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

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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Eigen::CwiseNullaryOp.177" = type { %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.182" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.202" }
%"class.Eigen::MapBase.202" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::Block.216" = type { %"class.Eigen::BlockImpl.217" }
%"class.Eigen::BlockImpl.217" = type { %"class.Eigen::internal::BlockImpl_dense.218" }
%"class.Eigen::internal::BlockImpl_dense.218" = type { %"class.Eigen::MapBase.219", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.219" = type { %"class.Eigen::MapBase.220" }
%"class.Eigen::MapBase.220" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Transpose" = type { ptr }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.118", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.123", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.6", %"class.std::vector.130", %"class.std::vector.130", %"class.std::vector.137", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.142", %"class.std::vector.27", %"class.std::vector.60", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.147", %"class.std::vector.147", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.154", i32, %"class.std::vector.161", %"class.std::map" }
%"class.std::vector.118" = type { %"struct.std::_Vector_base.119" }
%"struct.std::_Vector_base.119" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix.70" }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%"class.std::vector.123" = type { %"class.std::vector.124" }
%"class.std::vector.124" = type { %"struct.std::_Vector_base.125" }
%"struct.std::_Vector_base.125" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.130" = type { %"class.std::vector.131" }
%"class.std::vector.131" = type { %"struct.std::_Vector_base.132" }
%"struct.std::_Vector_base.132" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.137" = type { %"struct.std::_Vector_base.138" }
%"struct.std::_Vector_base.138" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.16" = type { %"struct.std::_Vector_base.17" }
%"struct.std::_Vector_base.17" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.6" = type { %"struct.std::_Vector_base.7" }
%"struct.std::_Vector_base.7" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.142" = type { %"struct.std::_Vector_base.143" }
%"struct.std::_Vector_base.143" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.60" = type { %"class.std::vector.61" }
%"class.std::vector.61" = type { %"struct.std::_Vector_base.62" }
%"struct.std::_Vector_base.62" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialMatrix_t, Eigen::aligned_allocator<SpatialMatrix_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.147" = type { %"class.std::vector.148" }
%"class.std::vector.148" = type { %"struct.std::_Vector_base.149" }
%"struct.std::_Vector_base.149" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.27" = type { %"class.std::vector.28" }
%"class.std::vector.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialVector_t, Eigen::aligned_allocator<SpatialVector_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.154" = type { %"class.std::vector.155" }
%"class.std::vector.155" = type { %"struct.std::_Vector_base.156" }
%"struct.std::_Vector_base.156" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.161" = type { %"class.std::vector.162" }
%"class.std::vector.162" = type { %"struct.std::_Vector_base.163" }
%"struct.std::_Vector_base.163" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::ConstraintSet" = type { i32, i8, %"class.std::vector", %"class.std::vector.1", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.11", %"class.std::vector.6", %"class.std::vector.16", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.27", %"class.std::vector.34", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::HouseholderQR", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.16", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.60", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.16" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.34" = type { %"struct.std::_Vector_base.35" }
%"struct.std::_Vector_base.35" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix.51", i8, [7 x i8] }>
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { ptr, i64 }

@.str.4 = external hidden unnamed_addr constant [112 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.11 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [28 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_ = external hidden unnamed_addr constant [157 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [32 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [30 x i8], align 1

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

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

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

declare i32 @__gxx_personality_v0(...)

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8, i64 noundef, i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8, i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1160), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockImjEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i64 noundef, i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIjmEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_9TransposeIS2_EEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics17SolveLinearSystemERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKNS1_IdLin1ELi1ELi0ELin1ELi1EEERS5_NS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.216") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5BlockIS1_Lin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(1160) %3, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 8 dereferenceable(16) %5) #2 personality ptr @__gxx_personality_v0 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca %"class.Eigen::Matrix.41", align 8
  %14 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %15 = alloca %"class.Eigen::Matrix.41", align 8
  %16 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %17 = alloca ptr, align 8
  %18 = alloca i32, align 4
  %19 = alloca %"class.Eigen::Matrix", align 8
  %20 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %21 = alloca %"class.Eigen::Matrix", align 8
  %22 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %23 = alloca i32, align 4
  %24 = alloca %"class.Eigen::Block", align 8
  %25 = alloca %"class.Eigen::Transpose", align 8
  %26 = alloca %"class.Eigen::Block", align 8
  %27 = alloca %"class.Eigen::Block.216", align 8
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store ptr %5, ptr %12, align 8, !tbaa !5
  %28 = load ptr, ptr %11, align 8, !tbaa !5
  %29 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %28)
  %30 = load ptr, ptr %7, align 8, !tbaa !5
  %31 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %30, i32 0, i32 3
  %32 = load i32, ptr %31, align 8, !tbaa !9
  %33 = zext i32 %32 to i64
  %34 = icmp ne i64 %29, %33
  br i1 %34, label %35, label %38

35:                                               ; preds = %6
  %36 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.15)
  %37 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef @.str.12, ptr noundef @.str.4, i32 noundef 921, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_) #5
  unreachable

38:                                               ; preds = %6
  %39 = load ptr, ptr %8, align 8, !tbaa !5
  %40 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %39)
  %41 = load ptr, ptr %7, align 8, !tbaa !5
  %42 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %41, i32 0, i32 4
  %43 = load i32, ptr %42, align 4, !tbaa !89
  %44 = zext i32 %43 to i64
  %45 = icmp ne i64 %40, %44
  br i1 %45, label %46, label %49

46:                                               ; preds = %38
  %47 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.11)
  %48 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef @.str.12, ptr noundef @.str.4, i32 noundef 926, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_) #5
  unreachable

49:                                               ; preds = %38
  %50 = load ptr, ptr %9, align 8, !tbaa !5
  %51 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %50)
  %52 = load ptr, ptr %11, align 8, !tbaa !5
  %53 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %52)
  %54 = icmp ne i64 %51, %53
  br i1 %54, label %55, label %58

55:                                               ; preds = %49
  %56 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.16)
  %57 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %56, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef @.str.12, ptr noundef @.str.4, i32 noundef 931, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_) #5
  unreachable

58:                                               ; preds = %49
  %59 = load ptr, ptr %12, align 8, !tbaa !5
  %60 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %59)
  %61 = load ptr, ptr %11, align 8, !tbaa !5
  %62 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %61)
  %63 = icmp ne i64 %60, %62
  br i1 %63, label %64, label %67

64:                                               ; preds = %58
  %65 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.17)
  %66 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %65, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef @.str.12, ptr noundef @.str.4, i32 noundef 936, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_) #5
  unreachable

67:                                               ; preds = %58
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %14) #6
  %68 = load ptr, ptr %10, align 8, !tbaa !5
  %69 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %68)
  %70 = load ptr, ptr %7, align 8, !tbaa !5
  %71 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %70, i32 0, i32 3
  %72 = load i32, ptr %71, align 8, !tbaa !9
  %73 = zext i32 %72 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %14, i64 noundef %69, i64 noundef %73)
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %15) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %16) #6
  %74 = load ptr, ptr %10, align 8, !tbaa !5
  %75 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %74)
          to label %76 unwind label %120

76:                                               ; preds = %67
  %77 = load ptr, ptr %7, align 8, !tbaa !5
  %78 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %77, i32 0, i32 3
  %79 = load i32, ptr %78, align 8, !tbaa !9
  %80 = zext i32 %79 to i64
  %81 = add i64 %75, %80
  %82 = load ptr, ptr %10, align 8, !tbaa !5
  %83 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %82)
          to label %84 unwind label %120

84:                                               ; preds = %76
  %85 = load ptr, ptr %7, align 8, !tbaa !5
  %86 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %85, i32 0, i32 3
  %87 = load i32, ptr %86, align 8, !tbaa !9
  %88 = zext i32 %87 to i64
  %89 = add i64 %83, %88
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %16, i64 noundef %81, i64 noundef %89)
          to label %90 unwind label %120

90:                                               ; preds = %84
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %91 unwind label %120

91:                                               ; preds = %90
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #6
  %92 = load ptr, ptr %10, align 8, !tbaa !5
  %93 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %92)
          to label %94 unwind label %124

94:                                               ; preds = %91
  %95 = load ptr, ptr %7, align 8, !tbaa !5
  %96 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %95, i32 0, i32 3
  %97 = load i32, ptr %96, align 8, !tbaa !9
  %98 = zext i32 %97 to i64
  %99 = add i64 %93, %98
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %20, i64 noundef %99)
          to label %100 unwind label %124

100:                                              ; preds = %94
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %19, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %101 unwind label %124

101:                                              ; preds = %100
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %22) #6
  %102 = load ptr, ptr %10, align 8, !tbaa !5
  %103 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %102)
          to label %104 unwind label %128

104:                                              ; preds = %101
  %105 = load ptr, ptr %7, align 8, !tbaa !5
  %106 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %105, i32 0, i32 3
  %107 = load i32, ptr %106, align 8, !tbaa !9
  %108 = zext i32 %107 to i64
  %109 = add i64 %103, %108
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %22, i64 noundef %109)
          to label %110 unwind label %128

110:                                              ; preds = %104
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %21, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %111 unwind label %128

111:                                              ; preds = %110
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #6
  store i32 0, ptr %23, align 4, !tbaa !90
  br label %112

112:                                              ; preds = %166, %111
  %113 = load i32, ptr %23, align 4, !tbaa !90
  %114 = zext i32 %113 to i64
  %115 = load ptr, ptr %12, align 8, !tbaa !5
  %116 = invoke noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %115)
          to label %117 unwind label %132

117:                                              ; preds = %112
  %118 = icmp slt i64 %114, %116
  br i1 %118, label %136, label %119

119:                                              ; preds = %117
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #6
  br label %169

120:                                              ; preds = %90, %84, %76, %67
  %121 = landingpad { ptr, i32 }
          cleanup
  %122 = extractvalue { ptr, i32 } %121, 0
  store ptr %122, ptr %17, align 8
  %123 = extractvalue { ptr, i32 } %121, 1
  store i32 %123, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #6
  br label %238

124:                                              ; preds = %100, %94, %91
  %125 = landingpad { ptr, i32 }
          cleanup
  %126 = extractvalue { ptr, i32 } %125, 0
  store ptr %126, ptr %17, align 8
  %127 = extractvalue { ptr, i32 } %125, 1
  store i32 %127, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #6
  br label %237

128:                                              ; preds = %110, %104, %101
  %129 = landingpad { ptr, i32 }
          cleanup
  %130 = extractvalue { ptr, i32 } %129, 0
  store ptr %130, ptr %17, align 8
  %131 = extractvalue { ptr, i32 } %129, 1
  store i32 %131, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #6
  br label %236

132:                                              ; preds = %159, %153, %148, %141, %136, %112
  %133 = landingpad { ptr, i32 }
          cleanup
  %134 = extractvalue { ptr, i32 } %133, 0
  store ptr %134, ptr %17, align 8
  %135 = extractvalue { ptr, i32 } %133, 1
  store i32 %135, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #6
  br label %235

136:                                              ; preds = %117
  %137 = load ptr, ptr %12, align 8, !tbaa !5
  %138 = load i32, ptr %23, align 4, !tbaa !90
  %139 = zext i32 %138 to i64
  %140 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %137, i64 noundef %139)
          to label %141 unwind label %132

141:                                              ; preds = %136
  %142 = load double, ptr %140, align 8, !tbaa !91
  %143 = load i32, ptr %23, align 4, !tbaa !90
  %144 = zext i32 %143 to i64
  %145 = load i32, ptr %23, align 4, !tbaa !90
  %146 = zext i32 %145 to i64
  %147 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef %144, i64 noundef %146)
          to label %148 unwind label %132

148:                                              ; preds = %141
  store double %142, ptr %147, align 8, !tbaa !91
  %149 = load ptr, ptr %12, align 8, !tbaa !5
  %150 = load i32, ptr %23, align 4, !tbaa !90
  %151 = zext i32 %150 to i64
  %152 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %149, i64 noundef %151)
          to label %153 unwind label %132

153:                                              ; preds = %148
  %154 = load double, ptr %152, align 8, !tbaa !91
  %155 = load ptr, ptr %9, align 8, !tbaa !5
  %156 = load i32, ptr %23, align 4, !tbaa !90
  %157 = zext i32 %156 to i64
  %158 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %155, i64 noundef %157)
          to label %159 unwind label %132

159:                                              ; preds = %153
  %160 = load double, ptr %158, align 8, !tbaa !91
  %161 = fmul double %154, %160
  %162 = load i32, ptr %23, align 4, !tbaa !90
  %163 = zext i32 %162 to i64
  %164 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %19, i64 noundef %163)
          to label %165 unwind label %132

165:                                              ; preds = %159
  store double %161, ptr %164, align 8, !tbaa !91
  br label %166

166:                                              ; preds = %165
  %167 = load i32, ptr %23, align 4, !tbaa !90
  %168 = add i32 %167, 1
  store i32 %168, ptr %23, align 4, !tbaa !90
  br label %112, !llvm.loop !93

169:                                              ; preds = %119
  %170 = load ptr, ptr %7, align 8, !tbaa !5
  %171 = load ptr, ptr %8, align 8, !tbaa !5
  %172 = load ptr, ptr %10, align 8, !tbaa !5
  invoke void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %170, ptr noundef nonnull align 8 dereferenceable(16) %171, ptr noundef nonnull align 8 dereferenceable(1160) %172, ptr noundef nonnull align 8 dereferenceable(24) %13, i1 noundef zeroext true)
          to label %173 unwind label %214

173:                                              ; preds = %169
  call void @llvm.lifetime.start.p0(i64 56, ptr %24) #6
  %174 = load ptr, ptr %7, align 8, !tbaa !5
  %175 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %174, i32 0, i32 3
  %176 = load i32, ptr %175, align 8, !tbaa !9
  %177 = zext i32 %176 to i64
  %178 = load ptr, ptr %10, align 8, !tbaa !5
  %179 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %178)
          to label %180 unwind label %218

180:                                              ; preds = %173
  %181 = load ptr, ptr %7, align 8, !tbaa !5
  %182 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %181, i32 0, i32 3
  %183 = load i32, ptr %182, align 8, !tbaa !9
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockImjEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef %177, i64 noundef 0, i64 noundef %179, i32 noundef %183)
          to label %184 unwind label %218

184:                                              ; preds = %180
  %185 = invoke noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %24, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %186 unwind label %218

186:                                              ; preds = %184
  call void @llvm.lifetime.end.p0(i64 56, ptr %24) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #6
  %187 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %188 unwind label %222

188:                                              ; preds = %186
  %189 = getelementptr inbounds %"class.Eigen::Transpose", ptr %25, i32 0, i32 0
  store ptr %187, ptr %189, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %26) #6
  %190 = load ptr, ptr %7, align 8, !tbaa !5
  %191 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %190, i32 0, i32 3
  %192 = load i32, ptr %191, align 8, !tbaa !9
  %193 = zext i32 %192 to i64
  %194 = load ptr, ptr %7, align 8, !tbaa !5
  %195 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %194, i32 0, i32 3
  %196 = load i32, ptr %195, align 8, !tbaa !9
  %197 = load ptr, ptr %10, align 8, !tbaa !5
  %198 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %197)
          to label %199 unwind label %226

199:                                              ; preds = %188
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIjmEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %26, ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 0, i64 noundef %193, i32 noundef %196, i64 noundef %198)
          to label %200 unwind label %226

200:                                              ; preds = %199
  %201 = invoke noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_9TransposeIS2_EEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %26, ptr noundef nonnull align 1 dereferenceable(1) %25)
          to label %202 unwind label %226

202:                                              ; preds = %200
  call void @llvm.lifetime.end.p0(i64 56, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  %203 = load ptr, ptr %10, align 8, !tbaa !5
  %204 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %203, i32 0, i32 0
  %205 = load i32, ptr %204, align 8, !tbaa !95
  invoke void @_ZN17RigidBodyDynamics17SolveLinearSystemERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKNS1_IdLin1ELi1ELi0ELin1ELi1EEERS5_NS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr noundef nonnull align 8 dereferenceable(16) %19, ptr noundef nonnull align 8 dereferenceable(16) %21, i32 noundef %205)
          to label %206 unwind label %214

206:                                              ; preds = %202
  call void @llvm.lifetime.start.p0(i64 56, ptr %27) #6
  %207 = load ptr, ptr %7, align 8, !tbaa !5
  %208 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %207, i32 0, i32 3
  %209 = load i32, ptr %208, align 8, !tbaa !9
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.216") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %21, i64 noundef 0, i64 noundef 0, i32 noundef %209, i32 noundef 1)
          to label %210 unwind label %231

210:                                              ; preds = %206
  %211 = load ptr, ptr %11, align 8, !tbaa !5
  %212 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5BlockIS1_Lin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %211, ptr noundef nonnull align 1 dereferenceable(1) %27)
          to label %213 unwind label %231

213:                                              ; preds = %210
  call void @llvm.lifetime.end.p0(i64 56, ptr %27) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %19) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #6
  ret void

214:                                              ; preds = %202, %169
  %215 = landingpad { ptr, i32 }
          cleanup
  %216 = extractvalue { ptr, i32 } %215, 0
  store ptr %216, ptr %17, align 8
  %217 = extractvalue { ptr, i32 } %215, 1
  store i32 %217, ptr %18, align 4
  br label %235

218:                                              ; preds = %184, %180, %173
  %219 = landingpad { ptr, i32 }
          cleanup
  %220 = extractvalue { ptr, i32 } %219, 0
  store ptr %220, ptr %17, align 8
  %221 = extractvalue { ptr, i32 } %219, 1
  store i32 %221, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 56, ptr %24) #6
  br label %235

222:                                              ; preds = %186
  %223 = landingpad { ptr, i32 }
          cleanup
  %224 = extractvalue { ptr, i32 } %223, 0
  store ptr %224, ptr %17, align 8
  %225 = extractvalue { ptr, i32 } %223, 1
  store i32 %225, ptr %18, align 4
  br label %230

226:                                              ; preds = %200, %199, %188
  %227 = landingpad { ptr, i32 }
          cleanup
  %228 = extractvalue { ptr, i32 } %227, 0
  store ptr %228, ptr %17, align 8
  %229 = extractvalue { ptr, i32 } %227, 1
  store i32 %229, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 56, ptr %26) #6
  br label %230

230:                                              ; preds = %226, %222
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  br label %235

231:                                              ; preds = %210, %206
  %232 = landingpad { ptr, i32 }
          cleanup
  %233 = extractvalue { ptr, i32 } %232, 0
  store ptr %233, ptr %17, align 8
  %234 = extractvalue { ptr, i32 } %232, 1
  store i32 %234, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 56, ptr %27) #6
  br label %235

235:                                              ; preds = %231, %230, %218, %214, %132
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #6
  br label %236

236:                                              ; preds = %235, %128
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %19) #6
  br label %237

237:                                              ; preds = %236, %124
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #6
  br label %238

238:                                              ; preds = %237, %120
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #6
  br label %239

239:                                              ; preds = %238
  %240 = load ptr, ptr %17, align 8
  %241 = load i32, ptr %18, align 4
  %242 = insertvalue { ptr, i32 } poison, ptr %240, 0
  %243 = insertvalue { ptr, i32 } %242, i32 %241, 1
  resume { ptr, i32 } %243
}

attributes #0 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn nounwind }
attributes #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !19, i64 72}
!10 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !11, i64 0, !11, i64 24, !15, i64 48, !19, i64 72, !19, i64 76, !19, i64 80, !19, i64 84, !20, i64 88, !25, i64 112, !25, i64 136, !30, i64 160, !25, i64 184, !25, i64 208, !25, i64 232, !11, i64 256, !35, i64 280, !11, i64 304, !40, i64 328, !40, i64 352, !45, i64 376, !49, i64 400, !11, i64 424, !53, i64 448, !25, i64 472, !57, i64 496, !25, i64 520, !25, i64 544, !62, i64 568, !62, i64 584, !25, i64 600, !66, i64 624, !66, i64 648, !25, i64 672, !25, i64 696, !35, i64 720, !35, i64 744, !71, i64 768, !19, i64 792, !76, i64 800, !81, i64 824}
!11 = !{!"_ZTSSt6vectorIjSaIjEE", !12, i64 0}
!12 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !13, i64 0}
!13 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!15 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !16, i64 0}
!16 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!19 = !{!"int", !7, i64 0}
!20 = !{!"_ZTS9Vector3_t", !21, i64 0}
!21 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!25 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !26, i64 0}
!26 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!30 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !36, i64 0}
!36 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !37, i64 0}
!37 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !41, i64 0}
!41 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!45 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !48, i64 0}
!48 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!49 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !52, i64 0}
!52 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!53 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !54, i64 0}
!54 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !56, i64 0}
!56 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!57 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !58, i64 0}
!58 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !59, i64 0}
!59 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!62 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !64, i64 0}
!64 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !65, i64 8}
!65 = !{!"long", !7, i64 0}
!66 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !67, i64 0}
!67 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !68, i64 0}
!68 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !70, i64 0}
!70 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !72, i64 0}
!72 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !77, i64 0}
!77 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!81 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !82, i64 0}
!82 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !83, i64 0}
!83 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !84, i64 0, !86, i64 8}
!84 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !85, i64 0}
!85 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!86 = !{!"_ZTSSt15_Rb_tree_header", !87, i64 0, !65, i64 32}
!87 = !{!"_ZTSSt18_Rb_tree_node_base", !88, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!88 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!89 = !{!10, !19, i64 76}
!90 = !{!19, !19, i64 0}
!91 = !{!92, !92, i64 0}
!92 = !{!"double", !7, i64 0}
!93 = distinct !{!93, !94}
!94 = !{!"llvm.loop.mustprogress"}
!95 = !{!96, !97, i64 0}
!96 = !{!"_ZTSN17RigidBodyDynamics13ConstraintSetE", !97, i64 0, !98, i64 4, !99, i64 8, !103, i64 32, !11, i64 56, !11, i64 80, !11, i64 104, !107, i64 128, !11, i64 152, !49, i64 176, !49, i64 200, !11, i64 224, !11, i64 248, !35, i64 272, !35, i64 296, !25, i64 320, !111, i64 344, !62, i64 368, !62, i64 384, !62, i64 400, !62, i64 416, !62, i64 432, !62, i64 448, !115, i64 464, !62, i64 488, !62, i64 504, !115, i64 520, !115, i64 544, !62, i64 568, !62, i64 584, !115, i64 600, !115, i64 624, !115, i64 648, !115, i64 672, !118, i64 696, !115, i64 760, !115, i64 784, !115, i64 808, !62, i64 832, !62, i64 848, !115, i64 864, !62, i64 888, !62, i64 904, !62, i64 920, !25, i64 936, !25, i64 960, !49, i64 984, !25, i64 1008, !25, i64 1032, !62, i64 1056, !57, i64 1072, !25, i64 1096, !62, i64 1120, !49, i64 1136}
!97 = !{!"_ZTSN17RigidBodyDynamics4Math12LinearSolverE", !7, i64 0}
!98 = !{!"bool", !7, i64 0}
!99 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !100, i64 0}
!100 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !101, i64 0}
!101 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE12_Vector_implE", !102, i64 0}
!102 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!103 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !104, i64 0}
!104 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !105, i64 0}
!105 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !106, i64 0}
!106 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!107 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !108, i64 0}
!108 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !109, i64 0}
!109 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE12_Vector_implE", !110, i64 0}
!110 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!111 = !{!"_ZTSSt6vectorI9Vector2_tSaIS0_EE", !112, i64 0}
!112 = !{!"_ZTSSt12_Vector_baseI9Vector2_tSaIS0_EE", !113, i64 0}
!113 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE12_Vector_implE", !114, i64 0}
!114 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!115 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !116, i64 0}
!116 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !117, i64 0}
!117 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !65, i64 8, !65, i64 16}
!118 = !{!"_ZTSN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !115, i64 0, !62, i64 24, !119, i64 40, !98, i64 56}
!119 = !{!"_ZTSN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEE", !120, i64 0}
!120 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEEE", !121, i64 0}
!121 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELi1ELin1ELi1EEE", !6, i64 0, !65, i64 8}


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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Eigen::CwiseNullaryOp.177" = type { %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.182" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.202" }
%"class.Eigen::MapBase.202" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::Block.216" = type { %"class.Eigen::BlockImpl.217" }
%"class.Eigen::BlockImpl.217" = type { %"class.Eigen::internal::BlockImpl_dense.218" }
%"class.Eigen::internal::BlockImpl_dense.218" = type { %"class.Eigen::MapBase.219", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.219" = type { %"class.Eigen::MapBase.220" }
%"class.Eigen::MapBase.220" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Transpose" = type { ptr }

@.str.4 = external hidden unnamed_addr constant [112 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.11 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [28 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_ = external hidden unnamed_addr constant [157 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [32 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [30 x i8], align 1

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

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

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

declare i32 @__gxx_personality_v0(...)

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8, i64 noundef, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(1160), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockImjEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i64 noundef, i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIjmEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_9TransposeIS2_EEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics17SolveLinearSystemERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKNS1_IdLin1ELi1ELi0ELin1ELi1EEERS5_NS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16), i32 noundef) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.216") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5BlockIS1_Lin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, ptr noundef nonnull align 8 dereferenceable(1160) %3, ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 8 dereferenceable(16) %5) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %7 = alloca %"class.Eigen::Matrix.41", align 8
  %8 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %9 = alloca %"class.Eigen::Matrix.41", align 8
  %10 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %11 = alloca %"class.Eigen::Matrix", align 8
  %12 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %13 = alloca %"class.Eigen::Matrix", align 8
  %14 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %15 = alloca %"class.Eigen::Block", align 8
  %16 = alloca %"class.Eigen::Transpose", align 8
  %17 = alloca %"class.Eigen::Block", align 8
  %18 = alloca %"class.Eigen::Block.216", align 8
  %19 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %4)
  %20 = getelementptr inbounds i8, ptr %0, i64 72
  %21 = load i32, ptr %20, align 8, !tbaa !5
  %22 = zext i32 %21 to i64
  %.not = icmp eq i64 %19, %22
  br i1 %.not, label %26, label %23

23:                                               ; preds = %6
  %24 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.15)
  %25 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  tail call void @__assert_fail(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.4, i32 noundef 921, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_) #5
  unreachable

26:                                               ; preds = %6
  %27 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %1)
  %28 = getelementptr inbounds i8, ptr %0, i64 76
  %29 = load i32, ptr %28, align 4, !tbaa !88
  %30 = zext i32 %29 to i64
  %.not50 = icmp eq i64 %27, %30
  br i1 %.not50, label %34, label %31

31:                                               ; preds = %26
  %32 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.11)
  %33 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  tail call void @__assert_fail(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.4, i32 noundef 926, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_) #5
  unreachable

34:                                               ; preds = %26
  %35 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %2)
  %36 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %4)
  %.not51 = icmp eq i64 %35, %36
  br i1 %.not51, label %40, label %37

37:                                               ; preds = %34
  %38 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.16)
  %39 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  tail call void @__assert_fail(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.4, i32 noundef 931, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_) #5
  unreachable

40:                                               ; preds = %34
  %41 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %5)
  %42 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %4)
  %.not52 = icmp eq i64 %41, %42
  br i1 %.not52, label %46, label %43

43:                                               ; preds = %40
  %44 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.17)
  %45 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %44, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  tail call void @__assert_fail(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.4, i32 noundef 936, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics16CalcAssemblyQDotERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES6_RNS_13ConstraintSetERS4_S6_) #5
  unreachable

46:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #6
  %47 = tail call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
  %48 = load i32, ptr %20, align 8, !tbaa !5
  %49 = zext i32 %48 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %8, i64 noundef %47, i64 noundef %49)
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #6
  %50 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
          to label %51 unwind label %82

51:                                               ; preds = %46
  %52 = load i32, ptr %20, align 8, !tbaa !5
  %53 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
          to label %54 unwind label %82

54:                                               ; preds = %51
  %55 = zext i32 %52 to i64
  %56 = add i64 %50, %55
  %57 = load i32, ptr %20, align 8, !tbaa !5
  %58 = zext i32 %57 to i64
  %59 = add i64 %53, %58
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %10, i64 noundef %56, i64 noundef %59)
          to label %60 unwind label %82

60:                                               ; preds = %54
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %61 unwind label %82

61:                                               ; preds = %60
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #6
  %62 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
          to label %63 unwind label %84

63:                                               ; preds = %61
  %64 = load i32, ptr %20, align 8, !tbaa !5
  %65 = zext i32 %64 to i64
  %66 = add i64 %62, %65
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %12, i64 noundef %66)
          to label %67 unwind label %84

67:                                               ; preds = %63
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %68 unwind label %84

68:                                               ; preds = %67
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #6
  %69 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
          to label %70 unwind label %86

70:                                               ; preds = %68
  %71 = load i32, ptr %20, align 8, !tbaa !5
  %72 = zext i32 %71 to i64
  %73 = add i64 %69, %72
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %14, i64 noundef %73)
          to label %74 unwind label %86

74:                                               ; preds = %70
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
          to label %75 unwind label %86

75:                                               ; preds = %74
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #6
  br label %76

76:                                               ; preds = %103, %75
  %.0 = phi i32 [ 0, %75 ], [ %105, %103 ]
  %77 = zext i32 %.0 to i64
  %78 = invoke noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %79 unwind label %88

79:                                               ; preds = %76
  %80 = icmp sgt i64 %78, %77
  br i1 %80, label %90, label %81

81:                                               ; preds = %79
  invoke void @_ZN17RigidBodyDynamics23CalcConstraintsJacobianERNS_5ModelERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEERNS_13ConstraintSetERNS3_IdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(872) %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(1160) %3, ptr noundef nonnull align 8 dereferenceable(24) %7, i1 noundef zeroext true)
          to label %106 unwind label %130

82:                                               ; preds = %60, %54, %51, %46
  %83 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #6
  br label %144

84:                                               ; preds = %67, %63, %61
  %85 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #6
  br label %143

86:                                               ; preds = %74, %70, %68
  %87 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #6
  br label %142

88:                                               ; preds = %100, %97, %95, %92, %90, %76
  %89 = landingpad { ptr, i32 }
          cleanup
  br label %141

90:                                               ; preds = %79
  %91 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %77)
          to label %92 unwind label %88

92:                                               ; preds = %90
  %93 = load double, ptr %91, align 8, !tbaa !89
  %94 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef %77, i64 noundef %77)
          to label %95 unwind label %88

95:                                               ; preds = %92
  store double %93, ptr %94, align 8, !tbaa !89
  %96 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %77)
          to label %97 unwind label %88

97:                                               ; preds = %95
  %98 = load double, ptr %96, align 8, !tbaa !89
  %99 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %77)
          to label %100 unwind label %88

100:                                              ; preds = %97
  %101 = load double, ptr %99, align 8, !tbaa !89
  %102 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef %77)
          to label %103 unwind label %88

103:                                              ; preds = %100
  %104 = fmul double %98, %101
  store double %104, ptr %102, align 8, !tbaa !89
  %105 = add i32 %.0, 1
  br label %76, !llvm.loop !91

106:                                              ; preds = %81
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %15) #6
  %107 = load i32, ptr %20, align 8, !tbaa !5
  %108 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
          to label %109 unwind label %132

109:                                              ; preds = %106
  %110 = zext i32 %107 to i64
  %111 = load i32, ptr %20, align 8, !tbaa !5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockImjEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef %110, i64 noundef 0, i64 noundef %108, i32 noundef %111)
          to label %112 unwind label %132

112:                                              ; preds = %109
  %113 = invoke noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %15, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %114 unwind label %132

114:                                              ; preds = %112
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %15) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #6
  %115 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %116 unwind label %134

116:                                              ; preds = %114
  store ptr %115, ptr %16, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %17) #6
  %117 = load i32, ptr %20, align 8, !tbaa !5
  %118 = invoke noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %3)
          to label %119 unwind label %136

119:                                              ; preds = %116
  %120 = zext i32 %117 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5blockIjmEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef 0, i64 noundef %120, i32 noundef %117, i64 noundef %118)
          to label %121 unwind label %136

121:                                              ; preds = %119
  %122 = invoke noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_9TransposeIS2_EEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %17, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %123 unwind label %136

123:                                              ; preds = %121
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #6
  %124 = load i32, ptr %3, align 8, !tbaa !93
  invoke void @_ZN17RigidBodyDynamics17SolveLinearSystemERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKNS1_IdLin1ELi1ELi0ELin1ELi1EEERS5_NS_4Math12LinearSolverE(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %11, ptr noundef nonnull align 8 dereferenceable(16) %13, i32 noundef %124)
          to label %125 unwind label %130

125:                                              ; preds = %123
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %18) #6
  %126 = load i32, ptr %20, align 8, !tbaa !5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE5blockIjiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.216") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %13, i64 noundef 0, i64 noundef 0, i32 noundef %126, i32 noundef 1)
          to label %127 unwind label %139

127:                                              ; preds = %125
  %128 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_5BlockIS1_Lin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 1 dereferenceable(1) %18)
          to label %129 unwind label %139

129:                                              ; preds = %127
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %18) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %13) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #6
  ret void

130:                                              ; preds = %123, %81
  %131 = landingpad { ptr, i32 }
          cleanup
  br label %141

132:                                              ; preds = %112, %109, %106
  %133 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %15) #6
  br label %141

134:                                              ; preds = %114
  %135 = landingpad { ptr, i32 }
          cleanup
  br label %138

136:                                              ; preds = %121, %119, %116
  %137 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %17) #6
  br label %138

138:                                              ; preds = %136, %134
  %.pn = phi { ptr, i32 } [ %137, %136 ], [ %135, %134 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #6
  br label %141

139:                                              ; preds = %127, %125
  %140 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %18) #6
  br label %141

141:                                              ; preds = %139, %138, %132, %130, %88
  %.pn54 = phi { ptr, i32 } [ %89, %88 ], [ %140, %139 ], [ %131, %130 ], [ %.pn, %138 ], [ %133, %132 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %13) #6
  br label %142

142:                                              ; preds = %141, %86
  %.pn54.pn = phi { ptr, i32 } [ %.pn54, %141 ], [ %87, %86 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %11) #6
  br label %143

143:                                              ; preds = %142, %84
  %.pn54.pn.pn = phi { ptr, i32 } [ %.pn54.pn, %142 ], [ %85, %84 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  br label %144

144:                                              ; preds = %143, %82
  %.pn54.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn, %143 ], [ %83, %82 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #6
  resume { ptr, i32 } %.pn54.pn.pn.pn
}

attributes #0 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn nounwind }
attributes #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !18, i64 72}
!6 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !7, i64 0, !7, i64 24, !14, i64 48, !18, i64 72, !18, i64 76, !18, i64 80, !18, i64 84, !19, i64 88, !24, i64 112, !24, i64 136, !29, i64 160, !24, i64 184, !24, i64 208, !24, i64 232, !7, i64 256, !34, i64 280, !7, i64 304, !39, i64 328, !39, i64 352, !44, i64 376, !48, i64 400, !7, i64 424, !52, i64 448, !24, i64 472, !56, i64 496, !24, i64 520, !24, i64 544, !61, i64 568, !61, i64 584, !24, i64 600, !65, i64 624, !65, i64 648, !24, i64 672, !24, i64 696, !34, i64 720, !34, i64 744, !70, i64 768, !18, i64 792, !75, i64 800, !80, i64 824}
!7 = !{!"_ZTSSt6vectorIjSaIjEE", !8, i64 0}
!8 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !9, i64 0}
!9 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !10, i64 0}
!10 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!11 = !{!"any pointer", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!18 = !{!"int", !12, i64 0}
!19 = !{!"_ZTS9Vector3_t", !20, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !12, i64 0}
!24 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !25, i64 0}
!25 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!29 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !30, i64 0}
!30 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!34 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !35, i64 0}
!35 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!39 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !40, i64 0}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!44 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!48 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !49, i64 0}
!49 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!52 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !53, i64 0}
!53 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !54, i64 0}
!54 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!56 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !57, i64 0}
!57 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !58, i64 0}
!58 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !59, i64 0}
!59 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !60, i64 0}
!60 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!61 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !62, i64 0}
!62 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !11, i64 0, !64, i64 8}
!64 = !{!"long", !12, i64 0}
!65 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !66, i64 0}
!66 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !67, i64 0}
!67 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!70 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !71, i64 0}
!71 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !72, i64 0}
!72 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !73, i64 0}
!73 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !74, i64 0}
!74 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!75 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !76, i64 0}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !77, i64 0}
!77 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!80 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !81, i64 0}
!81 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !82, i64 0}
!82 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !83, i64 0, !85, i64 8}
!83 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !84, i64 0}
!84 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!85 = !{!"_ZTSSt15_Rb_tree_header", !86, i64 0, !64, i64 32}
!86 = !{!"_ZTSSt18_Rb_tree_node_base", !87, i64 0, !11, i64 8, !11, i64 16, !11, i64 24}
!87 = !{!"_ZTSSt14_Rb_tree_color", !12, i64 0}
!88 = !{!6, !18, i64 76}
!89 = !{!90, !90, i64 0}
!90 = !{!"double", !12, i64 0}
!91 = distinct !{!91, !92}
!92 = !{!"llvm.loop.mustprogress"}
!93 = !{!94, !95, i64 0}
!94 = !{!"_ZTSN17RigidBodyDynamics13ConstraintSetE", !95, i64 0, !96, i64 4, !97, i64 8, !101, i64 32, !7, i64 56, !7, i64 80, !7, i64 104, !105, i64 128, !7, i64 152, !48, i64 176, !48, i64 200, !7, i64 224, !7, i64 248, !34, i64 272, !34, i64 296, !24, i64 320, !109, i64 344, !61, i64 368, !61, i64 384, !61, i64 400, !61, i64 416, !61, i64 432, !61, i64 448, !113, i64 464, !61, i64 488, !61, i64 504, !113, i64 520, !113, i64 544, !61, i64 568, !61, i64 584, !113, i64 600, !113, i64 624, !113, i64 648, !113, i64 672, !116, i64 696, !113, i64 760, !113, i64 784, !113, i64 808, !61, i64 832, !61, i64 848, !113, i64 864, !61, i64 888, !61, i64 904, !61, i64 920, !24, i64 936, !24, i64 960, !48, i64 984, !24, i64 1008, !24, i64 1032, !61, i64 1056, !56, i64 1072, !24, i64 1096, !61, i64 1120, !48, i64 1136}
!95 = !{!"_ZTSN17RigidBodyDynamics4Math12LinearSolverE", !12, i64 0}
!96 = !{!"bool", !12, i64 0}
!97 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !98, i64 0}
!98 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !99, i64 0}
!99 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE12_Vector_implE", !100, i64 0}
!100 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!101 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !102, i64 0}
!102 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !103, i64 0}
!103 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !104, i64 0}
!104 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!105 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !106, i64 0}
!106 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !107, i64 0}
!107 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE12_Vector_implE", !108, i64 0}
!108 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!109 = !{!"_ZTSSt6vectorI9Vector2_tSaIS0_EE", !110, i64 0}
!110 = !{!"_ZTSSt12_Vector_baseI9Vector2_tSaIS0_EE", !111, i64 0}
!111 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE12_Vector_implE", !112, i64 0}
!112 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!113 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !114, i64 0}
!114 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !115, i64 0}
!115 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !11, i64 0, !64, i64 8, !64, i64 16}
!116 = !{!"_ZTSN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !113, i64 0, !61, i64 24, !117, i64 40, !96, i64 56}
!117 = !{!"_ZTSN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEE", !118, i64 0}
!118 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEEE", !119, i64 0}
!119 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELi1ELin1ELi1EEE", !11, i64 0, !64, i64 8}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass