; LLVM IR from erwincoumans/tiny-differentiable-simulator :: examples (pendulum_example)

; 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.tds::World" = type { ptr, %"class.std::vector.4", %"class.std::vector.9", %"class.Eigen::Matrix", %"class.std::vector.16", %"class.tds::CollisionDispatcher", ptr, ptr, ptr, %"class.std::vector.21", %"class.std::vector.26", i32, double, double, %"class.std::vector.31" }
%"class.std::vector.4" = type { %"struct.std::_Vector_base.5" }
%"struct.std::_Vector_base.5" = type { %"struct.std::_Vector_base<tds::RigidBody<tds::EigenAlgebraT<>> *, std::allocator<tds::RigidBody<tds::EigenAlgebraT<>> *>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::RigidBody<tds::EigenAlgebraT<>> *, std::allocator<tds::RigidBody<tds::EigenAlgebraT<>> *>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::RigidBody<tds::EigenAlgebraT<>> *, std::allocator<tds::RigidBody<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::RigidBody<tds::EigenAlgebraT<>> *, std::allocator<tds::RigidBody<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<tds::MultiBody<tds::EigenAlgebraT<>> *, std::allocator<tds::MultiBody<tds::EigenAlgebraT<>> *>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::MultiBody<tds::EigenAlgebraT<>> *, std::allocator<tds::MultiBody<tds::EigenAlgebraT<>> *>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::MultiBody<tds::EigenAlgebraT<>> *, std::allocator<tds::MultiBody<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::MultiBody<tds::EigenAlgebraT<>> *, std::allocator<tds::MultiBody<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.std::vector.16" = type { %"struct.std::_Vector_base.17" }
%"struct.std::_Vector_base.17" = type { %"struct.std::_Vector_base<tds::Geometry<tds::EigenAlgebraT<>> *, std::allocator<tds::Geometry<tds::EigenAlgebraT<>> *>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::Geometry<tds::EigenAlgebraT<>> *, std::allocator<tds::Geometry<tds::EigenAlgebraT<>> *>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::Geometry<tds::EigenAlgebraT<>> *, std::allocator<tds::Geometry<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::Geometry<tds::EigenAlgebraT<>> *, std::allocator<tds::Geometry<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.tds::CollisionDispatcher" = type { [6 x [6 x ptr]] }
%"class.std::vector.21" = type { %"struct.std::_Vector_base.22" }
%"struct.std::_Vector_base.22" = type { %"struct.std::_Vector_base<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.26" = type { %"struct.std::_Vector_base.27" }
%"struct.std::_Vector_base.27" = type { %"struct.std::_Vector_base<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>, std::allocator<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>, std::allocator<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>, std::allocator<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>, std::allocator<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.31" = type { %"struct.std::_Vector_base.32" }
%"struct.std::_Vector_base.32" = type { %"struct.std::_Vector_base<tds::ContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::ContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::ContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::ContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::ContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::ContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::ContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::ContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.36" = type { %"struct.std::_Vector_base.37" }
%"struct.std::_Vector_base.37" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.std::vector.41" = type { %"struct.std::_Vector_base.42" }
%"struct.std::_Vector_base.42" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.66" = type { %"class.Eigen::PlainObjectBase.67" }
%"class.Eigen::PlainObjectBase.67" = type { %"class.Eigen::DenseStorage.74" }
%"class.Eigen::DenseStorage.74" = type { ptr, i64 }
%"class.Eigen::Matrix.80" = type { %"class.Eigen::PlainObjectBase.81" }
%"class.Eigen::PlainObjectBase.81" = type { %"class.Eigen::DenseStorage.88" }
%"class.Eigen::DenseStorage.88" = type { ptr, i64, i64 }

@.str = external hidden unnamed_addr constant [1 x i8], align 1
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.16 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [33 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [106 x i8], align 1
@__PRETTY_FUNCTION__.main = external hidden unnamed_addr constant [23 x i8], align 1

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #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) #0

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr noundef %1) #3 personality ptr @__gxx_personality_v0 {
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca %"class.tds::World", align 8
  %7 = alloca %"class.std::vector.4", align 8
  %8 = alloca %"class.std::vector.36", align 8
  %9 = alloca %"class.std::vector.9", align 8
  %10 = alloca %"class.std::vector.36", align 8
  %11 = alloca i32, align 4
  %12 = alloca ptr, align 8
  %13 = alloca %"class.std::__cxx11::basic_string", align 8
  %14 = alloca %"class.std::allocator", align 1
  %15 = alloca ptr, align 8
  %16 = alloca i32, align 4
  %17 = alloca %"class.std::vector.41", align 8
  %18 = alloca %"class.std::vector.41", align 8
  %19 = alloca %"class.Eigen::Matrix.66", align 8
  %20 = alloca %"class.Eigen::Matrix.66", align 8
  %21 = alloca %"class.Eigen::Matrix.66", align 8
  %22 = alloca %"class.Eigen::Matrix.66", align 8
  %23 = alloca %"class.Eigen::Matrix", align 8
  %24 = alloca double, align 8
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca %"class.Eigen::Matrix.80", align 8
  %28 = alloca i64, align 8
  %29 = alloca i64, align 8
  %30 = alloca double, align 8
  %31 = alloca i32, align 4
  %32 = alloca i32, align 4
  store i32 0, ptr %3, align 4
  store i32 %0, ptr %4, align 4, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !9
  %33 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.16)
  %34 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @llvm.lifetime.start.p0(i64 512, ptr %6) #11
  %35 = call noundef double @_ZN3tds13EigenAlgebraTIdE8fractionEii(i32 noundef -981, i32 noundef 100)
  call void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEEC2Ed(ptr noundef nonnull align 8 dereferenceable(512) %6, double noundef %35)
  call void @llvm.lifetime.start.p0(i64 24, ptr %7) #11
  call void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr %8) #11
  call void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr %9) #11
  call void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr %10) #11
  call void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #11
  store i32 5, ptr %11, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #11
  call void @llvm.lifetime.start.p0(i64 32, ptr %13) #11
  call void @llvm.lifetime.start.p0(i64 1, ptr %14) #11
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %14) #11
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %13, ptr noundef @.str, ptr noundef nonnull align 1 dereferenceable(1) %14)
          to label %36 unwind label %93

36:                                               ; preds = %2
  %37 = invoke noundef ptr @_ZN3tds5WorldINS_13EigenAlgebraTIdEEE17create_multi_bodyERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(512) %6, ptr noundef nonnull align 8 dereferenceable(32) %13)
          to label %38 unwind label %97

38:                                               ; preds = %36
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #11
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %14) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #11
  store ptr %37, ptr %12, align 8, !tbaa !9
  %39 = load ptr, ptr %12, align 8, !tbaa !9
  %40 = load i32, ptr %11, align 4, !tbaa !5
  call void @llvm.memset.p0.i64(ptr align 8 %17, i8 0, i64 24, i1 false)
  call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #11
  call void @llvm.memset.p0.i64(ptr align 8 %18, i8 0, i64 24, i1 false)
  call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #11
  invoke void @_Z22init_compound_pendulumIN3tds13EigenAlgebraTIdEEEvRNS0_9MultiBodyIT_EERNS0_5WorldIS4_EEiSt6vectorINS4_6ScalarESaISB_EESD_(ptr noundef nonnull align 8 dereferenceable(944) %39, ptr noundef nonnull align 8 dereferenceable(512) %6, i32 noundef %40, ptr noundef %17, ptr noundef %18)
          to label %41 unwind label %102

41:                                               ; preds = %38
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #11
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #11
  invoke void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EE9push_backERKS5_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(8) %12)
          to label %42 unwind label %106

42:                                               ; preds = %41
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #11
  %43 = load ptr, ptr %12, align 8, !tbaa !9
  %44 = invoke noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE3dofEv(ptr noundef nonnull align 8 dereferenceable(944) %43)
          to label %45 unwind label %110

45:                                               ; preds = %42
  %46 = sext i32 %44 to i64
  invoke void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.66") align 8 %19, i64 noundef %46)
          to label %47 unwind label %110

47:                                               ; preds = %45
  %48 = load ptr, ptr %12, align 8, !tbaa !9
  %49 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944) %48)
          to label %50 unwind label %114

50:                                               ; preds = %47
  %51 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %49, ptr noundef nonnull align 8 dereferenceable(16) %19) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %19) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #11
  %52 = load ptr, ptr %12, align 8, !tbaa !9
  %53 = invoke noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE6dof_qdEv(ptr noundef nonnull align 8 dereferenceable(944) %52)
          to label %54 unwind label %119

54:                                               ; preds = %50
  %55 = sext i32 %53 to i64
  invoke void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.66") align 8 %20, i64 noundef %55)
          to label %56 unwind label %119

56:                                               ; preds = %54
  %57 = load ptr, ptr %12, align 8, !tbaa !9
  %58 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %57)
          to label %59 unwind label %123

59:                                               ; preds = %56
  %60 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %58, ptr noundef nonnull align 8 dereferenceable(16) %20) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %20) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #11
  %61 = load ptr, ptr %12, align 8, !tbaa !9
  %62 = invoke noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE6dof_qdEv(ptr noundef nonnull align 8 dereferenceable(944) %61)
          to label %63 unwind label %128

63:                                               ; preds = %59
  %64 = sext i32 %62 to i64
  invoke void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.66") align 8 %21, i64 noundef %64)
          to label %65 unwind label %128

65:                                               ; preds = %63
  %66 = load ptr, ptr %12, align 8, !tbaa !9
  %67 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3tauEv(ptr noundef nonnull align 8 dereferenceable(944) %66)
          to label %68 unwind label %132

68:                                               ; preds = %65
  %69 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %67, ptr noundef nonnull align 8 dereferenceable(16) %21) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #11
  %70 = load ptr, ptr %12, align 8, !tbaa !9
  %71 = invoke noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE6dof_qdEv(ptr noundef nonnull align 8 dereferenceable(944) %70)
          to label %72 unwind label %137

72:                                               ; preds = %68
  %73 = sext i32 %71 to i64
  invoke void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.66") align 8 %22, i64 noundef %73)
          to label %74 unwind label %137

74:                                               ; preds = %72
  %75 = load ptr, ptr %12, align 8, !tbaa !9
  %76 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3qddEv(ptr noundef nonnull align 8 dereferenceable(944) %75)
          to label %77 unwind label %141

77:                                               ; preds = %74
  %78 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %76, ptr noundef nonnull align 8 dereferenceable(16) %22) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %22) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #11
  store double 0.000000e+00, ptr %24, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #11
  store double 0.000000e+00, ptr %25, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #11
  store double -9.810000e+00, ptr %26, align 8, !tbaa !11
  invoke void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2ERKdS3_S3_(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26)
          to label %79 unwind label %146

79:                                               ; preds = %77
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr %27) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #11
  %80 = load ptr, ptr %12, align 8, !tbaa !9
  %81 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE5linksEv(ptr noundef nonnull align 8 dereferenceable(944) %80)
          to label %82 unwind label %150

82:                                               ; preds = %79
  %83 = call noundef i64 @_ZNKSt6vectorIN3tds4LinkINS0_13EigenAlgebraTIdEEEESaIS4_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %81) #11
  store i64 %83, ptr %28, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #11
  %84 = load ptr, ptr %12, align 8, !tbaa !9
  %85 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE5linksEv(ptr noundef nonnull align 8 dereferenceable(944) %84)
          to label %86 unwind label %154

86:                                               ; preds = %82
  %87 = call noundef i64 @_ZNKSt6vectorIN3tds4LinkINS0_13EigenAlgebraTIdEEEESaIS4_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %85) #11
  store i64 %87, ptr %29, align 8, !tbaa !13
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2ImmEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24) %27, ptr noundef nonnull align 8 dereferenceable(8) %28, ptr noundef nonnull align 8 dereferenceable(8) %29)
          to label %88 unwind label %154

88:                                               ; preds = %86
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #11
  store double 0x3F71111111111111, ptr %30, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #11
  store i32 2, ptr %31, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #11
  store i32 0, ptr %32, align 4, !tbaa !5
  br label %89

89:                                               ; preds = %215, %88
  %90 = load i32, ptr %32, align 4, !tbaa !5
  %91 = icmp slt i32 %90, 100
  br i1 %91, label %159, label %92

92:                                               ; preds = %89
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #11
  br label %218

93:                                               ; preds = %2
  %94 = landingpad { ptr, i32 }
          cleanup
  %95 = extractvalue { ptr, i32 } %94, 0
  store ptr %95, ptr %15, align 8
  %96 = extractvalue { ptr, i32 } %94, 1
  store i32 %96, ptr %16, align 4
  br label %101

97:                                               ; preds = %36
  %98 = landingpad { ptr, i32 }
          cleanup
  %99 = extractvalue { ptr, i32 } %98, 0
  store ptr %99, ptr %15, align 8
  %100 = extractvalue { ptr, i32 } %98, 1
  store i32 %100, ptr %16, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #11
  br label %101

101:                                              ; preds = %97, %93
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %14) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #11
  br label %222

102:                                              ; preds = %38
  %103 = landingpad { ptr, i32 }
          cleanup
  %104 = extractvalue { ptr, i32 } %103, 0
  store ptr %104, ptr %15, align 8
  %105 = extractvalue { ptr, i32 } %103, 1
  store i32 %105, ptr %16, align 4
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #11
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #11
  br label %222

106:                                              ; preds = %41
  %107 = landingpad { ptr, i32 }
          cleanup
  %108 = extractvalue { ptr, i32 } %107, 0
  store ptr %108, ptr %15, align 8
  %109 = extractvalue { ptr, i32 } %107, 1
  store i32 %109, ptr %16, align 4
  br label %222

110:                                              ; preds = %45, %42
  %111 = landingpad { ptr, i32 }
          cleanup
  %112 = extractvalue { ptr, i32 } %111, 0
  store ptr %112, ptr %15, align 8
  %113 = extractvalue { ptr, i32 } %111, 1
  store i32 %113, ptr %16, align 4
  br label %118

114:                                              ; preds = %47
  %115 = landingpad { ptr, i32 }
          cleanup
  %116 = extractvalue { ptr, i32 } %115, 0
  store ptr %116, ptr %15, align 8
  %117 = extractvalue { ptr, i32 } %115, 1
  store i32 %117, ptr %16, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %19) #11
  br label %118

118:                                              ; preds = %114, %110
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #11
  br label %222

119:                                              ; preds = %54, %50
  %120 = landingpad { ptr, i32 }
          cleanup
  %121 = extractvalue { ptr, i32 } %120, 0
  store ptr %121, ptr %15, align 8
  %122 = extractvalue { ptr, i32 } %120, 1
  store i32 %122, ptr %16, align 4
  br label %127

123:                                              ; preds = %56
  %124 = landingpad { ptr, i32 }
          cleanup
  %125 = extractvalue { ptr, i32 } %124, 0
  store ptr %125, ptr %15, align 8
  %126 = extractvalue { ptr, i32 } %124, 1
  store i32 %126, ptr %16, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %20) #11
  br label %127

127:                                              ; preds = %123, %119
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #11
  br label %222

128:                                              ; preds = %63, %59
  %129 = landingpad { ptr, i32 }
          cleanup
  %130 = extractvalue { ptr, i32 } %129, 0
  store ptr %130, ptr %15, align 8
  %131 = extractvalue { ptr, i32 } %129, 1
  store i32 %131, ptr %16, align 4
  br label %136

132:                                              ; preds = %65
  %133 = landingpad { ptr, i32 }
          cleanup
  %134 = extractvalue { ptr, i32 } %133, 0
  store ptr %134, ptr %15, align 8
  %135 = extractvalue { ptr, i32 } %133, 1
  store i32 %135, ptr %16, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #11
  br label %136

136:                                              ; preds = %132, %128
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #11
  br label %222

137:                                              ; preds = %72, %68
  %138 = landingpad { ptr, i32 }
          cleanup
  %139 = extractvalue { ptr, i32 } %138, 0
  store ptr %139, ptr %15, align 8
  %140 = extractvalue { ptr, i32 } %138, 1
  store i32 %140, ptr %16, align 4
  br label %145

141:                                              ; preds = %74
  %142 = landingpad { ptr, i32 }
          cleanup
  %143 = extractvalue { ptr, i32 } %142, 0
  store ptr %143, ptr %15, align 8
  %144 = extractvalue { ptr, i32 } %142, 1
  store i32 %144, ptr %16, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %22) #11
  br label %145

145:                                              ; preds = %141, %137
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #11
  br label %222

146:                                              ; preds = %77
  %147 = landingpad { ptr, i32 }
          cleanup
  %148 = extractvalue { ptr, i32 } %147, 0
  store ptr %148, ptr %15, align 8
  %149 = extractvalue { ptr, i32 } %147, 1
  store i32 %149, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #11
  br label %221

150:                                              ; preds = %79
  %151 = landingpad { ptr, i32 }
          cleanup
  %152 = extractvalue { ptr, i32 } %151, 0
  store ptr %152, ptr %15, align 8
  %153 = extractvalue { ptr, i32 } %151, 1
  store i32 %153, ptr %16, align 4
  br label %158

154:                                              ; preds = %86, %82
  %155 = landingpad { ptr, i32 }
          cleanup
  %156 = extractvalue { ptr, i32 } %155, 0
  store ptr %156, ptr %15, align 8
  %157 = extractvalue { ptr, i32 } %155, 1
  store i32 %157, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #11
  br label %158

158:                                              ; preds = %154, %150
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #11
  br label %220

159:                                              ; preds = %89
  %160 = load ptr, ptr %12, align 8, !tbaa !9
  invoke void @_ZN3tds18forward_kinematicsINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EE(ptr noundef nonnull align 8 dereferenceable(944) %160)
          to label %161 unwind label %210

161:                                              ; preds = %159
  invoke void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEE4stepERKd(ptr noundef nonnull align 8 dereferenceable(512) %6, ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %162 unwind label %210

162:                                              ; preds = %161
  %163 = load ptr, ptr %12, align 8, !tbaa !9
  invoke void @_ZN3tds16forward_dynamicsINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EERKNS4_7Vector3Eb(ptr noundef nonnull align 8 dereferenceable(944) %163, ptr noundef nonnull align 8 dereferenceable(24) %23, i1 noundef zeroext false)
          to label %164 unwind label %210

164:                                              ; preds = %162
  %165 = load ptr, ptr %12, align 8, !tbaa !9
  %166 = load ptr, ptr %12, align 8, !tbaa !9
  %167 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944) %166)
          to label %168 unwind label %210

168:                                              ; preds = %164
  %169 = load ptr, ptr %12, align 8, !tbaa !9
  %170 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %169)
          to label %171 unwind label %210

171:                                              ; preds = %168
  %172 = load ptr, ptr %12, align 8, !tbaa !9
  %173 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3qddEv(ptr noundef nonnull align 8 dereferenceable(944) %172)
          to label %174 unwind label %210

174:                                              ; preds = %171
  invoke void @_ZN3tds15integrate_eulerINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EERNS4_7VectorXES8_RKS7_RKNS4_6ScalarE(ptr noundef nonnull align 8 dereferenceable(944) %165, ptr noundef nonnull align 8 dereferenceable(16) %167, ptr noundef nonnull align 8 dereferenceable(16) %170, ptr noundef nonnull align 8 dereferenceable(16) %173, ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %175 unwind label %210

175:                                              ; preds = %174
  %176 = load ptr, ptr %12, align 8, !tbaa !9
  %177 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944) %176)
          to label %178 unwind label %210

178:                                              ; preds = %175
  %179 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %177, i64 noundef 0)
          to label %180 unwind label %210

180:                                              ; preds = %178
  %181 = load double, ptr %179, align 8, !tbaa !11
  %182 = load ptr, ptr %12, align 8, !tbaa !9
  %183 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944) %182)
          to label %184 unwind label %210

184:                                              ; preds = %180
  %185 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %183, i64 noundef 1)
          to label %186 unwind label %210

186:                                              ; preds = %184
  %187 = load double, ptr %185, align 8, !tbaa !11
  %188 = load ptr, ptr %12, align 8, !tbaa !9
  %189 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %188)
          to label %190 unwind label %210

190:                                              ; preds = %186
  %191 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %189, i64 noundef 0)
          to label %192 unwind label %210

192:                                              ; preds = %190
  %193 = load double, ptr %191, align 8, !tbaa !11
  %194 = load ptr, ptr %12, align 8, !tbaa !9
  %195 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %194)
          to label %196 unwind label %210

196:                                              ; preds = %192
  %197 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %195, i64 noundef 1)
          to label %198 unwind label %210

198:                                              ; preds = %196
  %199 = load double, ptr %197, align 8, !tbaa !11
  %200 = invoke i32 (ptr, ...) @printf(ptr noundef @.str.17, double noundef %181, double noundef %187, double noundef %193, double noundef %199)
          to label %201 unwind label %210

201:                                              ; preds = %198
  %202 = load ptr, ptr %12, align 8, !tbaa !9
  %203 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %202)
          to label %204 unwind label %210

204:                                              ; preds = %201
  %205 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %203, i64 noundef 0)
          to label %206 unwind label %210

206:                                              ; preds = %204
  %207 = load double, ptr %205, align 8, !tbaa !11
  %208 = fcmp olt double %207, -1.000000e+04
  br i1 %208, label %209, label %214

209:                                              ; preds = %206
  call void @__assert_fail(ptr noundef @.str.18, ptr noundef @.str.19, i32 noundef 108, ptr noundef @__PRETTY_FUNCTION__.main) #12
  unreachable

210:                                              ; preds = %204, %201, %198, %196, %192, %190, %186, %184, %180, %178, %175, %174, %171, %168, %164, %162, %161, %159
  %211 = landingpad { ptr, i32 }
          cleanup
  %212 = extractvalue { ptr, i32 } %211, 0
  store ptr %212, ptr %15, align 8
  %213 = extractvalue { ptr, i32 } %211, 1
  store i32 %213, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %27) #11
  br label %220

214:                                              ; preds = %206
  br label %215

215:                                              ; preds = %214
  %216 = load i32, ptr %32, align 4, !tbaa !5
  %217 = add nsw i32 %216, 1
  store i32 %217, ptr %32, align 4, !tbaa !5
  br label %89, !llvm.loop !15

218:                                              ; preds = %92
  store i32 0, ptr %3, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %27) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %27) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #11
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #11
  call void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #11
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #11
  call void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #11
  call void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEED2Ev(ptr noundef nonnull align 8 dereferenceable(512) %6) #11
  call void @llvm.lifetime.end.p0(i64 512, ptr %6) #11
  %219 = load i32, ptr %3, align 4
  ret i32 %219

220:                                              ; preds = %210, %158
  call void @llvm.lifetime.end.p0(i64 24, ptr %27) #11
  br label %221

221:                                              ; preds = %220, %146
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #11
  br label %222

222:                                              ; preds = %221, %145, %136, %127, %118, %106, %102, %101
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #11
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #11
  call void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #11
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #11
  call void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #11
  call void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEED2Ev(ptr noundef nonnull align 8 dereferenceable(512) %6) #11
  call void @llvm.lifetime.end.p0(i64 512, ptr %6) #11
  br label %223

223:                                              ; preds = %222
  %224 = load ptr, ptr %15, align 8
  %225 = load i32, ptr %16, align 4
  %226 = insertvalue { ptr, i32 } poison, ptr %224, 0
  %227 = insertvalue { ptr, i32 } %226, i32 %225, 1
  resume { ptr, i32 } %227
}

; 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) #4

; 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)) #4

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef double @_ZN3tds13EigenAlgebraTIdE8fractionEii(i32 noundef, i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEEC2Ed(ptr noundef nonnull align 8 dereferenceable(512), double noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3tds5WorldINS_13EigenAlgebraTIdEEE17create_multi_bodyERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(512), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z22init_compound_pendulumIN3tds13EigenAlgebraTIdEEEvRNS0_9MultiBodyIT_EERNS0_5WorldIS4_EEiSt6vectorINS4_6ScalarESaISB_EESD_(ptr noundef nonnull align 8 dereferenceable(944), ptr noundef nonnull align 8 dereferenceable(512), i32 noundef, ptr noundef, ptr noundef) #2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EE9push_backERKS5_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.66") align 8, i64 noundef) #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE3dofEv(ptr noundef nonnull align 8 dereferenceable(944)) #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) #8 align 2

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

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE6dof_qdEv(ptr noundef nonnull align 8 dereferenceable(944)) #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944)) #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3tauEv(ptr noundef nonnull align 8 dereferenceable(944)) #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3qddEv(ptr noundef nonnull align 8 dereferenceable(944)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2ERKdS3_S3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE5linksEv(ptr noundef nonnull align 8 dereferenceable(944)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN3tds4LinkINS0_13EigenAlgebraTIdEEEESaIS4_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2ImmEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds18forward_kinematicsINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EE(ptr noundef nonnull align 8 dereferenceable(944)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEE4stepERKd(ptr noundef nonnull align 8 dereferenceable(512), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds16forward_dynamicsINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EERKNS4_7Vector3Eb(ptr noundef nonnull align 8 dereferenceable(944), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds15integrate_eulerINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EERNS4_7VectorXES8_RKS7_RKNS4_6ScalarE(ptr noundef nonnull align 8 dereferenceable(944), 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(8)) #2

declare i32 @printf(ptr noundef, ...) #9

; 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) #4 align 2

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #10

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEED2Ev(ptr noundef nonnull align 8 dereferenceable(512)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress norecurse 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 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 = { alwaysinline 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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #7 = { alwaysinline 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 #8 = { 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 #9 = { "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 #10 = { 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 #11 = { nounwind }
attributes #12 = { 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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"long", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}


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

%"class.std::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.tds::World" = type { ptr, %"class.std::vector.4", %"class.std::vector.9", %"class.Eigen::Matrix", %"class.std::vector.16", %"class.tds::CollisionDispatcher", ptr, ptr, ptr, %"class.std::vector.21", %"class.std::vector.26", i32, double, double, %"class.std::vector.31" }
%"class.std::vector.4" = type { %"struct.std::_Vector_base.5" }
%"struct.std::_Vector_base.5" = type { %"struct.std::_Vector_base<tds::RigidBody<tds::EigenAlgebraT<>> *, std::allocator<tds::RigidBody<tds::EigenAlgebraT<>> *>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::RigidBody<tds::EigenAlgebraT<>> *, std::allocator<tds::RigidBody<tds::EigenAlgebraT<>> *>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::RigidBody<tds::EigenAlgebraT<>> *, std::allocator<tds::RigidBody<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::RigidBody<tds::EigenAlgebraT<>> *, std::allocator<tds::RigidBody<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.9" = type { %"struct.std::_Vector_base.10" }
%"struct.std::_Vector_base.10" = type { %"struct.std::_Vector_base<tds::MultiBody<tds::EigenAlgebraT<>> *, std::allocator<tds::MultiBody<tds::EigenAlgebraT<>> *>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::MultiBody<tds::EigenAlgebraT<>> *, std::allocator<tds::MultiBody<tds::EigenAlgebraT<>> *>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::MultiBody<tds::EigenAlgebraT<>> *, std::allocator<tds::MultiBody<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::MultiBody<tds::EigenAlgebraT<>> *, std::allocator<tds::MultiBody<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.std::vector.16" = type { %"struct.std::_Vector_base.17" }
%"struct.std::_Vector_base.17" = type { %"struct.std::_Vector_base<tds::Geometry<tds::EigenAlgebraT<>> *, std::allocator<tds::Geometry<tds::EigenAlgebraT<>> *>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::Geometry<tds::EigenAlgebraT<>> *, std::allocator<tds::Geometry<tds::EigenAlgebraT<>> *>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::Geometry<tds::EigenAlgebraT<>> *, std::allocator<tds::Geometry<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::Geometry<tds::EigenAlgebraT<>> *, std::allocator<tds::Geometry<tds::EigenAlgebraT<>> *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.tds::CollisionDispatcher" = type { [6 x [6 x ptr]] }
%"class.std::vector.21" = type { %"struct.std::_Vector_base.22" }
%"struct.std::_Vector_base.22" = type { %"struct.std::_Vector_base<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::RigidBodyContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.26" = type { %"struct.std::_Vector_base.27" }
%"struct.std::_Vector_base.27" = type { %"struct.std::_Vector_base<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>, std::allocator<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>, std::allocator<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>, std::allocator<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>, std::allocator<std::vector<tds::MultiBodyContactPoint<tds::EigenAlgebraT<>>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.31" = type { %"struct.std::_Vector_base.32" }
%"struct.std::_Vector_base.32" = type { %"struct.std::_Vector_base<tds::ContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::ContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl" }
%"struct.std::_Vector_base<tds::ContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::ContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl" = type { %"struct.std::_Vector_base<tds::ContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::ContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<tds::ContactPoint<tds::EigenAlgebraT<>>, std::allocator<tds::ContactPoint<tds::EigenAlgebraT<>>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.36" = type { %"struct.std::_Vector_base.37" }
%"struct.std::_Vector_base.37" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"class.std::vector.41" = type { %"struct.std::_Vector_base.42" }
%"struct.std::_Vector_base.42" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.66" = type { %"class.Eigen::PlainObjectBase.67" }
%"class.Eigen::PlainObjectBase.67" = type { %"class.Eigen::DenseStorage.74" }
%"class.Eigen::DenseStorage.74" = type { ptr, i64 }
%"class.Eigen::Matrix.80" = type { %"class.Eigen::PlainObjectBase.81" }
%"class.Eigen::PlainObjectBase.81" = type { %"class.Eigen::DenseStorage.88" }
%"class.Eigen::DenseStorage.88" = type { ptr, i64, i64 }

@.str = external hidden unnamed_addr constant [1 x i8], align 1
@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.16 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [33 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [106 x i8], align 1
@__PRETTY_FUNCTION__.main = external hidden unnamed_addr constant [23 x i8], align 1

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

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) 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) #0

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress norecurse uwtable
define dso_local noundef i32 @main(i32 noundef %0, ptr nocapture noundef readnone %1) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.tds::World", align 8
  %4 = alloca %"class.std::vector.4", align 8
  %5 = alloca %"class.std::vector.36", align 8
  %6 = alloca %"class.std::vector.9", align 8
  %7 = alloca %"class.std::vector.36", align 8
  %8 = alloca ptr, align 8
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  %10 = alloca %"class.std::allocator", align 1
  %11 = alloca %"class.std::vector.41", align 8
  %12 = alloca %"class.std::vector.41", align 8
  %13 = alloca %"class.Eigen::Matrix.66", align 8
  %14 = alloca %"class.Eigen::Matrix.66", align 8
  %15 = alloca %"class.Eigen::Matrix.66", align 8
  %16 = alloca %"class.Eigen::Matrix.66", align 8
  %17 = alloca %"class.Eigen::Matrix", align 8
  %18 = alloca double, align 8
  %19 = alloca double, align 8
  %20 = alloca double, align 8
  %21 = alloca %"class.Eigen::Matrix.80", align 8
  %22 = alloca i64, align 8
  %23 = alloca i64, align 8
  %24 = alloca double, align 8
  %25 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.16)
  %26 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @llvm.lifetime.start.p0(i64 512, ptr nonnull %3) #11
  %27 = tail call noundef double @_ZN3tds13EigenAlgebraTIdE8fractionEii(i32 noundef -981, i32 noundef 100)
  call void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEEC2Ed(ptr noundef nonnull align 8 dereferenceable(512) %3, double noundef %27)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #11
  call void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #11
  call void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %6) #11
  call void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #11
  call void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #11
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %9) #11
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %10) #11
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #11
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef nonnull @.str, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %28 unwind label %72

28:                                               ; preds = %2
  %29 = invoke noundef ptr @_ZN3tds5WorldINS_13EigenAlgebraTIdEEE17create_multi_bodyERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(512) %3, ptr noundef nonnull align 8 dereferenceable(32) %9)
          to label %30 unwind label %74

30:                                               ; preds = %28
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #11
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #11
  store ptr %29, ptr %8, align 8, !tbaa !5
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %11, i8 0, i64 24, i1 false)
  call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #11
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %12, i8 0, i64 24, i1 false)
  call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #11
  invoke void @_Z22init_compound_pendulumIN3tds13EigenAlgebraTIdEEEvRNS0_9MultiBodyIT_EERNS0_5WorldIS4_EEiSt6vectorINS4_6ScalarESaISB_EESD_(ptr noundef nonnull align 8 dereferenceable(944) %29, ptr noundef nonnull align 8 dereferenceable(512) %3, i32 noundef 5, ptr noundef nonnull %11, ptr noundef nonnull %12)
          to label %31 unwind label %77

31:                                               ; preds = %30
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #11
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #11
  invoke void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EE9push_backERKS5_(ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(8) %8)
          to label %32 unwind label %79

32:                                               ; preds = %31
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #11
  %33 = load ptr, ptr %8, align 8, !tbaa !5
  %34 = call noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE3dofEv(ptr noundef nonnull align 8 dereferenceable(944) %33)
  %35 = sext i32 %34 to i64
  invoke void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.66") align 8 %13, i64 noundef %35)
          to label %36 unwind label %81

36:                                               ; preds = %32
  %37 = load ptr, ptr %8, align 8, !tbaa !5
  %38 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944) %37)
  %39 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %38, ptr noundef nonnull align 8 dereferenceable(16) %13) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %13) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #11
  %40 = load ptr, ptr %8, align 8, !tbaa !5
  %41 = call noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE6dof_qdEv(ptr noundef nonnull align 8 dereferenceable(944) %40)
  %42 = sext i32 %41 to i64
  invoke void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.66") align 8 %14, i64 noundef %42)
          to label %43 unwind label %83

43:                                               ; preds = %36
  %44 = load ptr, ptr %8, align 8, !tbaa !5
  %45 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %44)
  %46 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %45, ptr noundef nonnull align 8 dereferenceable(16) %14) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %14) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #11
  %47 = load ptr, ptr %8, align 8, !tbaa !5
  %48 = call noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE6dof_qdEv(ptr noundef nonnull align 8 dereferenceable(944) %47)
  %49 = sext i32 %48 to i64
  invoke void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.66") align 8 %15, i64 noundef %49)
          to label %50 unwind label %85

50:                                               ; preds = %43
  %51 = load ptr, ptr %8, align 8, !tbaa !5
  %52 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3tauEv(ptr noundef nonnull align 8 dereferenceable(944) %51)
  %53 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %52, ptr noundef nonnull align 8 dereferenceable(16) %15) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #11
  %54 = load ptr, ptr %8, align 8, !tbaa !5
  %55 = call noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE6dof_qdEv(ptr noundef nonnull align 8 dereferenceable(944) %54)
  %56 = sext i32 %55 to i64
  invoke void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.66") align 8 %16, i64 noundef %56)
          to label %57 unwind label %87

57:                                               ; preds = %50
  %58 = load ptr, ptr %8, align 8, !tbaa !5
  %59 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3qddEv(ptr noundef nonnull align 8 dereferenceable(944) %58)
  %60 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %59, ptr noundef nonnull align 8 dereferenceable(16) %16) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %17) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #11
  store double 0.000000e+00, ptr %18, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #11
  store double 0.000000e+00, ptr %19, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #11
  store double -9.810000e+00, ptr %20, align 8, !tbaa !9
  invoke void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2ERKdS3_S3_(ptr noundef nonnull align 8 dereferenceable(24) %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)
          to label %61 unwind label %89

61:                                               ; preds = %57
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %21) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #11
  %62 = load ptr, ptr %8, align 8, !tbaa !5
  %63 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE5linksEv(ptr noundef nonnull align 8 dereferenceable(944) %62)
  %64 = call noundef i64 @_ZNKSt6vectorIN3tds4LinkINS0_13EigenAlgebraTIdEEEESaIS4_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %63) #11
  store i64 %64, ptr %22, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #11
  %65 = load ptr, ptr %8, align 8, !tbaa !5
  %66 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE5linksEv(ptr noundef nonnull align 8 dereferenceable(944) %65)
  %67 = call noundef i64 @_ZNKSt6vectorIN3tds4LinkINS0_13EigenAlgebraTIdEEEESaIS4_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %66) #11
  store i64 %67, ptr %23, align 8, !tbaa !11
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2ImmEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24) %21, ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %68 unwind label %91

68:                                               ; preds = %61
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #11
  store double 0x3F71111111111111, ptr %24, align 8, !tbaa !9
  br label %93

69:                                               ; preds = %130
  %70 = add nuw nsw i32 %.015, 1
  %exitcond.not = icmp eq i32 %70, 100
  br i1 %exitcond.not, label %71, label %93, !llvm.loop !13

71:                                               ; preds = %69
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %21) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #11
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #11
  call void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #11
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #11
  call void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #11
  call void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEED2Ev(ptr noundef nonnull align 8 dereferenceable(512) %3) #11
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %3) #11
  ret i32 0

72:                                               ; preds = %2
  %73 = landingpad { ptr, i32 }
          cleanup
  br label %76

74:                                               ; preds = %28
  %75 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #11
  br label %76

76:                                               ; preds = %74, %72
  %.pn = phi { ptr, i32 } [ %75, %74 ], [ %73, %72 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #11
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #11
  br label %138

77:                                               ; preds = %30
  %78 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #11
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #11
  br label %138

79:                                               ; preds = %31
  %80 = landingpad { ptr, i32 }
          cleanup
  br label %138

81:                                               ; preds = %32
  %82 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #11
  br label %138

83:                                               ; preds = %36
  %84 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #11
  br label %138

85:                                               ; preds = %43
  %86 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #11
  br label %138

87:                                               ; preds = %50
  %88 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #11
  br label %138

89:                                               ; preds = %57
  %90 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #11
  br label %137

91:                                               ; preds = %61
  %92 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #11
  br label %136

93:                                               ; preds = %68, %69
  %.015 = phi i32 [ 0, %68 ], [ %70, %69 ]
  %94 = load ptr, ptr %8, align 8, !tbaa !5
  invoke void @_ZN3tds18forward_kinematicsINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EE(ptr noundef nonnull align 8 dereferenceable(944) %94)
          to label %95 unwind label %134

95:                                               ; preds = %93
  invoke void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEE4stepERKd(ptr noundef nonnull align 8 dereferenceable(512) %3, ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %96 unwind label %134

96:                                               ; preds = %95
  %97 = load ptr, ptr %8, align 8, !tbaa !5
  invoke void @_ZN3tds16forward_dynamicsINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EERKNS4_7Vector3Eb(ptr noundef nonnull align 8 dereferenceable(944) %97, ptr noundef nonnull align 8 dereferenceable(24) %17, i1 noundef zeroext false)
          to label %98 unwind label %134

98:                                               ; preds = %96
  %99 = load ptr, ptr %8, align 8, !tbaa !5
  %100 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944) %99)
  %101 = load ptr, ptr %8, align 8, !tbaa !5
  %102 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %101)
  %103 = load ptr, ptr %8, align 8, !tbaa !5
  %104 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3qddEv(ptr noundef nonnull align 8 dereferenceable(944) %103)
  invoke void @_ZN3tds15integrate_eulerINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EERNS4_7VectorXES8_RKS7_RKNS4_6ScalarE(ptr noundef nonnull align 8 dereferenceable(944) %99, ptr noundef nonnull align 8 dereferenceable(16) %100, ptr noundef nonnull align 8 dereferenceable(16) %102, ptr noundef nonnull align 8 dereferenceable(16) %104, ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %105 unwind label %134

105:                                              ; preds = %98
  %106 = load ptr, ptr %8, align 8, !tbaa !5
  %107 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944) %106)
  %108 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %107, i64 noundef 0)
          to label %109 unwind label %134

109:                                              ; preds = %105
  %110 = load double, ptr %108, align 8, !tbaa !9
  %111 = load ptr, ptr %8, align 8, !tbaa !5
  %112 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944) %111)
  %113 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %112, i64 noundef 1)
          to label %114 unwind label %134

114:                                              ; preds = %109
  %115 = load double, ptr %113, align 8, !tbaa !9
  %116 = load ptr, ptr %8, align 8, !tbaa !5
  %117 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %116)
  %118 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %117, i64 noundef 0)
          to label %119 unwind label %134

119:                                              ; preds = %114
  %120 = load double, ptr %118, align 8, !tbaa !9
  %121 = load ptr, ptr %8, align 8, !tbaa !5
  %122 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %121)
  %123 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %122, i64 noundef 1)
          to label %124 unwind label %134

124:                                              ; preds = %119
  %125 = load double, ptr %123, align 8, !tbaa !9
  %126 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str.17, double noundef %110, double noundef %115, double noundef %120, double noundef %125)
  %127 = load ptr, ptr %8, align 8, !tbaa !5
  %128 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944) %127)
  %129 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %128, i64 noundef 0)
          to label %130 unwind label %134

130:                                              ; preds = %124
  %131 = load double, ptr %129, align 8, !tbaa !9
  %132 = fcmp olt double %131, -1.000000e+04
  br i1 %132, label %133, label %69

133:                                              ; preds = %130
  call void @__assert_fail(ptr noundef nonnull @.str.18, ptr noundef nonnull @.str.19, i32 noundef 108, ptr noundef nonnull @__PRETTY_FUNCTION__.main) #12
  unreachable

134:                                              ; preds = %124, %119, %114, %109, %105, %98, %96, %95, %93
  %135 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #11
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #11
  br label %136

136:                                              ; preds = %134, %91
  %.pn11 = phi { ptr, i32 } [ %135, %134 ], [ %92, %91 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %21) #11
  br label %137

137:                                              ; preds = %136, %89
  %.pn11.pn = phi { ptr, i32 } [ %.pn11, %136 ], [ %90, %89 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #11
  br label %138

138:                                              ; preds = %137, %87, %85, %83, %81, %79, %77, %76
  %.pn11.pn.pn = phi { ptr, i32 } [ %.pn11.pn, %137 ], [ %88, %87 ], [ %86, %85 ], [ %84, %83 ], [ %82, %81 ], [ %80, %79 ], [ %78, %77 ], [ %.pn, %76 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #11
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #11
  call void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #11
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #11
  call void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #11
  call void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEED2Ev(ptr noundef nonnull align 8 dereferenceable(512) %3) #11
  call void @llvm.lifetime.end.p0(i64 512, ptr nonnull %3) #11
  resume { ptr, i32 } %.pn11.pn.pn
}

; 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 #4

; 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)) #4

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef double @_ZN3tds13EigenAlgebraTIdE8fractionEii(i32 noundef, i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEEC2Ed(ptr noundef nonnull align 8 dereferenceable(512), double noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3tds5WorldINS_13EigenAlgebraTIdEEE17create_multi_bodyERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(512), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z22init_compound_pendulumIN3tds13EigenAlgebraTIdEEEvRNS0_9MultiBodyIT_EERNS0_5WorldIS4_EEiSt6vectorINS4_6ScalarESaISB_EESD_(ptr noundef nonnull align 8 dereferenceable(944), ptr noundef nonnull align 8 dereferenceable(512), i32 noundef, ptr noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EE9push_backERKS5_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3tds13EigenAlgebraTIdE5zeroxEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.66") align 8, i64 noundef) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE3dofEv(ptr noundef nonnull align 8 dereferenceable(944)) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE1qEv(ptr noundef nonnull align 8 dereferenceable(944)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #8 align 2

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

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE6dof_qdEv(ptr noundef nonnull align 8 dereferenceable(944)) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE2qdEv(ptr noundef nonnull align 8 dereferenceable(944)) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3tauEv(ptr noundef nonnull align 8 dereferenceable(944)) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN3tds9MultiBodyINS_13EigenAlgebraTIdEEE3qddEv(ptr noundef nonnull align 8 dereferenceable(944)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEC2ERKdS3_S3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNK3tds9MultiBodyINS_13EigenAlgebraTIdEEE5linksEv(ptr noundef nonnull align 8 dereferenceable(944)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN3tds4LinkINS0_13EigenAlgebraTIdEEEESaIS4_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2ImmEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds18forward_kinematicsINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EE(ptr noundef nonnull align 8 dereferenceable(944)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEE4stepERKd(ptr noundef nonnull align 8 dereferenceable(512), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds16forward_dynamicsINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EERKNS4_7Vector3Eb(ptr noundef nonnull align 8 dereferenceable(944), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3tds15integrate_eulerINS_13EigenAlgebraTIdEEEEvRNS_9MultiBodyIT_EERNS4_7VectorXES8_RKS7_RKNS4_6ScalarE(ptr noundef nonnull align 8 dereferenceable(944), 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(8)) local_unnamed_addr #2

; Function Attrs: nofree nounwind
declare noundef i32 @printf(ptr nocapture noundef readonly, ...) local_unnamed_addr #9

; 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 #4 align 2

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #10

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9MultiBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPN3tds9RigidBodyINS0_13EigenAlgebraTIdEEEESaIS5_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3tds5WorldINS_13EigenAlgebraTIdEEED2Ev(ptr noundef nonnull align 8 dereferenceable(512)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress norecurse 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 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 = { alwaysinline 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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #7 = { alwaysinline 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 #8 = { 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 #9 = { nofree 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 #10 = { 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 #11 = { nounwind }
attributes #12 = { 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, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"long", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}


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