

declare void @_ZN17RigidBodyDynamics4Math18SparseFactorizeLTLERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_9TransposeIKS1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIliEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i64 noundef, i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

declare void @_ZN17RigidBodyDynamics4Math14SparseSolveLTxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS1_IdLin1ELi1ELi0ELin1ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ERKS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlIS3_EEKNS_7ProductIS4_T_Li0EEERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_7ProductINS_9TransposeIS1_EES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEmiINS_7ProductINS_9TransposeINS1_IdLin1ELin1ELi0ELin1ELin1EEEEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNSB_6traitsIT_E6ScalarEEEKS2_KSE_EERKNS0_ISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS4_T_Li0EEERKNS0_IS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS1_KNS_7ProductINS_9TransposeINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_Li0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3lltEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::LLT") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_3LLTINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1EEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEplINS_7ProductINS_9TransposeIKNS1_IdLin1ELin1ELi0ELin1ELin1EEEEES2_Li0EEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdNSC_6traitsIT_E6ScalarEEEKS2_KSF_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.289") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_9TransposeIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEEmlINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_7ProductIS5_T_Li0EEERKNS0_ISA_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKS1_KNS_7ProductINS_9TransposeIKNS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_Li0EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

declare void @_ZN17RigidBodyDynamics4Math13SparseSolveLxERNS_5ModelERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS4_IdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

attributes #0 = { mustprogress 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 = { 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 = { inlinehint 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 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}


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