; 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" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.113" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix.51", i8, [7 x i8] }>
%"class.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { ptr, i64 }
%"class.Eigen::Transpose" = 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 }
%"class.Eigen::CwiseNullaryOp.182" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.89" }
%"class.Eigen::Matrix.89" = type { %"class.Eigen::PlainObjectBase.90" }
%"class.Eigen::PlainObjectBase.90" = type { %"class.Eigen::DenseStorage.97" }
%"class.Eigen::DenseStorage.97" = type { %"struct.Eigen::internal::plain_array.98" }
%"struct.Eigen::internal::plain_array.98" = type { [6 x double] }
%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.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.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.SpatialMatrix_t = type { %"class.Eigen::Matrix.187" }
%"class.Eigen::Matrix.187" = type { %"class.Eigen::PlainObjectBase.188" }
%"class.Eigen::PlainObjectBase.188" = type { %"class.Eigen::DenseStorage.195" }
%"class.Eigen::DenseStorage.195" = type { %"struct.Eigen::internal::plain_array.196" }
%"struct.Eigen::internal::plain_array.196" = type { [36 x double] }
%"class.Eigen::CwiseNullaryOp.197" = type { [3 x i8] }
%"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::allocator.18" = type { i8 }
%"struct.RigidBodyDynamics::ConstraintSet" = type { i32, i8, %"class.std::vector", %"class.std::vector.1", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.11", %"class.std::vector.6", %"class.std::vector.16", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.27", %"class.std::vector.34", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::HouseholderQR", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.16", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.60", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.std::vector.16" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::ConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::ConstraintSet::ConstraintType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.1" = type { %"struct.std::_Vector_base.2" }
%"struct.std::_Vector_base.2" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomConstraint *, std::allocator<RigidBodyDynamics::CustomConstraint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.6" = type { %"struct.std::_Vector_base.7" }
%"struct.std::_Vector_base.7" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.21" = type { %"class.std::vector.22" }
%"class.std::vector.22" = type { %"struct.std::_Vector_base.23" }
%"struct.std::_Vector_base.23" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialTransform, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialTransform>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.34" = type { %"struct.std::_Vector_base.35" }
%"struct.std::_Vector_base.35" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector2_t, std::allocator<Vector2_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector.6", %"class.std::vector.6", %"class.std::vector.118", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.123", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.6", %"class.std::vector.21", %"class.std::vector.6", %"class.std::vector.130", %"class.std::vector.130", %"class.std::vector.137", %"class.std::vector.16", %"class.std::vector.6", %"class.std::vector.142", %"class.std::vector.27", %"class.std::vector.60", %"class.std::vector.27", %"class.std::vector.27", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector.27", %"class.std::vector.147", %"class.std::vector.147", %"class.std::vector.27", %"class.std::vector.27", %"class.std::vector.21", %"class.std::vector.21", %"class.std::vector.154", i32, %"class.std::vector.161", %"class.std::map" }
%"class.std::vector.118" = type { %"struct.std::_Vector_base.119" }
%"struct.std::_Vector_base.119" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.123" = type { %"class.std::vector.124" }
%"class.std::vector.124" = type { %"struct.std::_Vector_base.125" }
%"struct.std::_Vector_base.125" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Joint, Eigen::aligned_allocator<RigidBodyDynamics::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.130" = type { %"class.std::vector.131" }
%"class.std::vector.131" = type { %"struct.std::_Vector_base.132" }
%"struct.std::_Vector_base.132" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 6, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.137" = type { %"struct.std::_Vector_base.138" }
%"struct.std::_Vector_base.138" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.142" = type { %"struct.std::_Vector_base.143" }
%"struct.std::_Vector_base.143" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::CustomJoint *, std::allocator<RigidBodyDynamics::CustomJoint *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.147" = type { %"class.std::vector.148" }
%"class.std::vector.148" = type { %"struct.std::_Vector_base.149" }
%"struct.std::_Vector_base.149" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Math::SpatialRigidBodyInertia, Eigen::aligned_allocator<RigidBodyDynamics::Math::SpatialRigidBodyInertia>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.154" = type { %"class.std::vector.155" }
%"class.std::vector.155" = type { %"struct.std::_Vector_base.156" }
%"struct.std::_Vector_base.156" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::FixedBody, Eigen::aligned_allocator<RigidBodyDynamics::FixedBody>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.161" = type { %"class.std::vector.162" }
%"class.std::vector.162" = type { %"struct.std::_Vector_base.163" }
%"struct.std::_Vector_base.163" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }

@.str = external hidden unnamed_addr constant [15 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [112 x i8], align 1
@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics13ConstraintSet4BindERKNS_5ModelE = external hidden unnamed_addr constant [59 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [48 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 void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp") align 8) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE4ZeroEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.113") align 8) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaI9Vector3_tEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2EmRKS0_RKS1_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEaSEOS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI9Vector3_tSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 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: noreturn nounwind
declare void @abort() #0

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN17RigidBodyDynamics13ConstraintSet4BindERKNS_5ModelE(ptr noundef nonnull align 8 dereferenceable(1160) %0, ptr noundef nonnull align 8 dereferenceable(872) %1) #2 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  %6 = alloca %"class.Eigen::HouseholderQR", align 8
  %7 = alloca %"class.Eigen::Transpose", align 8
  %8 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %9 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %10 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %11 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %12 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %13 = alloca %class.SpatialVector_t, align 16
  %14 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %15 = alloca %class.SpatialVector_t, align 16
  %16 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %17 = alloca %class.Vector3_t, align 8
  %18 = alloca %"class.Eigen::CwiseNullaryOp.113", align 8
  %19 = alloca %"class.std::vector.27", align 8
  %20 = alloca %class.SpatialVector_t, align 16
  %21 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %22 = alloca ptr, align 8
  %23 = alloca i32, align 4
  %24 = alloca %"class.std::vector.27", align 8
  %25 = alloca %class.SpatialVector_t, align 16
  %26 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %27 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %28 = alloca %"class.std::vector.60", align 8
  %29 = alloca %class.SpatialMatrix_t, align 16
  %30 = alloca %"class.Eigen::CwiseNullaryOp.197", align 1
  %31 = alloca %"class.std::vector.27", align 8
  %32 = alloca %class.SpatialVector_t, align 16
  %33 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %34 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %35 = alloca %"class.std::vector.16", align 8
  %36 = alloca %class.Vector3_t, align 8
  %37 = alloca %"class.Eigen::CwiseNullaryOp.113", align 8
  %38 = alloca %"class.std::allocator.18", align 1
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %39 = load ptr, ptr %3, align 8
  %40 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 1
  %41 = load i8, ptr %40, align 4, !tbaa !9, !range !63, !noundef !64
  %42 = trunc i8 %41 to i1
  %43 = zext i1 %42 to i32
  %44 = icmp eq i32 %43, 0
  br i1 %44, label %45, label %46

45:                                               ; preds = %2
  br label %48

46:                                               ; preds = %2
  call void @__assert_fail(ptr noundef @.str, ptr noundef @.str.4, i32 noundef 242, ptr noundef @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics13ConstraintSet4BindERKNS_5ModelE) #6
  unreachable

47:                                               ; No predecessors!
  br label %48

48:                                               ; preds = %47, %45
  %49 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 1
  %50 = load i8, ptr %49, align 4, !tbaa !9, !range !63, !noundef !64
  %51 = trunc i8 %50 to i1
  br i1 %51, label %52, label %55

52:                                               ; preds = %48
  %53 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.7)
  %54 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %53, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @abort() #6
  unreachable

55:                                               ; preds = %48
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #7
  %56 = call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %39)
  %57 = trunc i64 %56 to i32
  store i32 %57, ptr %5, align 4, !tbaa !65
  %58 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 23
  %59 = load ptr, ptr %4, align 8, !tbaa !5
  %60 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %59, i32 0, i32 3
  %61 = load i32, ptr %60, align 8, !tbaa !67
  %62 = zext i32 %61 to i64
  %63 = load ptr, ptr %4, align 8, !tbaa !5
  %64 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %63, i32 0, i32 3
  %65 = load i32, ptr %64, align 8, !tbaa !67
  %66 = zext i32 %65 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %58, i64 noundef %62, i64 noundef %66)
  %67 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 23
  %68 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %67)
  %69 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 24
  %70 = load ptr, ptr %4, align 8, !tbaa !5
  %71 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %70, i32 0, i32 3
  %72 = load i32, ptr %71, align 8, !tbaa !67
  %73 = zext i32 %72 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %69, i64 noundef %73)
  %74 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 24
  %75 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %74)
  %76 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 25
  %77 = load i32, ptr %5, align 4, !tbaa !65
  %78 = zext i32 %77 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %76, i64 noundef %78)
  %79 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 25
  %80 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %79)
  %81 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 26
  %82 = load i32, ptr %5, align 4, !tbaa !65
  %83 = zext i32 %82 to i64
  %84 = load ptr, ptr %4, align 8, !tbaa !5
  %85 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %84, i32 0, i32 3
  %86 = load i32, ptr %85, align 8, !tbaa !67
  %87 = zext i32 %86 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %81, i64 noundef %83, i64 noundef %87)
  %88 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 26
  %89 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %88)
  %90 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 27
  %91 = load ptr, ptr %4, align 8, !tbaa !5
  %92 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %91, i32 0, i32 3
  %93 = load i32, ptr %92, align 8, !tbaa !67
  %94 = load i32, ptr %5, align 4, !tbaa !65
  %95 = add i32 %93, %94
  %96 = zext i32 %95 to i64
  %97 = load ptr, ptr %4, align 8, !tbaa !5
  %98 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %97, i32 0, i32 3
  %99 = load i32, ptr %98, align 8, !tbaa !67
  %100 = load i32, ptr %5, align 4, !tbaa !65
  %101 = add i32 %99, %100
  %102 = zext i32 %101 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %90, i64 noundef %96, i64 noundef %102)
  %103 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 27
  %104 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %103)
  %105 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 28
  %106 = load ptr, ptr %4, align 8, !tbaa !5
  %107 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %106, i32 0, i32 3
  %108 = load i32, ptr %107, align 8, !tbaa !67
  %109 = load i32, ptr %5, align 4, !tbaa !65
  %110 = add i32 %108, %109
  %111 = zext i32 %110 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %105, i64 noundef %111)
  %112 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 28
  %113 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %112)
  %114 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 29
  %115 = load ptr, ptr %4, align 8, !tbaa !5
  %116 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %115, i32 0, i32 3
  %117 = load i32, ptr %116, align 8, !tbaa !67
  %118 = load i32, ptr %5, align 4, !tbaa !65
  %119 = add i32 %117, %118
  %120 = zext i32 %119 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %114, i64 noundef %120)
  %121 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 29
  %122 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %121)
  %123 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 30
  %124 = load ptr, ptr %4, align 8, !tbaa !5
  %125 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %124, i32 0, i32 5
  %126 = load i32, ptr %125, align 8, !tbaa !119
  %127 = zext i32 %126 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %123, i64 noundef 3, i64 noundef %127)
  %128 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 31
  %129 = load ptr, ptr %4, align 8, !tbaa !5
  %130 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %129, i32 0, i32 5
  %131 = load i32, ptr %130, align 8, !tbaa !119
  %132 = zext i32 %131 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef 6, i64 noundef %132)
  %133 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 32
  %134 = load ptr, ptr %4, align 8, !tbaa !5
  %135 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %134, i32 0, i32 5
  %136 = load i32, ptr %135, align 8, !tbaa !119
  %137 = zext i32 %136 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %133, i64 noundef 6, i64 noundef %137)
  %138 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 33
  %139 = load ptr, ptr %4, align 8, !tbaa !5
  %140 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %139, i32 0, i32 5
  %141 = load i32, ptr %140, align 8, !tbaa !119
  %142 = zext i32 %141 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %138, i64 noundef 6, i64 noundef %142)
  call void @llvm.lifetime.start.p0(i64 64, ptr %6) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  %143 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 26
  %144 = call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %143)
  %145 = getelementptr inbounds %"class.Eigen::Transpose", ptr %7, i32 0, i32 0
  store ptr %144, ptr %145, align 8
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEC2INS_9TransposeIS2_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(57) %6, ptr noundef nonnull align 1 dereferenceable(1) %7)
  %146 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 34
  %147 = call noundef nonnull align 8 dereferenceable(57) ptr @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(57) %146, ptr noundef nonnull align 8 dereferenceable(57) %6) #7
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %6) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr %6) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %8) #7
  %148 = load ptr, ptr %4, align 8, !tbaa !5
  %149 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %148, i32 0, i32 3
  %150 = load i32, ptr %149, align 8, !tbaa !67
  %151 = zext i32 %150 to i64
  %152 = load ptr, ptr %4, align 8, !tbaa !5
  %153 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %152, i32 0, i32 3
  %154 = load i32, ptr %153, align 8, !tbaa !67
  %155 = zext i32 %154 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %8, i64 noundef %151, i64 noundef %155)
  %156 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 35
  %157 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %156, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %9) #7
  %158 = load ptr, ptr %4, align 8, !tbaa !5
  %159 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %158, i32 0, i32 3
  %160 = load i32, ptr %159, align 8, !tbaa !67
  %161 = zext i32 %160 to i64
  %162 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 26
  %163 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %162)
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %9, i64 noundef %161, i64 noundef %163)
  %164 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 36
  %165 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %164, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %10) #7
  %166 = load ptr, ptr %4, align 8, !tbaa !5
  %167 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %166, i32 0, i32 3
  %168 = load i32, ptr %167, align 8, !tbaa !67
  %169 = zext i32 %168 to i64
  %170 = load ptr, ptr %4, align 8, !tbaa !5
  %171 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %170, i32 0, i32 3
  %172 = load i32, ptr %171, align 8, !tbaa !67
  %173 = zext i32 %172 to i64
  %174 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 26
  %175 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %174)
  %176 = sub nsw i64 %173, %175
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %10, i64 noundef %169, i64 noundef %176)
  %177 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 37
  %178 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %177, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %11) #7
  %179 = load ptr, ptr %4, align 8, !tbaa !5
  %180 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %179, i32 0, i32 3
  %181 = load i32, ptr %180, align 8, !tbaa !67
  %182 = zext i32 %181 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %11, i64 noundef %182)
  %183 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 38
  %184 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %183, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %12) #7
  %185 = load ptr, ptr %4, align 8, !tbaa !5
  %186 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %185, i32 0, i32 3
  %187 = load i32, ptr %186, align 8, !tbaa !67
  %188 = zext i32 %187 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %12, i64 noundef %188)
  %189 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 39
  %190 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %189, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #7
  %191 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 40
  %192 = load i32, ptr %5, align 4, !tbaa !65
  %193 = zext i32 %192 to i64
  %194 = load i32, ptr %5, align 4, !tbaa !65
  %195 = zext i32 %194 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %191, i64 noundef %193, i64 noundef %195)
  %196 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 40
  %197 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %196)
  %198 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 41
  %199 = load i32, ptr %5, align 4, !tbaa !65
  %200 = zext i32 %199 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %198, i64 noundef %200)
  %201 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 41
  %202 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %201)
  %203 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 42
  %204 = load ptr, ptr %4, align 8, !tbaa !5
  %205 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %204, i32 0, i32 3
  %206 = load i32, ptr %205, align 8, !tbaa !67
  %207 = zext i32 %206 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %203, i64 noundef %207)
  %208 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 42
  %209 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %208)
  %210 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 43
  %211 = load ptr, ptr %4, align 8, !tbaa !5
  %212 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %211, i32 0, i32 3
  %213 = load i32, ptr %212, align 8, !tbaa !67
  %214 = zext i32 %213 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %210, i64 noundef %214)
  %215 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 43
  %216 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %215)
  %217 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 44
  %218 = load i32, ptr %5, align 4, !tbaa !65
  %219 = zext i32 %218 to i64
  call void @llvm.lifetime.start.p0(i64 48, ptr %13) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %14)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %217, i64 noundef %219, ptr noundef nonnull align 16 dereferenceable(48) %13)
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %13) #7
  %220 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 45
  %221 = load ptr, ptr %4, align 8, !tbaa !5
  %222 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %221, i32 0, i32 38
  %223 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %222) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %16)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %220, i64 noundef %223, ptr noundef nonnull align 16 dereferenceable(48) %15)
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %15) #7
  %224 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 46
  %225 = load i32, ptr %5, align 4, !tbaa !65
  %226 = zext i32 %225 to i64
  call void @llvm.lifetime.start.p0(i64 24, ptr %17) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.113") align 8 %18)
  call void @_ZN9Vector3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @_ZNSt6vectorI9Vector3_tSaIS0_EE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %224, i64 noundef %226, ptr noundef nonnull align 8 dereferenceable(24) %17)
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %19) #7
  %227 = load ptr, ptr %4, align 8, !tbaa !5
  %228 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %227, i32 0, i32 38
  %229 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %228) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr %20) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %21)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %20, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @_ZNSt6vectorI15SpatialVector_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %229, ptr noundef nonnull align 16 dereferenceable(48) %20)
  %230 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 47
  %231 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialVector_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %230, ptr noundef nonnull align 8 dereferenceable(24) %19)
          to label %232 unwind label %271

232:                                              ; preds = %55
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %19) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %24) #7
  %233 = load ptr, ptr %4, align 8, !tbaa !5
  %234 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %233, i32 0, i32 38
  %235 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %234) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr %25) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %26)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %25, ptr noundef nonnull align 1 dereferenceable(1) %26)
  call void @_ZNSt6vectorI15SpatialVector_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %24, i64 noundef %235, ptr noundef nonnull align 16 dereferenceable(48) %25)
  %236 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 48
  %237 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialVector_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %236, ptr noundef nonnull align 8 dereferenceable(24) %24)
          to label %238 unwind label %275

238:                                              ; preds = %232
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %24) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %24) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %27) #7
  %239 = load ptr, ptr %4, align 8, !tbaa !5
  %240 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %239, i32 0, i32 38
  %241 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %240) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %27, i64 noundef %241)
  %242 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 49
  %243 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %242, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 24, ptr %27) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %28) #7
  %244 = load ptr, ptr %4, align 8, !tbaa !5
  %245 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %244, i32 0, i32 38
  %246 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %245) #7
  call void @llvm.lifetime.start.p0(i64 288, ptr %29) #7
  call void @llvm.lifetime.start.p0(i64 3, ptr %30) #7
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE8IdentityEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.197") align 1 %30)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_identity_opIdEENS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %29, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @_ZNSt6vectorI15SpatialMatrix_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %28, i64 noundef %246, ptr noundef nonnull align 16 dereferenceable(288) %29)
  %247 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 50
  %248 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialMatrix_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %247, ptr noundef nonnull align 8 dereferenceable(24) %28)
          to label %249 unwind label %279

249:                                              ; preds = %238
  call void @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %28) #7
  call void @llvm.lifetime.end.p0(i64 3, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 288, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %28) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %31) #7
  %250 = load ptr, ptr %4, align 8, !tbaa !5
  %251 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %250, i32 0, i32 38
  %252 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %251) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr %32) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %33)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %32, ptr noundef nonnull align 1 dereferenceable(1) %33)
  call void @_ZNSt6vectorI15SpatialVector_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %252, ptr noundef nonnull align 16 dereferenceable(48) %32)
  %253 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 51
  %254 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialVector_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %253, ptr noundef nonnull align 8 dereferenceable(24) %31)
          to label %255 unwind label %283

255:                                              ; preds = %249
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %31) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %32) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %31) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %34) #7
  %256 = load ptr, ptr %4, align 8, !tbaa !5
  %257 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %256, i32 0, i32 38
  %258 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %257) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %34, i64 noundef %258)
  %259 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 52
  %260 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %259, ptr noundef nonnull align 1 dereferenceable(1) %34)
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %35) #7
  %261 = load ptr, ptr %4, align 8, !tbaa !5
  %262 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %261, i32 0, i32 38
  %263 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %262) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %36) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE4ZeroEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.113") align 8 %37)
  call void @_ZN9Vector3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 1 dereferenceable(1) %37)
  call void @llvm.lifetime.start.p0(i64 1, ptr %38) #7
  call void @_ZNSaI9Vector3_tEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %38) #7
  invoke void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2EmRKS0_RKS1_(ptr noundef nonnull align 8 dereferenceable(24) %35, i64 noundef %263, ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 1 dereferenceable(1) %38)
          to label %264 unwind label %287

264:                                              ; preds = %255
  %265 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 53
  %266 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEaSEOS2_(ptr noundef nonnull align 8 dereferenceable(24) %265, ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  call void @_ZNSt6vectorI9Vector3_tSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  call void @_ZNSt15__new_allocatorI9Vector3_tED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %38) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #7
  %267 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 1
  store i8 1, ptr %267, align 4, !tbaa !9
  %268 = getelementptr inbounds %"struct.RigidBodyDynamics::ConstraintSet", ptr %39, i32 0, i32 1
  %269 = load i8, ptr %268, align 4, !tbaa !9, !range !63, !noundef !64
  %270 = trunc i8 %269 to i1
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #7
  ret i1 %270

271:                                              ; preds = %55
  %272 = landingpad { ptr, i32 }
          cleanup
  %273 = extractvalue { ptr, i32 } %272, 0
  store ptr %273, ptr %22, align 8
  %274 = extractvalue { ptr, i32 } %272, 1
  store i32 %274, ptr %23, align 4
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %19) #7
  br label %291

275:                                              ; preds = %232
  %276 = landingpad { ptr, i32 }
          cleanup
  %277 = extractvalue { ptr, i32 } %276, 0
  store ptr %277, ptr %22, align 8
  %278 = extractvalue { ptr, i32 } %276, 1
  store i32 %278, ptr %23, align 4
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %24) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %24) #7
  br label %291

279:                                              ; preds = %238
  %280 = landingpad { ptr, i32 }
          cleanup
  %281 = extractvalue { ptr, i32 } %280, 0
  store ptr %281, ptr %22, align 8
  %282 = extractvalue { ptr, i32 } %280, 1
  store i32 %282, ptr %23, align 4
  call void @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %28) #7
  call void @llvm.lifetime.end.p0(i64 3, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 288, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %28) #7
  br label %291

283:                                              ; preds = %249
  %284 = landingpad { ptr, i32 }
          cleanup
  %285 = extractvalue { ptr, i32 } %284, 0
  store ptr %285, ptr %22, align 8
  %286 = extractvalue { ptr, i32 } %284, 1
  store i32 %286, ptr %23, align 4
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %31) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %32) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %31) #7
  br label %291

287:                                              ; preds = %255
  %288 = landingpad { ptr, i32 }
          cleanup
  %289 = extractvalue { ptr, i32 } %288, 0
  store ptr %289, ptr %22, align 8
  %290 = extractvalue { ptr, i32 } %288, 1
  store i32 %290, ptr %23, align 4
  call void @_ZNSt15__new_allocatorI9Vector3_tED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %38) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #7
  br label %291

291:                                              ; preds = %287, %283, %279, %275, %271
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #7
  br label %292

292:                                              ; preds = %291
  %293 = load ptr, ptr %22, align 8
  %294 = load i32, ptr %23, align 4
  %295 = insertvalue { ptr, i32 } poison, ptr %293, 0
  %296 = insertvalue { ptr, i32 } %295, i32 %294, 1
  resume { ptr, i32 } %296
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEC2INS_9TransposeIS2_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(57), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(57) ptr @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(57), ptr noundef nonnull align 8 dereferenceable(57)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57)) unnamed_addr #5 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 noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

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

; Function Attrs: 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(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 16 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI9Vector3_tSaIS0_EE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI15SpatialVector_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialVector_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE8IdentityEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.197") align 1) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_identity_opIdEENS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI15SpatialMatrix_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 16 dereferenceable(288)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialMatrix_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorI9Vector3_tED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

attributes #0 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 = { 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 #6 = { noreturn nounwind }
attributes #7 = { 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, !12, i64 4}
!10 = !{!"_ZTSN17RigidBodyDynamics13ConstraintSetE", !11, i64 0, !12, i64 4, !13, i64 8, !17, i64 32, !21, i64 56, !21, i64 80, !21, i64 104, !25, i64 128, !21, i64 152, !29, i64 176, !29, i64 200, !21, i64 224, !21, i64 248, !33, i64 272, !33, i64 296, !38, i64 320, !43, i64 344, !47, i64 368, !47, i64 384, !47, i64 400, !47, i64 416, !47, i64 432, !47, i64 448, !51, i64 464, !47, i64 488, !47, i64 504, !51, i64 520, !51, i64 544, !47, i64 568, !47, i64 584, !51, i64 600, !51, i64 624, !51, i64 648, !51, i64 672, !54, i64 696, !51, i64 760, !51, i64 784, !51, i64 808, !47, i64 832, !47, i64 848, !51, i64 864, !47, i64 888, !47, i64 904, !47, i64 920, !38, i64 936, !38, i64 960, !29, i64 984, !38, i64 1008, !38, i64 1032, !47, i64 1056, !58, i64 1072, !38, i64 1096, !47, i64 1120, !29, i64 1136}
!11 = !{!"_ZTSN17RigidBodyDynamics4Math12LinearSolverE", !7, i64 0}
!12 = !{!"bool", !7, i64 0}
!13 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !14, i64 0}
!14 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE12_Vector_implE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!17 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"_ZTSSt6vectorIjSaIjEE", !22, i64 0}
!22 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !24, i64 0}
!24 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!25 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!29 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !30, i64 0}
!30 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!33 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !34, i64 0}
!34 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !35, i64 0}
!35 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!38 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !39, i64 0}
!39 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !40, i64 0}
!40 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !41, i64 0}
!41 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!43 = !{!"_ZTSSt6vectorI9Vector2_tSaIS0_EE", !44, i64 0}
!44 = !{!"_ZTSSt12_Vector_baseI9Vector2_tSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE12_Vector_implE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!47 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !48, i64 0}
!48 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !49, i64 0}
!49 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !50, i64 8}
!50 = !{!"long", !7, i64 0}
!51 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !52, i64 0}
!52 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !53, i64 0}
!53 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !50, i64 8, !50, i64 16}
!54 = !{!"_ZTSN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !51, i64 0, !47, i64 24, !55, i64 40, !12, i64 56}
!55 = !{!"_ZTSN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEE", !56, i64 0}
!56 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEEE", !57, i64 0}
!57 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELi1ELin1ELi1EEE", !6, i64 0, !50, i64 8}
!58 = !{!"_ZTSSt6vectorI15SpatialMatrix_tSaIS0_EE", !59, i64 0}
!59 = !{!"_ZTSSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !60, i64 0}
!60 = !{!"_ZTSSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE", !61, i64 0}
!61 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !62, i64 0}
!62 = !{!"_ZTSNSt12_Vector_baseI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!63 = !{i8 0, i8 2}
!64 = !{}
!65 = !{!66, !66, i64 0}
!66 = !{!"int", !7, i64 0}
!67 = !{!68, !66, i64 72}
!68 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !21, i64 0, !21, i64 24, !69, i64 48, !66, i64 72, !66, i64 76, !66, i64 80, !66, i64 84, !73, i64 88, !38, i64 112, !38, i64 136, !78, i64 160, !38, i64 184, !38, i64 208, !38, i64 232, !21, i64 256, !33, i64 280, !21, i64 304, !83, i64 328, !83, i64 352, !88, i64 376, !29, i64 400, !21, i64 424, !92, i64 448, !38, i64 472, !58, i64 496, !38, i64 520, !38, i64 544, !47, i64 568, !47, i64 584, !38, i64 600, !96, i64 624, !96, i64 648, !38, i64 672, !38, i64 696, !33, i64 720, !33, i64 744, !101, i64 768, !66, i64 792, !106, i64 800, !111, i64 824}
!69 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !70, i64 0}
!70 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !71, i64 0}
!71 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !72, i64 0}
!72 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!73 = !{!"_ZTS9Vector3_t", !74, i64 0}
!74 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !75, i64 0}
!75 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !76, i64 0}
!76 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !77, i64 0}
!77 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!78 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !79, i64 0}
!79 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !80, i64 0}
!80 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !81, i64 0}
!81 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !82, i64 0}
!82 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!83 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !84, i64 0}
!84 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !85, i64 0}
!85 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !86, i64 0}
!86 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !87, i64 0}
!87 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!88 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !89, i64 0}
!89 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !90, i64 0}
!90 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !91, i64 0}
!91 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!92 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !93, i64 0}
!93 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !94, i64 0}
!94 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !95, i64 0}
!95 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!96 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !97, i64 0}
!97 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !98, i64 0}
!98 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !99, i64 0}
!99 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !100, i64 0}
!100 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!101 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !102, i64 0}
!102 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !103, i64 0}
!103 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !104, i64 0}
!104 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !105, i64 0}
!105 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!106 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !107, i64 0}
!107 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !108, i64 0}
!108 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !109, i64 0}
!109 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !110, i64 0}
!110 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!111 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !112, i64 0}
!112 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !113, i64 0}
!113 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !114, i64 0, !116, i64 8}
!114 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !115, i64 0}
!115 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!116 = !{!"_ZTSSt15_Rb_tree_header", !117, i64 0, !50, i64 32}
!117 = !{!"_ZTSSt18_Rb_tree_node_base", !118, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!118 = !{!"_ZTSSt14_Rb_tree_color", !7, i64 0}
!119 = !{!68, !66, i64 80}


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

%"class.Eigen::CwiseNullaryOp" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.113" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.41", %"class.Eigen::Matrix", %"class.Eigen::Matrix.51", i8, [7 x i8] }>
%"class.Eigen::Matrix.41" = type { %"class.Eigen::PlainObjectBase.42" }
%"class.Eigen::PlainObjectBase.42" = type { %"class.Eigen::DenseStorage.49" }
%"class.Eigen::DenseStorage.49" = type { ptr, i64, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { ptr, i64 }
%"class.Eigen::Transpose" = 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 }
%"class.Eigen::CwiseNullaryOp.182" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.89" }
%"class.Eigen::Matrix.89" = type { %"class.Eigen::PlainObjectBase.90" }
%"class.Eigen::PlainObjectBase.90" = type { %"class.Eigen::DenseStorage.97" }
%"class.Eigen::DenseStorage.97" = type { %"struct.Eigen::internal::plain_array.98" }
%"struct.Eigen::internal::plain_array.98" = type { [6 x double] }
%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.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.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.SpatialMatrix_t = type { %"class.Eigen::Matrix.187" }
%"class.Eigen::Matrix.187" = type { %"class.Eigen::PlainObjectBase.188" }
%"class.Eigen::PlainObjectBase.188" = type { %"class.Eigen::DenseStorage.195" }
%"class.Eigen::DenseStorage.195" = type { %"struct.Eigen::internal::plain_array.196" }
%"struct.Eigen::internal::plain_array.196" = type { [36 x double] }
%"class.Eigen::CwiseNullaryOp.197" = type { [3 x i8] }
%"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::allocator.18" = type { i8 }

@.str = external hidden unnamed_addr constant [15 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [112 x i8], align 1
@__PRETTY_FUNCTION__._ZN17RigidBodyDynamics13ConstraintSet4BindERKNS_5ModelE = external hidden unnamed_addr constant [59 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 void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp") align 8) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE4ZeroEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.113") align 8) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaI9Vector3_tEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2EmRKS0_RKS1_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEaSEOS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI9Vector3_tSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN17RigidBodyDynamics13ConstraintSet4BindERKNS_5ModelE(ptr noundef nonnull align 8 dereferenceable(1160) %0, ptr noundef nonnull align 8 dereferenceable(872) %1) local_unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.Eigen::HouseholderQR", align 8
  %4 = alloca %"class.Eigen::Transpose", align 8
  %5 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %6 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %7 = alloca %"class.Eigen::CwiseNullaryOp.177", align 8
  %8 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %9 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %10 = alloca %class.SpatialVector_t, align 16
  %11 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %12 = alloca %class.SpatialVector_t, align 16
  %13 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %14 = alloca %class.Vector3_t, align 8
  %15 = alloca %"class.Eigen::CwiseNullaryOp.113", align 8
  %16 = alloca %"class.std::vector.27", align 8
  %17 = alloca %class.SpatialVector_t, align 16
  %18 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %19 = alloca %"class.std::vector.27", align 8
  %20 = alloca %class.SpatialVector_t, align 16
  %21 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %22 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %23 = alloca %"class.std::vector.60", align 8
  %24 = alloca %class.SpatialMatrix_t, align 16
  %25 = alloca %"class.Eigen::CwiseNullaryOp.197", align 1
  %26 = alloca %"class.std::vector.27", align 8
  %27 = alloca %class.SpatialVector_t, align 16
  %28 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %29 = alloca %"class.Eigen::CwiseNullaryOp.182", align 8
  %30 = alloca %"class.std::vector.16", align 8
  %31 = alloca %class.Vector3_t, align 8
  %32 = alloca %"class.Eigen::CwiseNullaryOp.113", align 8
  %33 = alloca %"class.std::allocator.18", align 1
  %34 = getelementptr inbounds i8, ptr %0, i64 4
  %35 = load i8, ptr %34, align 4, !tbaa !5, !range !62, !noundef !63
  %36 = icmp eq i8 %35, 0
  br i1 %36, label %38, label %37

37:                                               ; preds = %2
  tail call void @__assert_fail(ptr noundef nonnull @.str, ptr noundef nonnull @.str.4, i32 noundef 242, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN17RigidBodyDynamics13ConstraintSet4BindERKNS_5ModelE) #6
  unreachable

38:                                               ; preds = %2
  %39 = tail call noundef i64 @_ZNK17RigidBodyDynamics13ConstraintSet4sizeEv(ptr noundef nonnull align 8 dereferenceable(1160) %0)
  %40 = trunc i64 %39 to i32
  %41 = getelementptr inbounds i8, ptr %0, i64 464
  %42 = getelementptr inbounds i8, ptr %1, i64 72
  %43 = load i32, ptr %42, align 8, !tbaa !64
  %44 = zext i32 %43 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %41, i64 noundef %44, i64 noundef %44)
  %45 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %41)
  %46 = getelementptr inbounds i8, ptr %0, i64 488
  %47 = load i32, ptr %42, align 8, !tbaa !64
  %48 = zext i32 %47 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %46, i64 noundef %48)
  %49 = tail call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %46)
  %50 = getelementptr inbounds i8, ptr %0, i64 504
  %51 = and i64 %39, 4294967295
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %50, i64 noundef %51)
  %52 = tail call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %50)
  %53 = getelementptr inbounds i8, ptr %0, i64 520
  %54 = load i32, ptr %42, align 8, !tbaa !64
  %55 = zext i32 %54 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %53, i64 noundef %51, i64 noundef %55)
  %56 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %53)
  %57 = getelementptr inbounds i8, ptr %0, i64 544
  %58 = load i32, ptr %42, align 8, !tbaa !64
  %59 = add i32 %58, %40
  %60 = zext i32 %59 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %57, i64 noundef %60, i64 noundef %60)
  %61 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %57)
  %62 = getelementptr inbounds i8, ptr %0, i64 568
  %63 = load i32, ptr %42, align 8, !tbaa !64
  %64 = add i32 %63, %40
  %65 = zext i32 %64 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %62, i64 noundef %65)
  %66 = tail call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %62)
  %67 = getelementptr inbounds i8, ptr %0, i64 584
  %68 = load i32, ptr %42, align 8, !tbaa !64
  %69 = add i32 %68, %40
  %70 = zext i32 %69 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %67, i64 noundef %70)
  %71 = tail call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %67)
  %72 = getelementptr inbounds i8, ptr %0, i64 600
  %73 = getelementptr inbounds i8, ptr %1, i64 80
  %74 = load i32, ptr %73, align 8, !tbaa !117
  %75 = zext i32 %74 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef 3, i64 noundef %75)
  %76 = getelementptr inbounds i8, ptr %0, i64 624
  %77 = load i32, ptr %73, align 8, !tbaa !117
  %78 = zext i32 %77 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %76, i64 noundef 6, i64 noundef %78)
  %79 = getelementptr inbounds i8, ptr %0, i64 648
  %80 = load i32, ptr %73, align 8, !tbaa !117
  %81 = zext i32 %80 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef 6, i64 noundef %81)
  %82 = getelementptr inbounds i8, ptr %0, i64 672
  %83 = load i32, ptr %73, align 8, !tbaa !117
  %84 = zext i32 %83 to i64
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %82, i64 noundef 6, i64 noundef %84)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %3) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %85 = tail call ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %53)
  store ptr %85, ptr %4, align 8
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEC2INS_9TransposeIS2_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(57) %3, ptr noundef nonnull align 1 dereferenceable(1) %4)
  %86 = getelementptr inbounds i8, ptr %0, i64 696
  %87 = call noundef nonnull align 8 dereferenceable(57) ptr @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(57) %86, ptr noundef nonnull align 8 dereferenceable(57) %3) #7
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %3) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %3) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #7
  %88 = load i32, ptr %42, align 8, !tbaa !64
  %89 = zext i32 %88 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %5, i64 noundef %89, i64 noundef %89)
  %90 = getelementptr inbounds i8, ptr %0, i64 760
  %91 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %90, ptr noundef nonnull align 1 dereferenceable(1) %5)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %6) #7
  %92 = load i32, ptr %42, align 8, !tbaa !64
  %93 = zext i32 %92 to i64
  %94 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %53)
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %6, i64 noundef %93, i64 noundef %94)
  %95 = getelementptr inbounds i8, ptr %0, i64 784
  %96 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %95, ptr noundef nonnull align 1 dereferenceable(1) %6)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #7
  %97 = load i32, ptr %42, align 8, !tbaa !64
  %98 = zext i32 %97 to i64
  %99 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %53)
  %100 = sub nsw i64 %98, %99
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.177") align 8 %7, i64 noundef %98, i64 noundef %100)
  %101 = getelementptr inbounds i8, ptr %0, i64 808
  %102 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %101, ptr noundef nonnull align 1 dereferenceable(1) %7)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #7
  %103 = load i32, ptr %42, align 8, !tbaa !64
  %104 = zext i32 %103 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %8, i64 noundef %104)
  %105 = getelementptr inbounds i8, ptr %0, i64 832
  %106 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %105, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #7
  %107 = load i32, ptr %42, align 8, !tbaa !64
  %108 = zext i32 %107 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %9, i64 noundef %108)
  %109 = getelementptr inbounds i8, ptr %0, i64 848
  %110 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %109, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #7
  %111 = getelementptr inbounds i8, ptr %0, i64 864
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24) %111, i64 noundef %51, i64 noundef %51)
  %112 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %111)
  %113 = getelementptr inbounds i8, ptr %0, i64 888
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %113, i64 noundef %51)
  %114 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %113)
  %115 = getelementptr inbounds i8, ptr %0, i64 904
  %116 = load i32, ptr %42, align 8, !tbaa !64
  %117 = zext i32 %116 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %115, i64 noundef %117)
  %118 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %115)
  %119 = getelementptr inbounds i8, ptr %0, i64 920
  %120 = load i32, ptr %42, align 8, !tbaa !64
  %121 = zext i32 %120 to i64
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE18conservativeResizeEl(ptr noundef nonnull align 8 dereferenceable(16) %119, i64 noundef %121)
  %122 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %119)
  %123 = getelementptr inbounds i8, ptr %0, i64 936
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %10) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %11)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %10, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %123, i64 noundef %51, ptr noundef nonnull align 16 dereferenceable(48) %10)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %10) #7
  %124 = getelementptr inbounds i8, ptr %0, i64 960
  %125 = getelementptr inbounds i8, ptr %1, i64 800
  %126 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %13)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %12, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %124, i64 noundef %126, ptr noundef nonnull align 16 dereferenceable(48) %12)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %12) #7
  %127 = getelementptr inbounds i8, ptr %0, i64 984
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %14) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.113") align 8 %15)
  call void @_ZN9Vector3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @_ZNSt6vectorI9Vector3_tSaIS0_EE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %127, i64 noundef %51, ptr noundef nonnull align 8 dereferenceable(24) %14)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %14) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #7
  %128 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %17) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %18)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @_ZNSt6vectorI15SpatialVector_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef %128, ptr noundef nonnull align 16 dereferenceable(48) %17)
  %129 = getelementptr inbounds i8, ptr %0, i64 1008
  %130 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialVector_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %129, ptr noundef nonnull align 8 dereferenceable(24) %16)
          to label %131 unwind label %154

131:                                              ; preds = %38
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %17) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %19) #7
  %132 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %20) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %21)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %20, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @_ZNSt6vectorI15SpatialVector_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %132, ptr noundef nonnull align 16 dereferenceable(48) %20)
  %133 = getelementptr inbounds i8, ptr %0, i64 1032
  %134 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialVector_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %133, ptr noundef nonnull align 8 dereferenceable(24) %19)
          to label %135 unwind label %156

135:                                              ; preds = %131
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %22) #7
  %136 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %22, i64 noundef %136)
  %137 = getelementptr inbounds i8, ptr %0, i64 1056
  %138 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %137, ptr noundef nonnull align 1 dereferenceable(1) %22)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %22) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %23) #7
  %139 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125) #7
  call void @llvm.lifetime.start.p0(i64 288, ptr nonnull %24) #7
  call void @llvm.lifetime.start.p0(i64 3, ptr nonnull %25) #7
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE8IdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.197") align 1 %25)
  call void @_ZN15SpatialMatrix_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_identity_opIdEENS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288) %24, ptr noundef nonnull align 1 dereferenceable(1) %25)
  call void @_ZNSt6vectorI15SpatialMatrix_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %23, i64 noundef %139, ptr noundef nonnull align 16 dereferenceable(288) %24)
  %140 = getelementptr inbounds i8, ptr %0, i64 1072
  %141 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialMatrix_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %140, ptr noundef nonnull align 8 dereferenceable(24) %23)
          to label %142 unwind label %158

142:                                              ; preds = %135
  call void @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %25) #7
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %24) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %26) #7
  %143 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %27) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %28) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %28)
  call void @_ZN15SpatialVector_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi6ELi1ELi0ELi6ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(48) %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
  call void @_ZNSt6vectorI15SpatialVector_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24) %26, i64 noundef %143, ptr noundef nonnull align 16 dereferenceable(48) %27)
  %144 = getelementptr inbounds i8, ptr %0, i64 1096
  %145 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialVector_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %144, ptr noundef nonnull align 8 dereferenceable(24) %26)
          to label %146 unwind label %160

146:                                              ; preds = %142
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %26) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %28) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %27) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %29) #7
  %147 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.182") align 8 %29, i64 noundef %147)
  %148 = getelementptr inbounds i8, ptr %0, i64 1120
  %149 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %148, ptr noundef nonnull align 1 dereferenceable(1) %29)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %29) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %30) #7
  %150 = call noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %31) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %32) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEE4ZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.113") align 8 %32)
  call void @_ZN9Vector3_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_constant_opIdEENS1_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %31, ptr noundef nonnull align 1 dereferenceable(1) %32)
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %33) #7
  call void @_ZNSaI9Vector3_tEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %33) #7
  invoke void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2EmRKS0_RKS1_(ptr noundef nonnull align 8 dereferenceable(24) %30, i64 noundef %150, ptr noundef nonnull align 8 dereferenceable(24) %31, ptr noundef nonnull align 1 dereferenceable(1) %33)
          to label %151 unwind label %162

151:                                              ; preds = %146
  %152 = getelementptr inbounds i8, ptr %0, i64 1136
  %153 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI9Vector3_tSaIS0_EEaSEOS2_(ptr noundef nonnull align 8 dereferenceable(24) %152, ptr noundef nonnull align 8 dereferenceable(24) %30) #7
  call void @_ZNSt6vectorI9Vector3_tSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %30) #7
  call void @_ZNSt15__new_allocatorI9Vector3_tED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %33) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %33) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %31) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %30) #7
  store i8 1, ptr %34, align 4, !tbaa !5
  ret i1 true

154:                                              ; preds = %38
  %155 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %17) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #7
  br label %164

156:                                              ; preds = %131
  %157 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #7
  br label %164

158:                                              ; preds = %135
  %159 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  call void @llvm.lifetime.end.p0(i64 3, ptr nonnull %25) #7
  call void @llvm.lifetime.end.p0(i64 288, ptr nonnull %24) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #7
  br label %164

160:                                              ; preds = %142
  %161 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %26) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %28) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %27) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #7
  br label %164

162:                                              ; preds = %146
  %163 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorI9Vector3_tED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %33) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %33) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %31) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %30) #7
  br label %164

164:                                              ; preds = %162, %160, %158, %156, %154
  %.pn = phi { ptr, i32 } [ %163, %162 ], [ %161, %160 ], [ %159, %158 ], [ %157, %156 ], [ %155, %154 ]
  resume { ptr, i32 } %.pn
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE18conservativeResizeEll(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; 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: mustprogress uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEC2INS_9TransposeIS2_EEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(57), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(57) ptr @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(57), ptr noundef nonnull align 8 dereferenceable(57)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57)) unnamed_addr #5 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 noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

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

; Function Attrs: 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(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI9Vector3_tSaIS0_EE6resizeEmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI15SpatialVector_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialVector_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE8IdentityEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.197") align 1) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15SpatialMatrix_tC2IN5Eigen14CwiseNullaryOpINS1_8internal18scalar_identity_opIdEENS1_6MatrixIdLi6ELi6ELi0ELi6ELi6EEEEEEERKNS1_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(288), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI15SpatialMatrix_tSaIS0_EEC2EmRKS0_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 16 dereferenceable(288)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI15SpatialMatrix_tSaIS0_EEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI15SpatialMatrix_tN5Eigen17aligned_allocatorIS0_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorI9Vector3_tED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

attributes #0 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 = { 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 #6 = { noreturn nounwind }
attributes #7 = { 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, !10, i64 4}
!6 = !{!"_ZTSN17RigidBodyDynamics13ConstraintSetE", !7, i64 0, !10, i64 4, !11, i64 8, !16, i64 32, !20, i64 56, !20, i64 80, !20, i64 104, !24, i64 128, !20, i64 152, !28, i64 176, !28, i64 200, !20, i64 224, !20, i64 248, !32, i64 272, !32, i64 296, !37, i64 320, !42, i64 344, !46, i64 368, !46, i64 384, !46, i64 400, !46, i64 416, !46, i64 432, !46, i64 448, !50, i64 464, !46, i64 488, !46, i64 504, !50, i64 520, !50, i64 544, !46, i64 568, !46, i64 584, !50, i64 600, !50, i64 624, !50, i64 648, !50, i64 672, !53, i64 696, !50, i64 760, !50, i64 784, !50, i64 808, !46, i64 832, !46, i64 848, !50, i64 864, !46, i64 888, !46, i64 904, !46, i64 920, !37, i64 936, !37, i64 960, !28, i64 984, !37, i64 1008, !37, i64 1032, !46, i64 1056, !57, i64 1072, !37, i64 1096, !46, i64 1120, !28, i64 1136}
!7 = !{!"_ZTSN17RigidBodyDynamics4Math12LinearSolverE", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"bool", !8, i64 0}
!11 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !12, i64 0}
!12 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE", !13, i64 0}
!13 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE12_Vector_implE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics13ConstraintSet14ConstraintTypeESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!15 = !{!"any pointer", !8, i64 0}
!16 = !{!"_ZTSSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!20 = !{!"_ZTSSt6vectorIjSaIjEE", !21, i64 0}
!21 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!24 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !25, i64 0}
!25 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE12_Vector_implE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics16CustomConstraintESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!28 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !29, i64 0}
!29 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!32 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformESaIS2_EE", !33, i64 0}
!33 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !34, i64 0}
!34 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math16SpatialTransformEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!37 = !{!"_ZTSSt6vectorI15SpatialVector_tSaIS0_EE", !38, i64 0}
!38 = !{!"_ZTSSt6vectorI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !39, i64 0}
!39 = !{!"_ZTSSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE", !40, i64 0}
!40 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE12_Vector_implE", !41, i64 0}
!41 = !{!"_ZTSNSt12_Vector_baseI15SpatialVector_tN5Eigen17aligned_allocatorIS0_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!42 = !{!"_ZTSSt6vectorI9Vector2_tSaIS0_EE", !43, i64 0}
!43 = !{!"_ZTSSt12_Vector_baseI9Vector2_tSaIS0_EE", !44, i64 0}
!44 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE12_Vector_implE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseI9Vector2_tSaIS0_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!46 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !47, i64 0}
!47 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !48, i64 0}
!48 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !15, i64 0, !49, i64 8}
!49 = !{!"long", !8, i64 0}
!50 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !51, i64 0}
!51 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !52, i64 0}
!52 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !15, i64 0, !49, i64 8, !49, i64 16}
!53 = !{!"_ZTSN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !50, i64 0, !46, i64 24, !54, i64 40, !10, i64 56}
!54 = !{!"_ZTSN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEE", !55, i64 0}
!55 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEEE", !56, i64 0}
!56 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELi1ELin1ELi1EEE", !15, i64 0, !49, i64 8}
!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", !15, i64 0, !15, i64 8, !15, i64 16}
!62 = !{i8 0, i8 2}
!63 = !{}
!64 = !{!65, !70, i64 72}
!65 = !{!"_ZTSN17RigidBodyDynamics5ModelE", !20, i64 0, !20, i64 24, !66, i64 48, !70, i64 72, !70, i64 76, !70, i64 80, !70, i64 84, !71, i64 88, !37, i64 112, !37, i64 136, !76, i64 160, !37, i64 184, !37, i64 208, !37, i64 232, !20, i64 256, !32, i64 280, !20, i64 304, !81, i64 328, !81, i64 352, !86, i64 376, !28, i64 400, !20, i64 424, !90, i64 448, !37, i64 472, !57, i64 496, !37, i64 520, !37, i64 544, !46, i64 568, !46, i64 584, !37, i64 600, !94, i64 624, !94, i64 648, !37, i64 672, !37, i64 696, !32, i64 720, !32, i64 744, !99, i64 768, !70, i64 792, !104, i64 800, !109, i64 824}
!66 = !{!"_ZTSSt6vectorIS_IjSaIjEESaIS1_EE", !67, i64 0}
!67 = !{!"_ZTSSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE12_Vector_implE", !69, i64 0}
!69 = !{!"_ZTSNSt12_Vector_baseISt6vectorIjSaIjEESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!70 = !{!"int", !8, i64 0}
!71 = !{!"_ZTS9Vector3_t", !72, i64 0}
!72 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !73, i64 0}
!73 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !74, i64 0}
!74 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !75, i64 0}
!75 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !8, i64 0}
!76 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointESaIS1_EE", !77, i64 0}
!77 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !78, i64 0}
!78 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics5JointEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!81 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEESaIS2_EE", !82, i64 0}
!82 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !83, i64 0}
!83 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE", !84, i64 0}
!84 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !85, i64 0}
!85 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi6ELi3ELi0ELi6ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!86 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !87, i64 0}
!87 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !88, i64 0}
!88 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !89, i64 0}
!89 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!90 = !{!"_ZTSSt6vectorIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !91, i64 0}
!91 = !{!"_ZTSSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE", !92, i64 0}
!92 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE12_Vector_implE", !93, i64 0}
!93 = !{!"_ZTSNSt12_Vector_baseIPN17RigidBodyDynamics11CustomJointESaIS2_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!94 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaESaIS2_EE", !95, i64 0}
!95 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !96, i64 0}
!96 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE", !97, i64 0}
!97 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE12_Vector_implE", !98, i64 0}
!98 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4Math23SpatialRigidBodyInertiaEN5Eigen17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!99 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyESaIS1_EE", !100, i64 0}
!100 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !101, i64 0}
!101 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE", !102, i64 0}
!102 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !103, i64 0}
!103 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics9FixedBodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!104 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyESaIS1_EE", !105, i64 0}
!105 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !106, i64 0}
!106 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE", !107, i64 0}
!107 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE12_Vector_implE", !108, i64 0}
!108 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!109 = !{!"_ZTSSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEjSt4lessIS5_ESaISt4pairIKS5_jEEE", !110, i64 0}
!110 = !{!"_ZTSSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE", !111, i64 0}
!111 = !{!"_ZTSNSt8_Rb_treeINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4pairIKS5_jESt10_Select1stIS8_ESt4lessIS5_ESaIS8_EE13_Rb_tree_implISC_Lb1EEE", !112, i64 0, !114, i64 8}
!112 = !{!"_ZTSSt20_Rb_tree_key_compareISt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEE", !113, i64 0}
!113 = !{!"_ZTSSt4lessINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEE"}
!114 = !{!"_ZTSSt15_Rb_tree_header", !115, i64 0, !49, i64 32}
!115 = !{!"_ZTSSt18_Rb_tree_node_base", !116, i64 0, !15, i64 8, !15, i64 16, !15, i64 24}
!116 = !{!"_ZTSSt14_Rb_tree_color", !8, i64 0}
!117 = !{!65, !70, i64 80}


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