; 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.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Eigen::PartialPivLU" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::PermutationMatrix", %"class.Eigen::Transpositions", double, i8, i8, [6 x i8] }>
%"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::PermutationMatrix" = type { %"class.Eigen::Matrix.234" }
%"class.Eigen::Matrix.234" = type { %"class.Eigen::PlainObjectBase.235" }
%"class.Eigen::PlainObjectBase.235" = type { %"class.Eigen::DenseStorage.242" }
%"class.Eigen::DenseStorage.242" = type { ptr, i64 }
%"class.Eigen::Transpositions" = type { %"class.Eigen::Matrix.234" }
%"class.Eigen::ColPivHouseholderQR" = type { %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::PermutationMatrix", %"class.Eigen::Matrix.251", %"class.Eigen::Matrix.51", %"class.Eigen::Matrix.51", %"class.Eigen::Matrix.51", i8, i8, double, double, i64, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Matrix.251" = type { %"class.Eigen::PlainObjectBase.252" }
%"class.Eigen::PlainObjectBase.252" = type { %"class.Eigen::DenseStorage.259" }
%"class.Eigen::DenseStorage.259" = type { ptr, i64 }
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { ptr, i64 }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix.51", i8, [7 x i8] }>
%class.Vector3_t = type { %"class.Eigen::Matrix.70" }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::CwiseBinaryOp.412" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.657" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.638", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.638" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.89" }
%"class.Eigen::Matrix.89" = type { %"class.Eigen::PlainObjectBase.90" }
%"class.Eigen::PlainObjectBase.90" = type { %"class.Eigen::DenseStorage.97" }
%"class.Eigen::DenseStorage.97" = type { %"struct.Eigen::internal::plain_array.98" }
%"struct.Eigen::internal::plain_array.98" = type { [6 x double] }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.79" }
%"class.Eigen::Matrix.79" = type { %"class.Eigen::PlainObjectBase.80" }
%"class.Eigen::PlainObjectBase.80" = type { %"class.Eigen::DenseStorage.87" }
%"class.Eigen::DenseStorage.87" = type { %"struct.Eigen::internal::plain_array.88" }
%"struct.Eigen::internal::plain_array.88" = type { [9 x double] }
%"class.Eigen::CwiseNullaryOp.806" = type { [3 x i8] }
%"class.Eigen::CwiseUnaryOp.811" = type <{ ptr, [8 x i8] }>
%"class.Eigen::Solve" = type { ptr, ptr }
%"class.Eigen::Solve.243" = type { ptr, ptr }
%"class.Eigen::Solve.260" = type { ptr, ptr }
%"struct.RigidBodyDynamics::ConstraintSet" = type { i32, i8, %"class.std::vector", %"class.std::vector.1", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.11", %"class.std::vector.6", %"class.std::vector.16", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.27", %"class.std::vector.34", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::HouseholderQR", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.16", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.60", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.16" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.6" = type { %"struct.std::_Vector_base.7" }
%"struct.std::_Vector_base.7" = 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.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = 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.34" = type { %"struct.std::_Vector_base.35" }
%"struct.std::_Vector_base.35" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.60" = type { %"class.std::vector.61" }
%"class.std::vector.61" = type { %"struct.std::_Vector_base.62" }
%"struct.std::_Vector_base.62" = 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.std::vector.27" = type { %"class.std::vector.28" }
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = 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.16" = type { %"struct.std::_Vector_base.17" }
%"struct.std::_Vector_base.17" = 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 }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.118", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.123", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.6", %"class.std::vector.130", %"class.std::vector.130", %"class.std::vector.137", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.142", %"class.std::vector.27", %"class.std::vector.60", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.147", %"class.std::vector.147", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.154", i32, %"class.std::vector.161", %"class.std::map" }
%"class.std::vector.118" = type { %"struct.std::_Vector_base.119" }
%"struct.std::_Vector_base.119" = 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.std::vector.123" = type { %"class.std::vector.124" }
%"class.std::vector.124" = type { %"struct.std::_Vector_base.125" }
%"struct.std::_Vector_base.125" = 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.130" = type { %"class.std::vector.131" }
%"class.std::vector.131" = type { %"struct.std::_Vector_base.132" }
%"struct.std::_Vector_base.132" = 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.137" = type { %"struct.std::_Vector_base.138" }
%"struct.std::_Vector_base.138" = 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.142" = type { %"struct.std::_Vector_base.143" }
%"struct.std::_Vector_base.143" = 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.147" = type { %"class.std::vector.148" }
%"class.std::vector.148" = type { %"struct.std::_Vector_base.149" }
%"struct.std::_Vector_base.149" = 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.154" = type { %"class.std::vector.155" }
%"class.std::vector.155" = type { %"struct.std::_Vector_base.156" }
%"struct.std::_Vector_base.156" = 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.161" = type { %"class.std::vector.162" }
%"class.std::vector.162" = type { %"struct.std::_Vector_base.163" }
%"struct.std::_Vector_base.163" = 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 }
%"struct.RigidBodyDynamics::FixedBody" = type { double, %class.Vector3_t, %class.Matrix3_t, i32, %"struct.RigidBodyDynamics::Math::SpatialTransform", %"struct.RigidBodyDynamics::Math::SpatialTransform" }

@.str.4 = external hidden unnamed_addr constant [112 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.8 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [52 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_ = external hidden unnamed_addr constant [148 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [29 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [71 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [73 x i8], align 1

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #0

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160)) #2 align 2

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) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI9Vector3_tSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12partialPivLuEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::PartialPivLU") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_12PartialPivLUINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE19colPivHouseholderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ColPivHouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_19ColPivHouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::HouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #3 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 noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) #6

; 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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

declare void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8, ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiIS2_EEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.412") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; 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) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERK9Matrix3_tRK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #4 align 2

declare void @_ZN17RigidBodyDynamics21CalcPointAccelerationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_jRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8, ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics36ForwardDynamicsApplyConstraintForcesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERS4_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1160), ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.657") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(1160), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(1160) %4, ptr noundef nonnull align 8 dereferenceable(16) %5) #2 personality ptr @__gxx_personality_v0 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca %class.Vector3_t, align 8
  %14 = alloca i32, align 4
  %15 = alloca %class.Vector3_t, align 8
  %16 = alloca i32, align 4
  %17 = alloca %class.Vector3_t, align 8
  %18 = alloca %class.Vector3_t, align 8
  %19 = alloca %class.SpatialVector_t, align 16
  %20 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %21 = alloca %class.Matrix3_t, align 8
  %22 = alloca %"class.Eigen::CwiseNullaryOp.806", align 1
  %23 = alloca %class.Vector3_t, align 8
  %24 = alloca %"class.Eigen::CwiseUnaryOp.811", align 8
  %25 = alloca %class.SpatialVector_t, align 16
  %26 = alloca double, align 8
  %27 = alloca double, align 8
  %28 = alloca double, align 8
  %29 = alloca double, align 8
  %30 = alloca double, align 8
  %31 = alloca double, align 8
  %32 = alloca i32, align 4
  %33 = alloca %class.Vector3_t, align 8
  %34 = alloca %"class.Eigen::CwiseBinaryOp.412", align 8
  %35 = alloca %"class.Eigen::Solve", align 8
  %36 = alloca %"class.Eigen::PartialPivLU", align 8
  %37 = alloca ptr, align 8
  %38 = alloca i32, align 4
  %39 = alloca %"class.Eigen::Solve.243", align 8
  %40 = alloca %"class.Eigen::ColPivHouseholderQR", align 8
  %41 = alloca %"class.Eigen::Solve.260", align 8
  %42 = alloca %"class.Eigen::HouseholderQR", align 8
  %43 = alloca i32, align 4
  %44 = alloca i32, align 4
  %45 = alloca i32, align 4
  %46 = alloca %"class.Eigen::CwiseBinaryOp.657", align 8
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store ptr %5, ptr %12, align 8, !tbaa !5
  %47 = load ptr, ptr %11, align 8, !tbaa !5
  %48 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %47, i32 0, i32 45
  %49 = call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %48) #7
  %50 = load ptr, ptr %7, align 8, !tbaa !5
  %51 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %50, i32 0, i32 38
  %52 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %51) #7
  %53 = icmp eq i64 %49, %52
  br i1 %53, label %54, label %55

54:                                               ; preds = %6
  br label %57

55:                                               ; preds = %6
  call void @__assert_fail(ptr noundef @.str.22, ptr noundef @.str.4, i32 noundef 1440, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

56:                                               ; No predecessors!
  br label %57

57:                                               ; preds = %56, %54
  %58 = load ptr, ptr %11, align 8, !tbaa !5
  %59 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %58, i32 0, i32 43
  %60 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %59)
  %61 = load ptr, ptr %7, align 8, !tbaa !5
  %62 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %61, i32 0, i32 3
  %63 = load i32, ptr %62, align 8, !tbaa !9
  %64 = zext i32 %63 to i64
  %65 = icmp eq i64 %60, %64
  br i1 %65, label %66, label %67

66:                                               ; preds = %57
  br label %69

67:                                               ; preds = %57
  call void @__assert_fail(ptr noundef @.str.23, ptr noundef @.str.4, i32 noundef 1441, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

68:                                               ; No predecessors!
  br label %69

69:                                               ; preds = %68, %66
  %70 = load ptr, ptr %11, align 8, !tbaa !5
  %71 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %70, i32 0, i32 42
  %72 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %71)
  %73 = load ptr, ptr %7, align 8, !tbaa !5
  %74 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %73, i32 0, i32 3
  %75 = load i32, ptr %74, align 8, !tbaa !9
  %76 = zext i32 %75 to i64
  %77 = icmp eq i64 %72, %76
  br i1 %77, label %78, label %79

78:                                               ; preds = %69
  br label %81

79:                                               ; preds = %69
  call void @__assert_fail(ptr noundef @.str.24, ptr noundef @.str.4, i32 noundef 1442, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

80:                                               ; No predecessors!
  br label %81

81:                                               ; preds = %80, %78
  %82 = load ptr, ptr %11, align 8, !tbaa !5
  %83 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %82, i32 0, i32 44
  %84 = call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %83) #7
  %85 = load ptr, ptr %11, align 8, !tbaa !5
  %86 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %85)
  %87 = icmp eq i64 %84, %86
  br i1 %87, label %88, label %89

88:                                               ; preds = %81
  br label %91

89:                                               ; preds = %81
  call void @__assert_fail(ptr noundef @.str.25, ptr noundef @.str.4, i32 noundef 1443, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

90:                                               ; No predecessors!
  br label %91

91:                                               ; preds = %90, %88
  %92 = load ptr, ptr %11, align 8, !tbaa !5
  %93 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %92, i32 0, i32 46
  %94 = call noundef i64 @_ZNKSt6vectorI9Vector3_tSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %93) #7
  %95 = load ptr, ptr %11, align 8, !tbaa !5
  %96 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %95)
  %97 = icmp eq i64 %94, %96
  br i1 %97, label %98, label %99

98:                                               ; preds = %91
  br label %101

99:                                               ; preds = %91
  call void @__assert_fail(ptr noundef @.str.26, ptr noundef @.str.4, i32 noundef 1444, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

100:                                              ; No predecessors!
  br label %101

101:                                              ; preds = %100, %98
  %102 = load ptr, ptr %11, align 8, !tbaa !5
  %103 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %102, i32 0, i32 40
  %104 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %103)
  %105 = load ptr, ptr %11, align 8, !tbaa !5
  %106 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %105)
  %107 = icmp eq i64 %104, %106
  br i1 %107, label %108, label %109

108:                                              ; preds = %101
  br label %111

109:                                              ; preds = %101
  call void @__assert_fail(ptr noundef @.str.27, ptr noundef @.str.4, i32 noundef 1445, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

110:                                              ; No predecessors!
  br label %111

111:                                              ; preds = %110, %108
  %112 = load ptr, ptr %11, align 8, !tbaa !5
  %113 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %112, i32 0, i32 40
  %114 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %113)
  %115 = load ptr, ptr %11, align 8, !tbaa !5
  %116 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %115)
  %117 = icmp eq i64 %114, %116
  br i1 %117, label %118, label %119

118:                                              ; preds = %111
  br label %121

119:                                              ; preds = %111
  call void @__assert_fail(ptr noundef @.str.28, ptr noundef @.str.4, i32 noundef 1446, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

120:                                              ; No predecessors!
  br label %121

121:                                              ; preds = %120, %118
  %122 = load ptr, ptr %11, align 8, !tbaa !5
  %123 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %122, i32 0, i32 20
  %124 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %123)
  %125 = load ptr, ptr %11, align 8, !tbaa !5
  %126 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %125)
  %127 = icmp eq i64 %124, %126
  br i1 %127, label %128, label %129

128:                                              ; preds = %121
  br label %131

129:                                              ; preds = %121
  call void @__assert_fail(ptr noundef @.str.29, ptr noundef @.str.4, i32 noundef 1447, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

130:                                              ; No predecessors!
  br label %131

131:                                              ; preds = %130, %128
  %132 = load ptr, ptr %11, align 8, !tbaa !5
  %133 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %132, i32 0, i32 41
  %134 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %133)
  %135 = load ptr, ptr %11, align 8, !tbaa !5
  %136 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %135)
  %137 = icmp eq i64 %134, %136
  br i1 %137, label %138, label %139

138:                                              ; preds = %131
  br label %141

139:                                              ; preds = %131
  call void @__assert_fail(ptr noundef @.str.30, ptr noundef @.str.4, i32 noundef 1448, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

140:                                              ; No predecessors!
  br label %141

141:                                              ; preds = %140, %138
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #7
  call void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13)
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #7
  store i32 0, ptr %14, align 4, !tbaa !89
  %142 = load ptr, ptr %7, align 8, !tbaa !5
  %143 = load ptr, ptr %8, align 8, !tbaa !5
  %144 = load ptr, ptr %9, align 8, !tbaa !5
  %145 = load ptr, ptr %10, align 8, !tbaa !5
  %146 = load ptr, ptr %11, align 8, !tbaa !5
  %147 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %146, i32 0, i32 43
  call void @_ZN17RigidBodyDynamics15ForwardDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %142, ptr noundef nonnull align 8 dereferenceable(16) %143, ptr noundef nonnull align 8 dereferenceable(16) %144, ptr noundef nonnull align 8 dereferenceable(16) %145, ptr noundef nonnull align 8 dereferenceable(16) %147, ptr noundef null)
  store i32 0, ptr %14, align 4, !tbaa !89
  br label %148

148:                                              ; preds = %216, %141
  %149 = load i32, ptr %14, align 4, !tbaa !89
  %150 = zext i32 %149 to i64
  %151 = load ptr, ptr %11, align 8, !tbaa !5
  %152 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %151)
  %153 = icmp ult i64 %150, %152
  br i1 %153, label %154, label %219

154:                                              ; preds = %148
  %155 = load ptr, ptr %7, align 8, !tbaa !5
  %156 = load ptr, ptr %11, align 8, !tbaa !5
  %157 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %156, i32 0, i32 43
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %155, ptr noundef null, ptr noundef null, ptr noundef %157)
  %158 = load ptr, ptr %11, align 8, !tbaa !5
  %159 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %158, i32 0, i32 2
  %160 = load i32, ptr %14, align 4, !tbaa !89
  %161 = zext i32 %160 to i64
  %162 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %159, i64 noundef %161) #7
  %163 = load i32, ptr %162, align 4, !tbaa !90
  %164 = icmp eq i32 %163, 0
  br i1 %164, label %165, label %212

165:                                              ; preds = %154
  call void @llvm.lifetime.start.p0(i64 24, ptr %15) #7
  %166 = load ptr, ptr %7, align 8, !tbaa !5
  %167 = load ptr, ptr %8, align 8, !tbaa !5
  %168 = load ptr, ptr %9, align 8, !tbaa !5
  %169 = load ptr, ptr %11, align 8, !tbaa !5
  %170 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %169, i32 0, i32 43
  %171 = load ptr, ptr %11, align 8, !tbaa !5
  %172 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %171, i32 0, i32 8
  %173 = load i32, ptr %14, align 4, !tbaa !89
  %174 = zext i32 %173 to i64
  %175 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %172, i64 noundef %174) #7
  %176 = load i32, ptr %175, align 4, !tbaa !89
  %177 = load ptr, ptr %11, align 8, !tbaa !5
  %178 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %177, i32 0, i32 9
  %179 = load i32, ptr %14, align 4, !tbaa !89
  %180 = zext i32 %179 to i64
  %181 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %178, i64 noundef %180) #7
  call void @_ZN17RigidBodyDynamics21CalcPointAccelerationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_jRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8 %15, ptr noundef nonnull align 8 dereferenceable(872) %166, ptr noundef nonnull align 8 dereferenceable(16) %167, ptr noundef nonnull align 8 dereferenceable(16) %168, ptr noundef nonnull align 8 dereferenceable(16) %170, i32 noundef %176, ptr noundef nonnull align 8 dereferenceable(24) %181, i1 noundef zeroext false)
  %182 = load ptr, ptr %11, align 8, !tbaa !5
  %183 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %182, i32 0, i32 46
  %184 = load i32, ptr %14, align 4, !tbaa !89
  %185 = zext i32 %184 to i64
  %186 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %183, i64 noundef %185) #7
  %187 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %186, ptr noundef nonnull align 8 dereferenceable(24) %15) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #7
  %188 = load ptr, ptr %11, align 8, !tbaa !5
  %189 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %188, i32 0, i32 19
  %190 = load i32, ptr %14, align 4, !tbaa !89
  %191 = zext i32 %190 to i64
  %192 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %189, i64 noundef %191)
  %193 = load double, ptr %192, align 8, !tbaa !92
  %194 = fneg double %193
  %195 = load ptr, ptr %11, align 8, !tbaa !5
  %196 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %195, i32 0, i32 10
  %197 = load i32, ptr %14, align 4, !tbaa !89
  %198 = zext i32 %197 to i64
  %199 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %196, i64 noundef %198) #7
  %200 = load ptr, ptr %11, align 8, !tbaa !5
  %201 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %200, i32 0, i32 46
  %202 = load i32, ptr %14, align 4, !tbaa !89
  %203 = zext i32 %202 to i64
  %204 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %201, i64 noundef %203) #7
  %205 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %199, ptr noundef nonnull align 1 dereferenceable(1) %204)
  %206 = fadd double %194, %205
  %207 = load ptr, ptr %11, align 8, !tbaa !5
  %208 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %207, i32 0, i32 41
  %209 = load i32, ptr %14, align 4, !tbaa !89
  %210 = zext i32 %209 to i64
  %211 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %208, i64 noundef %210)
  store double %206, ptr %211, align 8, !tbaa !92
  br label %215

212:                                              ; preds = %154
  %213 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.31)
  %214 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %213, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef @.str.12, ptr noundef @.str.4, i32 noundef 1489, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

215:                                              ; preds = %165
  br label %216

216:                                              ; preds = %215
  %217 = load i32, ptr %14, align 4, !tbaa !89
  %218 = add i32 %217, 1
  store i32 %218, ptr %14, align 4, !tbaa !89
  br label %148, !llvm.loop !94

219:                                              ; preds = %148
  store i32 0, ptr %14, align 4, !tbaa !89
  br label %220

220:                                              ; preds = %369, %219
  %221 = load i32, ptr %14, align 4, !tbaa !89
  %222 = zext i32 %221 to i64
  %223 = load ptr, ptr %11, align 8, !tbaa !5
  %224 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %223)
  %225 = icmp ult i64 %222, %224
  br i1 %225, label %226, label %372

226:                                              ; preds = %220
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #7
  store i32 0, ptr %16, align 4, !tbaa !89
  call void @llvm.lifetime.start.p0(i64 24, ptr %17) #7
  call void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %17)
  %227 = load ptr, ptr %11, align 8, !tbaa !5
  %228 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %227, i32 0, i32 2
  %229 = load i32, ptr %14, align 4, !tbaa !89
  %230 = zext i32 %229 to i64
  %231 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %228, i64 noundef %230) #7
  %232 = load i32, ptr %231, align 4, !tbaa !90
  switch i32 %232, label %365 [
    i32 0, label %233
  ]

233:                                              ; preds = %226
  %234 = load ptr, ptr %7, align 8, !tbaa !5
  %235 = load ptr, ptr %11, align 8, !tbaa !5
  %236 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %235, i32 0, i32 8
  %237 = load i32, ptr %14, align 4, !tbaa !89
  %238 = zext i32 %237 to i64
  %239 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %236, i64 noundef %238) #7
  %240 = load i32, ptr %239, align 4, !tbaa !89
  %241 = call noundef i32 @_ZN17RigidBodyDynamics16GetMovableBodyIdERNS_5ModelEj(ptr noundef nonnull align 8 dereferenceable(872) %234, i32 noundef %240)
  store i32 %241, ptr %16, align 4, !tbaa !89
  call void @llvm.lifetime.start.p0(i64 24, ptr %18) #7
  %242 = load ptr, ptr %7, align 8, !tbaa !5
  %243 = load ptr, ptr %8, align 8, !tbaa !5
  %244 = load ptr, ptr %11, align 8, !tbaa !5
  %245 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %244, i32 0, i32 8
  %246 = load i32, ptr %14, align 4, !tbaa !89
  %247 = zext i32 %246 to i64
  %248 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %245, i64 noundef %247) #7
  %249 = load i32, ptr %248, align 4, !tbaa !89
  %250 = load ptr, ptr %11, align 8, !tbaa !5
  %251 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %250, i32 0, i32 9
  %252 = load i32, ptr %14, align 4, !tbaa !89
  %253 = zext i32 %252 to i64
  %254 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %251, i64 noundef %253) #7
  call void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8 %18, ptr noundef nonnull align 8 dereferenceable(872) %242, ptr noundef nonnull align 8 dereferenceable(16) %243, i32 noundef %249, ptr noundef nonnull align 8 dereferenceable(24) %254, i1 noundef zeroext false)
  %255 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %17, ptr noundef nonnull align 8 dereferenceable(24) %18) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %18) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr %19) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr %20) #7
  call void @llvm.lifetime.start.p0(i64 72, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 3, ptr %22) #7
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.806") align 1 %22)
  call void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_identity_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %21, ptr noundef nonnull align 1 dereferenceable(1) %22)
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #7
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEngEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.811") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @_ZN9Vector3_tC2IN5Eigen12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 1 dereferenceable(1) %24)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERK9Matrix3_tRK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(96) %20, ptr noundef nonnull align 8 dereferenceable(72) %21, ptr noundef nonnull align 8 dereferenceable(24) %23)
  call void @llvm.lifetime.start.p0(i64 48, ptr %25) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #7
  store double 0.000000e+00, ptr %26, align 8, !tbaa !92
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #7
  store double 0.000000e+00, ptr %27, align 8, !tbaa !92
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #7
  store double 0.000000e+00, ptr %28, align 8, !tbaa !92
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #7
  %256 = load ptr, ptr %11, align 8, !tbaa !5
  %257 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %256, i32 0, i32 10
  %258 = load i32, ptr %14, align 4, !tbaa !89
  %259 = zext i32 %258 to i64
  %260 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %257, i64 noundef %259) #7
  %261 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %260, i64 noundef 0)
  %262 = load double, ptr %261, align 8, !tbaa !92
  %263 = fneg double %262
  store double %263, ptr %29, align 8, !tbaa !92
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #7
  %264 = load ptr, ptr %11, align 8, !tbaa !5
  %265 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %264, i32 0, i32 10
  %266 = load i32, ptr %14, align 4, !tbaa !89
  %267 = zext i32 %266 to i64
  %268 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %265, i64 noundef %267) #7
  %269 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %268, i64 noundef 1)
  %270 = load double, ptr %269, align 8, !tbaa !92
  %271 = fneg double %270
  store double %271, ptr %30, align 8, !tbaa !92
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #7
  %272 = load ptr, ptr %11, align 8, !tbaa !5
  %273 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %272, i32 0, i32 10
  %274 = load i32, ptr %14, align 4, !tbaa !89
  %275 = zext i32 %274 to i64
  %276 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %273, i64 noundef %275) #7
  %277 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %276, i64 noundef 2)
  %278 = load double, ptr %277, align 8, !tbaa !92
  %279 = fneg double %278
  store double %279, ptr %31, align 8, !tbaa !92
  call void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %25, ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef nonnull align 8 dereferenceable(8) %28, ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 8 dereferenceable(8) %31)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind writable sret(%class.SpatialVector_t) align 16 %19, ptr noundef nonnull align 8 dereferenceable(96) %20, ptr noundef nonnull align 16 dereferenceable(48) %25)
  %280 = load ptr, ptr %11, align 8, !tbaa !5
  %281 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %280, i32 0, i32 44
  %282 = load i32, ptr %14, align 4, !tbaa !89
  %283 = zext i32 %282 to i64
  %284 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %281, i64 noundef %283) #7
  %285 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %284, ptr noundef nonnull align 16 dereferenceable(48) %19) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 3, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %19) #7
  %286 = load ptr, ptr %11, align 8, !tbaa !5
  %287 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %286, i32 0, i32 44
  %288 = load i32, ptr %14, align 4, !tbaa !89
  %289 = zext i32 %288 to i64
  %290 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %287, i64 noundef %289) #7
  %291 = load ptr, ptr %11, align 8, !tbaa !5
  %292 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %291, i32 0, i32 45
  %293 = load i32, ptr %16, align 4, !tbaa !89
  %294 = zext i32 %293 to i64
  %295 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %292, i64 noundef %294) #7
  %296 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %295, ptr noundef nonnull align 16 dereferenceable(48) %290)
  %297 = load ptr, ptr %7, align 8, !tbaa !5
  %298 = load ptr, ptr %11, align 8, !tbaa !5
  %299 = load ptr, ptr %11, align 8, !tbaa !5
  %300 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %299, i32 0, i32 42
  %301 = load i32, ptr %16, align 4, !tbaa !89
  %302 = load ptr, ptr %11, align 8, !tbaa !5
  %303 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %302, i32 0, i32 45
  call void @_ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %297, ptr noundef nonnull align 8 dereferenceable(1160) %298, ptr noundef nonnull align 8 dereferenceable(16) %300, i32 noundef %301, ptr noundef nonnull align 8 dereferenceable(24) %303)
  %304 = load ptr, ptr %11, align 8, !tbaa !5
  %305 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %304, i32 0, i32 45
  %306 = load i32, ptr %16, align 4, !tbaa !89
  %307 = zext i32 %306 to i64
  %308 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %305, i64 noundef %307) #7
  %309 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %308)
  %310 = load ptr, ptr %11, align 8, !tbaa !5
  %311 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %310, i32 0, i32 43
  %312 = load ptr, ptr %11, align 8, !tbaa !5
  %313 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %312, i32 0, i32 42
  %314 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEpLIS2_EERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %313, ptr noundef nonnull align 1 dereferenceable(1) %311)
  %315 = load ptr, ptr %7, align 8, !tbaa !5
  %316 = load ptr, ptr %11, align 8, !tbaa !5
  %317 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %316, i32 0, i32 42
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %315, ptr noundef null, ptr noundef null, ptr noundef %317)
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #7
  store i32 0, ptr %32, align 4, !tbaa !89
  br label %318

318:                                              ; preds = %361, %233
  %319 = load i32, ptr %32, align 4, !tbaa !89
  %320 = zext i32 %319 to i64
  %321 = load ptr, ptr %11, align 8, !tbaa !5
  %322 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %321)
  %323 = icmp ult i64 %320, %322
  br i1 %323, label %325, label %324

324:                                              ; preds = %318
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #7
  br label %364

325:                                              ; preds = %318
  call void @llvm.lifetime.start.p0(i64 24, ptr %33) #7
  %326 = load ptr, ptr %7, align 8, !tbaa !5
  %327 = load ptr, ptr %8, align 8, !tbaa !5
  %328 = load ptr, ptr %9, align 8, !tbaa !5
  %329 = load ptr, ptr %11, align 8, !tbaa !5
  %330 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %329, i32 0, i32 42
  %331 = load ptr, ptr %11, align 8, !tbaa !5
  %332 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %331, i32 0, i32 8
  %333 = load i32, ptr %32, align 4, !tbaa !89
  %334 = zext i32 %333 to i64
  %335 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %332, i64 noundef %334) #7
  %336 = load i32, ptr %335, align 4, !tbaa !89
  %337 = load ptr, ptr %11, align 8, !tbaa !5
  %338 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %337, i32 0, i32 9
  %339 = load i32, ptr %32, align 4, !tbaa !89
  %340 = zext i32 %339 to i64
  %341 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %338, i64 noundef %340) #7
  call void @_ZN17RigidBodyDynamics21CalcPointAccelerationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_jRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8 %33, ptr noundef nonnull align 8 dereferenceable(872) %326, ptr noundef nonnull align 8 dereferenceable(16) %327, ptr noundef nonnull align 8 dereferenceable(16) %328, ptr noundef nonnull align 8 dereferenceable(16) %330, i32 noundef %336, ptr noundef nonnull align 8 dereferenceable(24) %341, i1 noundef zeroext false)
  %342 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %13, ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #7
  %343 = load ptr, ptr %11, align 8, !tbaa !5
  %344 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %343, i32 0, i32 10
  %345 = load i32, ptr %32, align 4, !tbaa !89
  %346 = zext i32 %345 to i64
  %347 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %344, i64 noundef %346) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %34) #7
  %348 = load ptr, ptr %11, align 8, !tbaa !5
  %349 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %348, i32 0, i32 46
  %350 = load i32, ptr %32, align 4, !tbaa !89
  %351 = zext i32 %350 to i64
  %352 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %349, i64 noundef %351) #7
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiIS2_EEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.412") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %13, ptr noundef nonnull align 1 dereferenceable(1) %352)
  %353 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS2_S9_EEEENS_20ScalarBinaryOpTraitsIdNS6_6traitsIT_E6ScalarENS6_17scalar_product_opIdSF_EEE10ReturnTypeERKNS0_ISD_EE(ptr noundef nonnull align 1 dereferenceable(1) %347, ptr noundef nonnull align 1 dereferenceable(1) %34)
  %354 = load ptr, ptr %11, align 8, !tbaa !5
  %355 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %354, i32 0, i32 40
  %356 = load i32, ptr %14, align 4, !tbaa !89
  %357 = zext i32 %356 to i64
  %358 = load i32, ptr %32, align 4, !tbaa !89
  %359 = zext i32 %358 to i64
  %360 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %355, i64 noundef %357, i64 noundef %359)
  store double %353, ptr %360, align 8, !tbaa !92
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #7
  br label %361

361:                                              ; preds = %325
  %362 = load i32, ptr %32, align 4, !tbaa !89
  %363 = add i32 %362, 1
  store i32 %363, ptr %32, align 4, !tbaa !89
  br label %318, !llvm.loop !96

364:                                              ; preds = %324
  br label %368

365:                                              ; preds = %226
  %366 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.32)
  %367 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %366, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef @.str.12, ptr noundef @.str.4, i32 noundef 1567, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

368:                                              ; preds = %364
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #7
  br label %369

369:                                              ; preds = %368
  %370 = load i32, ptr %14, align 4, !tbaa !89
  %371 = add i32 %370, 1
  store i32 %371, ptr %14, align 4, !tbaa !89
  br label %220, !llvm.loop !97

372:                                              ; preds = %220
  %373 = load ptr, ptr %11, align 8, !tbaa !5
  %374 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %373, i32 0, i32 0
  %375 = load i32, ptr %374, align 8, !tbaa !98
  switch i32 %375, label %433 [
    i32 1, label %376
    i32 2, label %395
    i32 3, label %414
  ]

376:                                              ; preds = %372
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #7
  call void @llvm.lifetime.start.p0(i64 72, ptr %36) #7
  %377 = load ptr, ptr %11, align 8, !tbaa !5
  %378 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %377, i32 0, i32 40
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12partialPivLuEv(ptr dead_on_unwind writable sret(%"class.Eigen::PartialPivLU") align 8 %36, ptr noundef nonnull align 1 dereferenceable(1) %378)
  %379 = load ptr, ptr %11, align 8, !tbaa !5
  %380 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %379, i32 0, i32 41
  %381 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %36, ptr noundef nonnull align 1 dereferenceable(1) %380)
          to label %382 unwind label %391

382:                                              ; preds = %376
  %383 = getelementptr inbounds { ptr, ptr }, ptr %35, i32 0, i32 0
  %384 = extractvalue { ptr, ptr } %381, 0
  store ptr %384, ptr %383, align 8
  %385 = getelementptr inbounds { ptr, ptr }, ptr %35, i32 0, i32 1
  %386 = extractvalue { ptr, ptr } %381, 1
  store ptr %386, ptr %385, align 8
  %387 = load ptr, ptr %11, align 8, !tbaa !5
  %388 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %387, i32 0, i32 20
  %389 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_12PartialPivLUINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %388, ptr noundef nonnull align 1 dereferenceable(1) %35)
          to label %390 unwind label %391

390:                                              ; preds = %382
  call void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66) %36) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #7
  br label %434

391:                                              ; preds = %382, %376
  %392 = landingpad { ptr, i32 }
          cleanup
  %393 = extractvalue { ptr, i32 } %392, 0
  store ptr %393, ptr %37, align 8
  %394 = extractvalue { ptr, i32 } %392, 1
  store i32 %394, ptr %38, align 4
  call void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66) %36) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #7
  br label %490

395:                                              ; preds = %372
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #7
  call void @llvm.lifetime.start.p0(i64 160, ptr %40) #7
  %396 = load ptr, ptr %11, align 8, !tbaa !5
  %397 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %396, i32 0, i32 40
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE19colPivHouseholderQrEv(ptr dead_on_unwind writable sret(%"class.Eigen::ColPivHouseholderQR") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %397)
  %398 = load ptr, ptr %11, align 8, !tbaa !5
  %399 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %398, i32 0, i32 41
  %400 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 1 dereferenceable(1) %399)
          to label %401 unwind label %410

401:                                              ; preds = %395
  %402 = getelementptr inbounds { ptr, ptr }, ptr %39, i32 0, i32 0
  %403 = extractvalue { ptr, ptr } %400, 0
  store ptr %403, ptr %402, align 8
  %404 = getelementptr inbounds { ptr, ptr }, ptr %39, i32 0, i32 1
  %405 = extractvalue { ptr, ptr } %400, 1
  store ptr %405, ptr %404, align 8
  %406 = load ptr, ptr %11, align 8, !tbaa !5
  %407 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %406, i32 0, i32 20
  %408 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_19ColPivHouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %407, ptr noundef nonnull align 1 dereferenceable(1) %39)
          to label %409 unwind label %410

409:                                              ; preds = %401
  call void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160) %40) #7
  call void @llvm.lifetime.end.p0(i64 160, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #7
  br label %434

410:                                              ; preds = %401, %395
  %411 = landingpad { ptr, i32 }
          cleanup
  %412 = extractvalue { ptr, i32 } %411, 0
  store ptr %412, ptr %37, align 8
  %413 = extractvalue { ptr, i32 } %411, 1
  store i32 %413, ptr %38, align 4
  call void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160) %40) #7
  call void @llvm.lifetime.end.p0(i64 160, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #7
  br label %490

414:                                              ; preds = %372
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #7
  call void @llvm.lifetime.start.p0(i64 64, ptr %42) #7
  %415 = load ptr, ptr %11, align 8, !tbaa !5
  %416 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %415, i32 0, i32 40
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind writable sret(%"class.Eigen::HouseholderQR") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %416)
  %417 = load ptr, ptr %11, align 8, !tbaa !5
  %418 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %417, i32 0, i32 41
  %419 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %42, ptr noundef nonnull align 1 dereferenceable(1) %418)
          to label %420 unwind label %429

420:                                              ; preds = %414
  %421 = getelementptr inbounds { ptr, ptr }, ptr %41, i32 0, i32 0
  %422 = extractvalue { ptr, ptr } %419, 0
  store ptr %422, ptr %421, align 8
  %423 = getelementptr inbounds { ptr, ptr }, ptr %41, i32 0, i32 1
  %424 = extractvalue { ptr, ptr } %419, 1
  store ptr %424, ptr %423, align 8
  %425 = load ptr, ptr %11, align 8, !tbaa !5
  %426 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %425, i32 0, i32 20
  %427 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %426, ptr noundef nonnull align 1 dereferenceable(1) %41)
          to label %428 unwind label %429

428:                                              ; preds = %420
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %42) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #7
  br label %434

429:                                              ; preds = %420, %414
  %430 = landingpad { ptr, i32 }
          cleanup
  %431 = extractvalue { ptr, i32 } %430, 0
  store ptr %431, ptr %37, align 8
  %432 = extractvalue { ptr, i32 } %430, 1
  store i32 %432, ptr %38, align 4
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %42) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #7
  br label %490

433:                                              ; preds = %372
  call void @__assert_fail(ptr noundef @.str.8, ptr noundef @.str.4, i32 noundef 1592, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

434:                                              ; preds = %428, %409, %390
  store i32 0, ptr %14, align 4, !tbaa !89
  br label %435

435:                                              ; preds = %482, %434
  %436 = load i32, ptr %14, align 4, !tbaa !89
  %437 = zext i32 %436 to i64
  %438 = load ptr, ptr %11, align 8, !tbaa !5
  %439 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %438)
  %440 = icmp ult i64 %437, %439
  br i1 %440, label %441, label %485

441:                                              ; preds = %435
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #7
  %442 = load ptr, ptr %11, align 8, !tbaa !5
  %443 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %442, i32 0, i32 8
  %444 = load i32, ptr %14, align 4, !tbaa !89
  %445 = zext i32 %444 to i64
  %446 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %443, i64 noundef %445) #7
  %447 = load i32, ptr %446, align 4, !tbaa !89
  store i32 %447, ptr %43, align 4, !tbaa !89
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #7
  %448 = load i32, ptr %43, align 4, !tbaa !89
  store i32 %448, ptr %44, align 4, !tbaa !89
  %449 = load ptr, ptr %7, align 8, !tbaa !5
  %450 = load i32, ptr %43, align 4, !tbaa !89
  %451 = call noundef zeroext i1 @_ZN17RigidBodyDynamics5Model13IsFixedBodyIdEj(ptr noundef nonnull align 8 dereferenceable(872) %449, i32 noundef %450)
  br i1 %451, label %452, label %465

452:                                              ; preds = %441
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #7
  %453 = load i32, ptr %43, align 4, !tbaa !89
  %454 = load ptr, ptr %7, align 8, !tbaa !5
  %455 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %454, i32 0, i32 37
  %456 = load i32, ptr %455, align 8, !tbaa !125
  %457 = sub i32 %453, %456
  store i32 %457, ptr %45, align 4, !tbaa !89
  %458 = load ptr, ptr %7, align 8, !tbaa !5
  %459 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %458, i32 0, i32 36
  %460 = load i32, ptr %45, align 4, !tbaa !89
  %461 = zext i32 %460 to i64
  %462 = call noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %459, i64 noundef %461) #7
  %463 = getelementptr inbounds %"struct.RigidBodyDynamics::FixedBody", ptr %462, i32 0, i32 3
  %464 = load i32, ptr %463, align 8, !tbaa !126
  store i32 %464, ptr %44, align 4, !tbaa !89
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #7
  br label %465

465:                                              ; preds = %452, %441
  call void @llvm.lifetime.start.p0(i64 32, ptr %46) #7
  %466 = load ptr, ptr %11, align 8, !tbaa !5
  %467 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %466, i32 0, i32 44
  %468 = load i32, ptr %14, align 4, !tbaa !89
  %469 = zext i32 %468 to i64
  %470 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %467, i64 noundef %469) #7
  %471 = load ptr, ptr %11, align 8, !tbaa !5
  %472 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %471, i32 0, i32 20
  %473 = load i32, ptr %14, align 4, !tbaa !89
  %474 = zext i32 %473 to i64
  %475 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %472, i64 noundef %474)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.657") align 8 %46, ptr noundef nonnull align 1 dereferenceable(1) %470, ptr noundef nonnull align 8 dereferenceable(8) %475)
  %476 = load ptr, ptr %11, align 8, !tbaa !5
  %477 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %476, i32 0, i32 45
  %478 = load i32, ptr %44, align 4, !tbaa !89
  %479 = zext i32 %478 to i64
  %480 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %477, i64 noundef %479) #7
  %481 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %480, ptr noundef nonnull align 1 dereferenceable(1) %46)
  call void @llvm.lifetime.end.p0(i64 32, ptr %46) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #7
  br label %482

482:                                              ; preds = %465
  %483 = load i32, ptr %14, align 4, !tbaa !89
  %484 = add i32 %483, 1
  store i32 %484, ptr %14, align 4, !tbaa !89
  br label %435, !llvm.loop !134

485:                                              ; preds = %435
  %486 = load ptr, ptr %7, align 8, !tbaa !5
  %487 = load ptr, ptr %10, align 8, !tbaa !5
  %488 = load ptr, ptr %11, align 8, !tbaa !5
  %489 = load ptr, ptr %12, align 8, !tbaa !5
  call void @_ZN17RigidBodyDynamics36ForwardDynamicsApplyConstraintForcesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERS4_(ptr noundef nonnull align 8 dereferenceable(872) %486, ptr noundef nonnull align 8 dereferenceable(16) %487, ptr noundef nonnull align 8 dereferenceable(1160) %488, ptr noundef nonnull align 8 dereferenceable(16) %489)
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #7
  ret void

490:                                              ; preds = %429, %410, %391
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #7
  br label %491

491:                                              ; preds = %490
  %492 = load ptr, ptr %37, align 8
  %493 = load i32, ptr %38, align 4
  %494 = insertvalue { ptr, i32 } poison, ptr %492, 0
  %495 = insertvalue { ptr, i32 } %494, i32 %493, 1
  resume { ptr, i32 } %495
}

declare void @_ZN17RigidBodyDynamics15ForwardDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN17RigidBodyDynamics16GetMovableBodyIdERNS_5ModelEj(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.806") align 1) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_identity_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.811") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEpLIS2_EERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS2_S9_EEEENS_20ScalarBinaryOpTraitsIdNS6_6traitsIT_E6ScalarENS6_17scalar_product_opIdSF_EEE10ReturnTypeERKNS0_ISD_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN17RigidBodyDynamics5Model13IsFixedBodyIdEj(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

attributes #0 = { noreturn 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #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 = { 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 = { "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 #7 = { nounwind }
attributes #8 = { noreturn 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, !19, i64 72}
!10 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !11, i64 0, !11, i64 24, !15, i64 48, !19, i64 72, !19, i64 76, !19, i64 80, !19, i64 84, !20, i64 88, !25, i64 112, !25, i64 136, !30, i64 160, !25, i64 184, !25, i64 208, !25, i64 232, !11, i64 256, !35, i64 280, !11, i64 304, !40, i64 328, !40, i64 352, !45, i64 376, !49, i64 400, !11, i64 424, !53, i64 448, !25, i64 472, !57, i64 496, !25, i64 520, !25, i64 544, !62, i64 568, !62, i64 584, !25, i64 600, !66, i64 624, !66, i64 648, !25, i64 672, !25, i64 696, !35, i64 720, !35, i64 744, !71, i64 768, !19, i64 792, !76, i64 800, !81, i64 824}
!11 = !{!"_ZTSSt6vectorIjSaIjEE", !12, i64 0}
!12 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !13, i64 0}
!13 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!15 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !16, i64 0}
!16 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!19 = !{!"int", !7, i64 0}
!20 = !{!"_ZTS9Vector3_t", !21, i64 0}
!21 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!25 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !26, i64 0}
!26 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!30 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !36, i64 0}
!36 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !37, i64 0}
!37 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !41, i64 0}
!41 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!45 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!49 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!53 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !54, i64 0}
!54 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!57 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !58, i64 0}
!58 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !59, i64 0}
!59 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!62 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !64, i64 0}
!64 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !65, i64 8}
!65 = !{!"long", !7, i64 0}
!66 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !67, i64 0}
!67 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !68, i64 0}
!68 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !70, i64 0}
!70 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !72, i64 0}
!72 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !77, i64 0}
!77 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!81 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !82, i64 0}
!82 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !83, i64 0}
!83 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !84, i64 0, !86, i64 8}
!84 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !85, i64 0}
!85 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!86 = !{!"_ZTSSt15_Rb_tree_header", !87, i64 0, !65, i64 32}
!87 = !{!"_ZTSSt18_Rb_tree_node_base", !88, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!88 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!89 = !{!19, !19, i64 0}
!90 = !{!91, !91, i64 0}
!91 = !{!"_ZTSN17RigidBodyDynamics13ConstraintSet14ConstraintTypeE", !7, i64 0}
!92 = !{!93, !93, i64 0}
!93 = !{!"double", !7, i64 0}
!94 = distinct !{!94, !95}
!95 = !{!"llvm.loop.mustprogress"}
!96 = distinct !{!96, !95}
!97 = distinct !{!97, !95}
!98 = !{!99, !100, i64 0}
!99 = !{!"_ZTSN17RigidBodyDynamics13ConstraintSetE", !100, i64 0, !101, i64 4, !102, i64 8, !106, i64 32, !11, i64 56, !11, i64 80, !11, i64 104, !110, i64 128, !11, i64 152, !49, i64 176, !49, i64 200, !11, i64 224, !11, i64 248, !35, i64 272, !35, i64 296, !25, i64 320, !114, i64 344, !62, i64 368, !62, i64 384, !62, i64 400, !62, i64 416, !62, i64 432, !62, i64 448, !118, i64 464, !62, i64 488, !62, i64 504, !118, i64 520, !118, i64 544, !62, i64 568, !62, i64 584, !118, i64 600, !118, i64 624, !118, i64 648, !118, i64 672, !121, i64 696, !118, i64 760, !118, i64 784, !118, i64 808, !62, i64 832, !62, i64 848, !118, i64 864, !62, i64 888, !62, i64 904, !62, i64 920, !25, i64 936, !25, i64 960, !49, i64 984, !25, i64 1008, !25, i64 1032, !62, i64 1056, !57, i64 1072, !25, i64 1096, !62, i64 1120, !49, i64 1136}
!100 = !{!"_ZTSN17RigidBodyDynamics4Math12LinearSolverE", !7, i64 0}
!101 = !{!"bool", !7, i64 0}
!102 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !103, i64 0}
!103 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !104, i64 0}
!104 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE12_Vector_implE", !105, i64 0}
!105 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!106 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !107, i64 0}
!107 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !108, i64 0}
!108 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !109, i64 0}
!109 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!110 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !111, i64 0}
!111 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !112, i64 0}
!112 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE12_Vector_implE", !113, i64 0}
!113 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!114 = !{!"_ZTSSt6vectorI9Vector2_tSaIS0_EE", !115, i64 0}
!115 = !{!"_ZTSSt12_Vector_baseI9Vector2_tSaIS0_EE", !116, i64 0}
!116 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE12_Vector_implE", !117, i64 0}
!117 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!118 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !119, i64 0}
!119 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !120, i64 0}
!120 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !65, i64 8, !65, i64 16}
!121 = !{!"_ZTSN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !118, i64 0, !62, i64 24, !122, i64 40, !101, i64 56}
!122 = !{!"_ZTSN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEE", !123, i64 0}
!123 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEEE", !124, i64 0}
!124 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELi1ELin1ELi1EEE", !6, i64 0, !65, i64 8}
!125 = !{!10, !19, i64 792}
!126 = !{!127, !19, i64 104}
!127 = !{!"_ZTSN17RigidBodyDynamics9FixedBodyE", !93, i64 0, !20, i64 8, !128, i64 32, !19, i64 104, !133, i64 112, !133, i64 208}
!128 = !{!"_ZTS9Matrix3_t", !129, i64 0}
!129 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !130, i64 0}
!130 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !131, i64 0}
!131 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !132, i64 0}
!132 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!133 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !128, i64 0, !20, i64 72}
!134 = distinct !{!134, !95}


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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Eigen::PartialPivLU" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::PermutationMatrix", %"class.Eigen::Transpositions", double, i8, i8, [6 x i8] }>
%"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::PermutationMatrix" = type { %"class.Eigen::Matrix.234" }
%"class.Eigen::Matrix.234" = type { %"class.Eigen::PlainObjectBase.235" }
%"class.Eigen::PlainObjectBase.235" = type { %"class.Eigen::DenseStorage.242" }
%"class.Eigen::DenseStorage.242" = type { ptr, i64 }
%"class.Eigen::Transpositions" = type { %"class.Eigen::Matrix.234" }
%"class.Eigen::ColPivHouseholderQR" = type { %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::PermutationMatrix", %"class.Eigen::Matrix.251", %"class.Eigen::Matrix.51", %"class.Eigen::Matrix.51", %"class.Eigen::Matrix.51", i8, i8, double, double, i64, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Matrix.251" = type { %"class.Eigen::PlainObjectBase.252" }
%"class.Eigen::PlainObjectBase.252" = type { %"class.Eigen::DenseStorage.259" }
%"class.Eigen::DenseStorage.259" = type { ptr, i64 }
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { ptr, i64 }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix.51", i8, [7 x i8] }>
%class.Vector3_t = type { %"class.Eigen::Matrix.70" }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.Eigen::CwiseBinaryOp.412" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::CwiseBinaryOp.657" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.638", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.638" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.89" }
%"class.Eigen::Matrix.89" = type { %"class.Eigen::PlainObjectBase.90" }
%"class.Eigen::PlainObjectBase.90" = type { %"class.Eigen::DenseStorage.97" }
%"class.Eigen::DenseStorage.97" = type { %"struct.Eigen::internal::plain_array.98" }
%"struct.Eigen::internal::plain_array.98" = type { [6 x double] }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%class.Matrix3_t = type { %"class.Eigen::Matrix.79" }
%"class.Eigen::Matrix.79" = type { %"class.Eigen::PlainObjectBase.80" }
%"class.Eigen::PlainObjectBase.80" = type { %"class.Eigen::DenseStorage.87" }
%"class.Eigen::DenseStorage.87" = type { %"struct.Eigen::internal::plain_array.88" }
%"struct.Eigen::internal::plain_array.88" = type { [9 x double] }
%"class.Eigen::CwiseNullaryOp.806" = type { [3 x i8] }
%"class.Eigen::CwiseUnaryOp.811" = type <{ ptr, [8 x i8] }>
%"class.Eigen::Solve" = type { ptr, ptr }
%"class.Eigen::Solve.243" = type { ptr, ptr }
%"class.Eigen::Solve.260" = type { ptr, ptr }

@.str.4 = external hidden unnamed_addr constant [112 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.8 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [52 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_ = external hidden unnamed_addr constant [148 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [27 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [29 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [71 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [73 x i8], align 1

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #0

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160)) local_unnamed_addr #2 align 2

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) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI9Vector3_tSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12partialPivLuEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::PartialPivLU") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_12PartialPivLUINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE19colPivHouseholderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ColPivHouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_19ColPivHouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::HouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 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 noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

declare void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #6

; 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 #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

declare void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8, ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiIS2_EEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.412") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; 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 #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERK9Matrix3_tRK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #4 align 2

declare void @_ZN17RigidBodyDynamics21CalcPointAccelerationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_jRK9Vector3_tb(ptr dead_on_unwind writable sret(%class.Vector3_t) align 8, ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics36ForwardDynamicsApplyConstraintForcesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERS4_(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1160), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.657") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(1160), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind noalias writable sret(%class.SpatialVector_t) align 16, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(1160) %4, ptr noundef nonnull align 8 dereferenceable(16) %5) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %7 = alloca %class.Vector3_t, align 8
  %8 = alloca %class.Vector3_t, align 8
  %9 = alloca %class.Vector3_t, align 8
  %10 = alloca %class.Vector3_t, align 8
  %11 = alloca %class.SpatialVector_t, align 16
  %12 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %13 = alloca %class.Matrix3_t, align 8
  %14 = alloca %"class.Eigen::CwiseNullaryOp.806", align 1
  %15 = alloca %class.Vector3_t, align 8
  %16 = alloca %"class.Eigen::CwiseUnaryOp.811", align 8
  %17 = alloca %class.SpatialVector_t, align 16
  %18 = alloca double, align 8
  %19 = alloca double, align 8
  %20 = alloca double, align 8
  %21 = alloca double, align 8
  %22 = alloca double, align 8
  %23 = alloca double, align 8
  %24 = alloca %class.Vector3_t, align 8
  %25 = alloca %"class.Eigen::CwiseBinaryOp.412", align 8
  %26 = alloca %"class.Eigen::Solve", align 8
  %27 = alloca %"class.Eigen::PartialPivLU", align 8
  %28 = alloca %"class.Eigen::Solve.243", align 8
  %29 = alloca %"class.Eigen::ColPivHouseholderQR", align 8
  %30 = alloca %"class.Eigen::Solve.260", align 8
  %31 = alloca %"class.Eigen::HouseholderQR", align 8
  %32 = alloca %"class.Eigen::CwiseBinaryOp.657", align 8
  %33 = getelementptr inbounds i8, ptr %4, i64 960
  %34 = tail call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  %35 = getelementptr inbounds i8, ptr %0, i64 800
  %36 = tail call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  %37 = icmp eq i64 %34, %36
  br i1 %37, label %39, label %38

38:                                               ; preds = %6
  tail call void @__assert_fail(ptr noundef nonnull @.str.22, ptr noundef nonnull @.str.4, i32 noundef 1440, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

39:                                               ; preds = %6
  %40 = getelementptr inbounds i8, ptr %4, i64 920
  %41 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %40)
  %42 = getelementptr inbounds i8, ptr %0, i64 72
  %43 = load i32, ptr %42, align 8, !tbaa !5
  %44 = zext i32 %43 to i64
  %45 = icmp eq i64 %41, %44
  br i1 %45, label %47, label %46

46:                                               ; preds = %39
  tail call void @__assert_fail(ptr noundef nonnull @.str.23, ptr noundef nonnull @.str.4, i32 noundef 1441, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

47:                                               ; preds = %39
  %48 = getelementptr inbounds i8, ptr %4, i64 904
  %49 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %48)
  %50 = load i32, ptr %42, align 8, !tbaa !5
  %51 = zext i32 %50 to i64
  %52 = icmp eq i64 %49, %51
  br i1 %52, label %54, label %53

53:                                               ; preds = %47
  tail call void @__assert_fail(ptr noundef nonnull @.str.24, ptr noundef nonnull @.str.4, i32 noundef 1442, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

54:                                               ; preds = %47
  %55 = getelementptr inbounds i8, ptr %4, i64 936
  %56 = tail call noundef i64 @_ZNKSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %55) #7
  %57 = tail call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %58 = icmp eq i64 %56, %57
  br i1 %58, label %60, label %59

59:                                               ; preds = %54
  tail call void @__assert_fail(ptr noundef nonnull @.str.25, ptr noundef nonnull @.str.4, i32 noundef 1443, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

60:                                               ; preds = %54
  %61 = getelementptr inbounds i8, ptr %4, i64 984
  %62 = tail call noundef i64 @_ZNKSt6vectorI9Vector3_tSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %61) #7
  %63 = tail call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %64 = icmp eq i64 %62, %63
  br i1 %64, label %66, label %65

65:                                               ; preds = %60
  tail call void @__assert_fail(ptr noundef nonnull @.str.26, ptr noundef nonnull @.str.4, i32 noundef 1444, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

66:                                               ; preds = %60
  %67 = getelementptr inbounds i8, ptr %4, i64 864
  %68 = tail call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %67)
  %69 = tail call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %70 = icmp eq i64 %68, %69
  br i1 %70, label %72, label %71

71:                                               ; preds = %66
  tail call void @__assert_fail(ptr noundef nonnull @.str.27, ptr noundef nonnull @.str.4, i32 noundef 1445, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

72:                                               ; preds = %66
  %73 = tail call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %67)
  %74 = tail call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %75 = icmp eq i64 %73, %74
  br i1 %75, label %77, label %76

76:                                               ; preds = %72
  tail call void @__assert_fail(ptr noundef nonnull @.str.28, ptr noundef nonnull @.str.4, i32 noundef 1446, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

77:                                               ; preds = %72
  %78 = getelementptr inbounds i8, ptr %4, i64 416
  %79 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %78)
  %80 = tail call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %81 = icmp eq i64 %79, %80
  br i1 %81, label %83, label %82

82:                                               ; preds = %77
  tail call void @__assert_fail(ptr noundef nonnull @.str.29, ptr noundef nonnull @.str.4, i32 noundef 1447, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

83:                                               ; preds = %77
  %84 = getelementptr inbounds i8, ptr %4, i64 888
  %85 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %84)
  %86 = tail call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %87 = icmp eq i64 %85, %86
  br i1 %87, label %89, label %88

88:                                               ; preds = %83
  tail call void @__assert_fail(ptr noundef nonnull @.str.30, ptr noundef nonnull @.str.4, i32 noundef 1448, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

89:                                               ; preds = %83
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #7
  call void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7)
  call void @_ZN17RigidBodyDynamics15ForwardDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(16) %40, ptr noundef null)
  %90 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %.not = icmp eq i64 %90, 0
  br i1 %.not, label %.preheader, label %.lr.ph

.lr.ph:                                           ; preds = %89
  %91 = getelementptr inbounds i8, ptr %4, i64 8
  %92 = getelementptr inbounds i8, ptr %4, i64 152
  %93 = getelementptr inbounds i8, ptr %4, i64 176
  %94 = getelementptr inbounds i8, ptr %4, i64 400
  %95 = getelementptr inbounds i8, ptr %4, i64 200
  br label %101

.preheader:                                       ; preds = %106, %89
  %96 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %.not155 = icmp eq i64 %96, 0
  br i1 %.not155, label %._crit_edge150, label %.lr.ph149

.lr.ph149:                                        ; preds = %.preheader
  %97 = getelementptr inbounds i8, ptr %4, i64 8
  %98 = getelementptr inbounds i8, ptr %4, i64 152
  %99 = getelementptr inbounds i8, ptr %4, i64 176
  %100 = getelementptr inbounds i8, ptr %4, i64 200
  br label %126

101:                                              ; preds = %.lr.ph, %106
  %102 = phi i64 [ 0, %.lr.ph ], [ %120, %106 ]
  %.0145 = phi i32 [ 0, %.lr.ph ], [ %119, %106 ]
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef null, ptr noundef null, ptr noundef nonnull %40)
  %103 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %91, i64 noundef %102) #7
  %104 = load i32, ptr %103, align 4, !tbaa !88
  %105 = icmp eq i32 %104, 0
  br i1 %105, label %106, label %123

106:                                              ; preds = %101
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #7
  %107 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %92, i64 noundef %102) #7
  %108 = load i32, ptr %107, align 4, !tbaa !90
  %109 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %93, i64 noundef %102) #7
  call void @_ZN17RigidBodyDynamics21CalcPointAccelerationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_jRK9Vector3_tb(ptr dead_on_unwind nonnull writable sret(%class.Vector3_t) align 8 %8, ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %40, i32 noundef %108, ptr noundef nonnull align 8 dereferenceable(24) %109, i1 noundef zeroext false)
  %110 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %102) #7
  %111 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %110, ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #7
  %112 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %94, i64 noundef %102)
  %113 = load double, ptr %112, align 8, !tbaa !91
  %114 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %95, i64 noundef %102) #7
  %115 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %102) #7
  %116 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotIS2_EENS_20ScalarBinaryOpTraitsIdNS_8internal6traitsIT_E6ScalarENS6_17scalar_product_opIdSA_EEE10ReturnTypeERKNS0_IS8_EE(ptr noundef nonnull align 1 dereferenceable(1) %114, ptr noundef nonnull align 1 dereferenceable(1) %115)
  %117 = fsub double %116, %113
  %118 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %84, i64 noundef %102)
  store double %117, ptr %118, align 8, !tbaa !91
  %119 = add i32 %.0145, 1
  %120 = zext i32 %119 to i64
  %121 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %122 = icmp ugt i64 %121, %120
  br i1 %122, label %101, label %.preheader, !llvm.loop !93

123:                                              ; preds = %101
  %124 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.31)
  %125 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %124, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.4, i32 noundef 1489, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

126:                                              ; preds = %.lr.ph149, %._crit_edge
  %127 = phi i64 [ 0, %.lr.ph149 ], [ %161, %._crit_edge ]
  %.1148 = phi i32 [ 0, %.lr.ph149 ], [ %160, %._crit_edge ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #7
  call void @_ZN9Vector3_tC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9)
  %128 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %97, i64 noundef %127) #7
  %129 = load i32, ptr %128, align 4, !tbaa !88
  %cond = icmp eq i32 %129, 0
  br i1 %cond, label %130, label %177

130:                                              ; preds = %126
  %131 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %98, i64 noundef %127) #7
  %132 = load i32, ptr %131, align 4, !tbaa !90
  %133 = call noundef i32 @_ZN17RigidBodyDynamics16GetMovableBodyIdERNS_5ModelEj(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %132)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #7
  %134 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %98, i64 noundef %127) #7
  %135 = load i32, ptr %134, align 4, !tbaa !90
  %136 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %99, i64 noundef %127) #7
  call void @_ZN17RigidBodyDynamics25CalcBodyToBaseCoordinatesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRK9Vector3_tb(ptr dead_on_unwind nonnull writable sret(%class.Vector3_t) align 8 %10, ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, i32 noundef %135, ptr noundef nonnull align 8 dereferenceable(24) %136, i1 noundef zeroext false)
  %137 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %11) #7
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %13) #7
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %14) #7
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.806") align 1 %14)
  call void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_identity_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72) %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #7
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEngEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.811") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @_ZN9Vector3_tC2IN5Eigen12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2ERK9Matrix3_tRK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(96) %12, ptr noundef nonnull align 8 dereferenceable(72) %13, ptr noundef nonnull align 8 dereferenceable(24) %15)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %17) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #7
  store double 0.000000e+00, ptr %18, align 8, !tbaa !91
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #7
  store double 0.000000e+00, ptr %19, align 8, !tbaa !91
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #7
  store double 0.000000e+00, ptr %20, align 8, !tbaa !91
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #7
  %138 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %100, i64 noundef %127) #7
  %139 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %138, i64 noundef 0)
  %140 = load double, ptr %139, align 8, !tbaa !91
  %141 = fneg double %140
  store double %141, ptr %21, align 8, !tbaa !91
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #7
  %142 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %100, i64 noundef %127) #7
  %143 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %142, i64 noundef 1)
  %144 = load double, ptr %143, align 8, !tbaa !91
  %145 = fneg double %144
  store double %145, ptr %22, align 8, !tbaa !91
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #7
  %146 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %100, i64 noundef %127) #7
  %147 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %146, i64 noundef 2)
  %148 = load double, ptr %147, align 8, !tbaa !91
  %149 = fneg double %148
  store double %149, ptr %23, align 8, !tbaa !91
  call void @_ZN15SpatialVector_tC2ERKdS1_S1_S1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(48) %17, ptr noundef nonnull align 8 dereferenceable(8) %18, ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef nonnull align 8 dereferenceable(8) %20, ptr noundef nonnull align 8 dereferenceable(8) %21, ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull align 8 dereferenceable(8) %23)
  call void @_ZN17RigidBodyDynamics4Math16SpatialTransform12applyAdjointERK15SpatialVector_t(ptr dead_on_unwind nonnull writable sret(%class.SpatialVector_t) align 16 %11, ptr noundef nonnull align 8 dereferenceable(96) %12, ptr noundef nonnull align 16 dereferenceable(48) %17)
  %150 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef %127) #7
  %151 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSEOS_(ptr noundef nonnull align 16 dereferenceable(48) %150, ptr noundef nonnull align 16 dereferenceable(48) %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %17) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %15) #7
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %11) #7
  %152 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef %127) #7
  %153 = zext i32 %133 to i64
  %154 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %153) #7
  %155 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN15SpatialVector_taSERKS_(ptr noundef nonnull align 16 dereferenceable(48) %154, ptr noundef nonnull align 16 dereferenceable(48) %152)
  call void @_ZN17RigidBodyDynamics33ForwardDynamicsAccelerationDeltasERNS_5ModelERNS_13ConstraintSetERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEjRKSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(1160) %4, ptr noundef nonnull align 8 dereferenceable(16) %48, i32 noundef %133, ptr noundef nonnull align 8 dereferenceable(24) %33)
  %156 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %153) #7
  %157 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %156)
  %158 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEpLIS2_EERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %48, ptr noundef nonnull align 1 dereferenceable(1) %40)
  call void @_ZN17RigidBodyDynamics22UpdateKinematicsCustomERNS_5ModelEPKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef null, ptr noundef null, ptr noundef nonnull %48)
  %159 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %.not156 = icmp eq i64 %159, 0
  br i1 %.not156, label %._crit_edge, label %.lr.ph147

._crit_edge:                                      ; preds = %.lr.ph147, %130
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #7
  %160 = add i32 %.1148, 1
  %161 = zext i32 %160 to i64
  %162 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %163 = icmp ugt i64 %162, %161
  br i1 %163, label %126, label %._crit_edge150, !llvm.loop !95

.lr.ph147:                                        ; preds = %130, %.lr.ph147
  %164 = phi i64 [ %174, %.lr.ph147 ], [ 0, %130 ]
  %.0139146 = phi i32 [ %173, %.lr.ph147 ], [ 0, %130 ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %24) #7
  %165 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %98, i64 noundef %164) #7
  %166 = load i32, ptr %165, align 4, !tbaa !90
  %167 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %99, i64 noundef %164) #7
  call void @_ZN17RigidBodyDynamics21CalcPointAccelerationERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_jRK9Vector3_tb(ptr dead_on_unwind nonnull writable sret(%class.Vector3_t) align 8 %24, ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(16) %48, i32 noundef %166, ptr noundef nonnull align 8 dereferenceable(24) %167, i1 noundef zeroext false)
  %168 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN9Vector3_taSEOS_(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(24) %24) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %24) #7
  %169 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %100, i64 noundef %164) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %25) #7
  %170 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef %164) #7
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEmiIS2_EEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.412") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %7, ptr noundef nonnull align 1 dereferenceable(1) %170)
  %171 = call noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS2_S9_EEEENS_20ScalarBinaryOpTraitsIdNS6_6traitsIT_E6ScalarENS6_17scalar_product_opIdSF_EEE10ReturnTypeERKNS0_ISD_EE(ptr noundef nonnull align 1 dereferenceable(1) %169, ptr noundef nonnull align 1 dereferenceable(1) %25)
  %172 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %67, i64 noundef %127, i64 noundef %164)
  store double %171, ptr %172, align 8, !tbaa !91
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #7
  %173 = add i32 %.0139146, 1
  %174 = zext i32 %173 to i64
  %175 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %176 = icmp ugt i64 %175, %174
  br i1 %176, label %.lr.ph147, label %._crit_edge, !llvm.loop !96

177:                                              ; preds = %126
  %178 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.32)
  %179 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %178, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.4, i32 noundef 1567, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

._crit_edge150:                                   ; preds = %._crit_edge, %.preheader
  %180 = load i32, ptr %4, align 8, !tbaa !97
  switch i32 %180, label %211 [
    i32 1, label %181
    i32 2, label %191
    i32 3, label %201
  ]

181:                                              ; preds = %._crit_edge150
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %26) #7
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %27) #7
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12partialPivLuEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::PartialPivLU") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %67)
  %182 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %27, ptr noundef nonnull align 1 dereferenceable(1) %84)
          to label %183 unwind label %189

183:                                              ; preds = %181
  %184 = extractvalue { ptr, ptr } %182, 0
  store ptr %184, ptr %26, align 8
  %185 = getelementptr inbounds i8, ptr %26, i64 8
  %186 = extractvalue { ptr, ptr } %182, 1
  store ptr %186, ptr %185, align 8
  %187 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_12PartialPivLUINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %78, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %188 unwind label %189

188:                                              ; preds = %183
  call void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66) %27) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %27) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #7
  br label %212

189:                                              ; preds = %183, %181
  %190 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen12PartialPivLUINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(66) %27) #7
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %27) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #7
  br label %239

191:                                              ; preds = %._crit_edge150
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %28) #7
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %29) #7
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE19colPivHouseholderQrEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::ColPivHouseholderQR") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %67)
  %192 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %84)
          to label %193 unwind label %199

193:                                              ; preds = %191
  %194 = extractvalue { ptr, ptr } %192, 0
  store ptr %194, ptr %28, align 8
  %195 = getelementptr inbounds i8, ptr %28, i64 8
  %196 = extractvalue { ptr, ptr } %192, 1
  store ptr %196, ptr %195, align 8
  %197 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_19ColPivHouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %78, ptr noundef nonnull align 1 dereferenceable(1) %28)
          to label %198 unwind label %199

198:                                              ; preds = %193
  call void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160) %29) #7
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %29) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %28) #7
  br label %212

199:                                              ; preds = %193, %191
  %200 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen19ColPivHouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(160) %29) #7
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %29) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %28) #7
  br label %239

201:                                              ; preds = %._crit_edge150
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %30) #7
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %31) #7
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::HouseholderQR") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %67)
  %202 = invoke { ptr, ptr } @_ZNK5Eigen10SolverBaseINS_13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEEE5solveINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_5SolveIS4_T_EERKNS_10MatrixBaseIS9_EE(ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 1 dereferenceable(1) %84)
          to label %203 unwind label %209

203:                                              ; preds = %201
  %204 = extractvalue { ptr, ptr } %202, 0
  store ptr %204, ptr %30, align 8
  %205 = getelementptr inbounds i8, ptr %30, i64 8
  %206 = extractvalue { ptr, ptr } %202, 1
  store ptr %206, ptr %205, align 8
  %207 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5SolveINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %78, ptr noundef nonnull align 1 dereferenceable(1) %30)
          to label %208 unwind label %209

208:                                              ; preds = %203
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %31) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %31) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #7
  br label %212

209:                                              ; preds = %203, %201
  %210 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %31) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %31) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #7
  br label %239

211:                                              ; preds = %._crit_edge150
  call void @__assert_fail(ptr noundef nonnull @.str.8, ptr noundef nonnull @.str.4, i32 noundef 1592, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics31ForwardDynamicsContactsKokkevisERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RNS_13ConstraintSetERS4_) #8
  unreachable

212:                                              ; preds = %208, %198, %188
  %213 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %.not157 = icmp eq i64 %213, 0
  br i1 %.not157, label %._crit_edge154, label %.lr.ph153

.lr.ph153:                                        ; preds = %212
  %214 = getelementptr inbounds i8, ptr %4, i64 152
  %215 = getelementptr inbounds i8, ptr %0, i64 792
  %216 = getelementptr inbounds i8, ptr %0, i64 768
  br label %217

217:                                              ; preds = %.lr.ph153, %229
  %218 = phi i64 [ 0, %.lr.ph153 ], [ %236, %229 ]
  %.2151 = phi i32 [ 0, %.lr.ph153 ], [ %235, %229 ]
  %219 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %214, i64 noundef %218) #7
  %220 = load i32, ptr %219, align 4, !tbaa !90
  %221 = call noundef zeroext i1 @_ZN17RigidBodyDynamics5Model13IsFixedBodyIdEj(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %220)
  br i1 %221, label %222, label %229

222:                                              ; preds = %217
  %223 = load i32, ptr %215, align 8, !tbaa !124
  %224 = sub i32 %220, %223
  %225 = zext i32 %224 to i64
  %226 = call noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %216, i64 noundef %225) #7
  %227 = getelementptr inbounds i8, ptr %226, i64 104
  %228 = load i32, ptr %227, align 8, !tbaa !125
  br label %229

229:                                              ; preds = %222, %217
  %.0136 = phi i32 [ %228, %222 ], [ %220, %217 ]
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %32) #7
  %230 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef %218) #7
  %231 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %78, i64 noundef %218)
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.657") align 8 %32, ptr noundef nonnull align 1 dereferenceable(1) %230, ptr noundef nonnull align 8 dereferenceable(8) %231)
  %232 = zext i32 %.0136 to i64
  %233 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %232) #7
  %234 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %233, ptr noundef nonnull align 1 dereferenceable(1) %32)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %32) #7
  %235 = add i32 %.2151, 1
  %236 = zext i32 %235 to i64
  %237 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %4)
  %238 = icmp ugt i64 %237, %236
  br i1 %238, label %217, label %._crit_edge154, !llvm.loop !133

._crit_edge154:                                   ; preds = %229, %212
  call void @_ZN17RigidBodyDynamics36ForwardDynamicsApplyConstraintForcesERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERS4_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(1160) %4, ptr noundef nonnull align 8 dereferenceable(16) %5)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  ret void

239:                                              ; preds = %209, %199, %189
  %.pn = phi { ptr, i32 } [ %210, %209 ], [ %200, %199 ], [ %190, %189 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  resume { ptr, i32 } %.pn
}

declare void @_ZN17RigidBodyDynamics15ForwardDynamicsERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_S6_RS4_PSt6vectorI15SpatialVector_tSaIS9_EE(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) local_unnamed_addr #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN17RigidBodyDynamics16GetMovableBodyIdERNS_5ModelEj(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEE8IdentityEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.806") align 1) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Matrix3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_identity_opIdEENS1_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.811") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen12CwiseUnaryOpINS1_8internal18scalar_opposite_opIdEEKNS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEpLIS2_EERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE3dotINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIddEEKS2_S9_EEEENS_20ScalarBinaryOpTraitsIdNS6_6traitsIT_E6ScalarENS6_17scalar_product_opIdSF_EEE10ReturnTypeERKNS0_ISD_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN17RigidBodyDynamics5Model13IsFixedBodyIdEj(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(304) ptr @_ZNSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEmIINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS2_KNS_14CwiseNullaryOpINS6_18scalar_constant_opIdEES9_EEEEEERS2_RKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

attributes #0 = { noreturn 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #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 = { 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 = { "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 #7 = { nounwind }
attributes #8 = { noreturn 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 72}
!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 = !{!89, !89, i64 0}
!89 = !{!"_ZTSN17RigidBodyDynamics13ConstraintSet14ConstraintTypeE", !12, i64 0}
!90 = !{!18, !18, i64 0}
!91 = !{!92, !92, i64 0}
!92 = !{!"double", !12, i64 0}
!93 = distinct !{!93, !94}
!94 = !{!"llvm.loop.mustprogress"}
!95 = distinct !{!95, !94}
!96 = distinct !{!96, !94}
!97 = !{!98, !99, i64 0}
!98 = !{!"_ZTSN17RigidBodyDynamics13ConstraintSetE", !99, i64 0, !100, i64 4, !101, i64 8, !105, i64 32, !7, i64 56, !7, i64 80, !7, i64 104, !109, i64 128, !7, i64 152, !48, i64 176, !48, i64 200, !7, i64 224, !7, i64 248, !34, i64 272, !34, i64 296, !24, i64 320, !113, i64 344, !61, i64 368, !61, i64 384, !61, i64 400, !61, i64 416, !61, i64 432, !61, i64 448, !117, i64 464, !61, i64 488, !61, i64 504, !117, i64 520, !117, i64 544, !61, i64 568, !61, i64 584, !117, i64 600, !117, i64 624, !117, i64 648, !117, i64 672, !120, i64 696, !117, i64 760, !117, i64 784, !117, i64 808, !61, i64 832, !61, i64 848, !117, i64 864, !61, i64 888, !61, i64 904, !61, i64 920, !24, i64 936, !24, i64 960, !48, i64 984, !24, i64 1008, !24, i64 1032, !61, i64 1056, !56, i64 1072, !24, i64 1096, !61, i64 1120, !48, i64 1136}
!99 = !{!"_ZTSN17RigidBodyDynamics4Math12LinearSolverE", !12, i64 0}
!100 = !{!"bool", !12, i64 0}
!101 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !102, i64 0}
!102 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !103, i64 0}
!103 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE12_Vector_implE", !104, i64 0}
!104 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!105 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !106, i64 0}
!106 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !107, i64 0}
!107 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !108, i64 0}
!108 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!109 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !110, i64 0}
!110 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !111, i64 0}
!111 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE12_Vector_implE", !112, i64 0}
!112 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!113 = !{!"_ZTSSt6vectorI9Vector2_tSaIS0_EE", !114, i64 0}
!114 = !{!"_ZTSSt12_Vector_baseI9Vector2_tSaIS0_EE", !115, i64 0}
!115 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE12_Vector_implE", !116, i64 0}
!116 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!117 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !118, i64 0}
!118 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !119, i64 0}
!119 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !11, i64 0, !64, i64 8, !64, i64 16}
!120 = !{!"_ZTSN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !117, i64 0, !61, i64 24, !121, i64 40, !100, i64 56}
!121 = !{!"_ZTSN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEE", !122, i64 0}
!122 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEEE", !123, i64 0}
!123 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELi1ELin1ELi1EEE", !11, i64 0, !64, i64 8}
!124 = !{!6, !18, i64 792}
!125 = !{!126, !18, i64 104}
!126 = !{!"_ZTSN17RigidBodyDynamics9FixedBodyE", !92, i64 0, !19, i64 8, !127, i64 32, !18, i64 104, !132, i64 112, !132, i64 208}
!127 = !{!"_ZTS9Matrix3_t", !128, i64 0}
!128 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !129, i64 0}
!129 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !130, i64 0}
!130 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !131, i64 0}
!131 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !12, i64 0}
!132 = !{!"_ZTSN17RigidBodyDynamics4Math16SpatialTransformE", !127, i64 0, !19, i64 72}
!133 = distinct !{!133, !94}


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