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

; 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::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }
%"struct.RigidBodyDynamics::Model" = type { %"class.std::vector", %"class.std::vector", %"class.std::vector.11", i32, i32, i32, i32, %class.Vector3_t, %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.32", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector", %"class.std::vector.39", %"class.std::vector", %"class.std::vector.46", %"class.std::vector.46", %"class.std::vector.53", %"class.std::vector.58", %"class.std::vector", %"class.std::vector.63", %"class.std::vector.26", %"class.std::vector.68", %"class.std::vector.26", %"class.std::vector.26", %"class.Eigen::Matrix.75", %"class.Eigen::Matrix.75", %"class.std::vector.26", %"class.std::vector.84", %"class.std::vector.84", %"class.std::vector.26", %"class.std::vector.26", %"class.std::vector.39", %"class.std::vector.39", %"class.std::vector.91", i32, %"class.std::vector.98", %"class.std::map" }
%"class.std::vector.11" = type { %"struct.std::_Vector_base.12" }
%"struct.std::_Vector_base.12" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<unsigned int>, std::allocator<std::vector<unsigned int>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.Vector3_t = type { %"class.Eigen::Matrix.16" }
%"class.Eigen::Matrix.16" = type { %"class.Eigen::PlainObjectBase.17" }
%"class.Eigen::PlainObjectBase.17" = type { %"class.Eigen::DenseStorage.24" }
%"class.Eigen::DenseStorage.24" = type { %"struct.Eigen::internal::plain_array.25" }
%"struct.Eigen::internal::plain_array.25" = type { [3 x double] }
%"class.std::vector.32" = type { %"class.std::vector.33" }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = 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.46" = type { %"class.std::vector.47" }
%"class.std::vector.47" = type { %"struct.std::_Vector_base.48" }
%"struct.std::_Vector_base.48" = 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.53" = type { %"struct.std::_Vector_base.54" }
%"struct.std::_Vector_base.54" = 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.58" = type { %"struct.std::_Vector_base.59" }
%"struct.std::_Vector_base.59" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = 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.63" = type { %"struct.std::_Vector_base.64" }
%"struct.std::_Vector_base.64" = 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.68" = type { %"class.std::vector.69" }
%"class.std::vector.69" = type { %"struct.std::_Vector_base.70" }
%"struct.std::_Vector_base.70" = 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.Eigen::Matrix.75" = type { %"class.Eigen::PlainObjectBase.76" }
%"class.Eigen::PlainObjectBase.76" = type { %"class.Eigen::DenseStorage.83" }
%"class.Eigen::DenseStorage.83" = type { ptr, i64 }
%"class.std::vector.84" = type { %"class.std::vector.85" }
%"class.std::vector.85" = type { %"struct.std::_Vector_base.86" }
%"struct.std::_Vector_base.86" = 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.26" = type { %"class.std::vector.27" }
%"class.std::vector.27" = type { %"struct.std::_Vector_base.28" }
%"struct.std::_Vector_base.28" = 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.39" = type { %"class.std::vector.40" }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = 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.91" = type { %"class.std::vector.92" }
%"class.std::vector.92" = type { %"struct.std::_Vector_base.93" }
%"struct.std::_Vector_base.93" = 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.98" = type { %"class.std::vector.99" }
%"class.std::vector.99" = type { %"struct.std::_Vector_base.100" }
%"struct.std::_Vector_base.100" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::Body, Eigen::aligned_allocator<RigidBodyDynamics::Body>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::map" = type { %"class.std::_Rb_tree" }
%"class.std::_Rb_tree" = type { %"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" }
%"struct.std::_Rb_tree<std::__cxx11::basic_string<char>, std::pair<const std::__cxx11::basic_string<char>, unsigned int>, std::_Select1st<std::pair<const std::__cxx11::basic_string<char>, unsigned int>>, std::less<std::__cxx11::basic_string<char>>>::_Rb_tree_impl" = type { [8 x i8], %"struct.std::_Rb_tree_header" }
%"struct.std::_Rb_tree_header" = type { %"struct.std::_Rb_tree_node_base", i64 }
%"struct.std::_Rb_tree_node_base" = type { i32, ptr, ptr, ptr }
%"struct.RigidBodyDynamics::Body" = type <{ double, %class.Vector3_t, %class.Matrix3_t, i8, [7 x i8] }>
%class.Matrix3_t = type { %"class.Eigen::Matrix.108" }
%"class.Eigen::Matrix.108" = type { %"class.Eigen::PlainObjectBase.109" }
%"class.Eigen::PlainObjectBase.109" = type { %"class.Eigen::DenseStorage.116" }
%"class.Eigen::DenseStorage.116" = type { %"struct.Eigen::internal::plain_array.117" }
%"struct.Eigen::internal::plain_array.117" = type { [9 x double] }

@.str.11 = external hidden unnamed_addr constant [1 x i8], align 1

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(872) %1, i32 noundef %2) #2 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca %"class.std::allocator", align 1
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  store ptr %0, ptr %4, align 8
  store ptr %1, ptr %5, align 8, !tbaa !5
  store i32 %2, ptr %6, align 4, !tbaa !9
  %10 = load ptr, ptr %5, align 8, !tbaa !5
  %11 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %10, i32 0, i32 38
  %12 = load i32, ptr %6, align 4, !tbaa !9
  %13 = zext i32 %12 to i64
  %14 = call noundef nonnull align 8 dereferenceable(105) ptr @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %13) #3
  %15 = getelementptr inbounds %"struct.RigidBodyDynamics::Body", ptr %14, i32 0, i32 3
  %16 = load i8, ptr %15, align 8, !tbaa !11, !range !25, !noundef !26
  %17 = trunc i8 %16 to i1
  br i1 %17, label %18, label %41

18:                                               ; preds = %3
  %19 = load ptr, ptr %5, align 8, !tbaa !5
  %20 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %19, i32 0, i32 2
  %21 = load i32, ptr %6, align 4, !tbaa !9
  %22 = zext i32 %21 to i64
  %23 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIS_IjSaIjEESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %22) #3
  %24 = call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #3
  %25 = icmp ne i64 %24, 1
  br i1 %25, label %26, label %32

26:                                               ; preds = %18
  call void @llvm.lifetime.start.p0(i64 1, ptr %7) #3
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #3
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %0, ptr noundef @.str.11, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %27 unwind label %28

27:                                               ; preds = %26
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #3
  br label %44

28:                                               ; preds = %26
  %29 = landingpad { ptr, i32 }
          cleanup
  %30 = extractvalue { ptr, i32 } %29, 0
  store ptr %30, ptr %8, align 8
  %31 = extractvalue { ptr, i32 } %29, 1
  store i32 %31, ptr %9, align 4
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %7) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #3
  br label %45

32:                                               ; preds = %18
  %33 = load ptr, ptr %5, align 8, !tbaa !5
  %34 = load ptr, ptr %5, align 8, !tbaa !5
  %35 = getelementptr inbounds %"struct.RigidBodyDynamics::Model", ptr %34, i32 0, i32 2
  %36 = load i32, ptr %6, align 4, !tbaa !9
  %37 = zext i32 %36 to i64
  %38 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIS_IjSaIjEESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %35, i64 noundef %37) #3
  %39 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %38, i64 noundef 0) #3
  %40 = load i32, ptr %39, align 4, !tbaa !9
  call void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(872) %33, i32 noundef %40)
  br label %44

41:                                               ; preds = %3
  %42 = load ptr, ptr %5, align 8, !tbaa !5
  %43 = load i32, ptr %6, align 4, !tbaa !9
  call void @_ZNK17RigidBodyDynamics5Model11GetBodyNameB5cxx11Ej(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(872) %42, i32 noundef %43)
  br label %44

44:                                               ; preds = %41, %32, %27
  ret void

45:                                               ; preds = %28
  %46 = load ptr, ptr %8, align 8
  %47 = load i32, ptr %9, align 4
  %48 = insertvalue { ptr, i32 } poison, ptr %46, 0
  %49 = insertvalue { ptr, i32 } %48, i32 %47, 1
  resume { ptr, i32 } %49
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(105) ptr @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIS_IjSaIjEESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics5Model11GetBodyNameB5cxx11Ej(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) #2 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !24, i64 104}
!12 = !{!"_ZTSN17RigidBodyDynamics4BodyE", !13, i64 0, !14, i64 8, !19, i64 32, !24, i64 104}
!13 = !{!"double", !7, i64 0}
!14 = !{!"_ZTS9Vector3_t", !15, i64 0}
!15 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!19 = !{!"_ZTS9Matrix3_t", !20, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!24 = !{!"bool", !7, i64 0}
!25 = !{i8 0, i8 2}
!26 = !{}


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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator" = type { i8 }

@.str.11 = external hidden unnamed_addr constant [1 x i8], align 1

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics5Utils13get_body_nameB5cxx11ERKNS_5ModelEj(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(872) %1, i32 noundef %2) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %4 = alloca %"class.std::allocator", align 1
  %5 = getelementptr inbounds i8, ptr %1, i64 800
  %6 = zext i32 %2 to i64
  %7 = tail call noundef nonnull align 8 dereferenceable(105) ptr @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %6) #3
  %8 = getelementptr inbounds i8, ptr %7, i64 104
  %9 = load i8, ptr %8, align 8, !tbaa !5, !range !21, !noundef !22
  %10 = trunc nuw i8 %9 to i1
  br i1 %10, label %.lr.ph, label %tailrecurse._crit_edge

.lr.ph:                                           ; preds = %3
  %11 = getelementptr inbounds i8, ptr %1, i64 48
  br label %12

12:                                               ; preds = %.lr.ph, %tailrecurse
  %13 = phi i64 [ %6, %.lr.ph ], [ %23, %tailrecurse ]
  %14 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIS_IjSaIjEESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %13) #3
  %15 = tail call noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %14) #3
  %.not = icmp eq i64 %15, 1
  br i1 %.not, label %tailrecurse, label %16

16:                                               ; preds = %12
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #3
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #3
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %0, ptr noundef nonnull @.str.11, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %17 unwind label %18

17:                                               ; preds = %16
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #3
  br label %28

18:                                               ; preds = %16
  %19 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %4) #3
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #3
  resume { ptr, i32 } %19

tailrecurse:                                      ; preds = %12
  %20 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIS_IjSaIjEESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %13) #3
  %21 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef 0) #3
  %22 = load i32, ptr %21, align 4, !tbaa !23
  %23 = zext i32 %22 to i64
  %24 = tail call noundef nonnull align 8 dereferenceable(105) ptr @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %23) #3
  %25 = getelementptr inbounds i8, ptr %24, i64 104
  %26 = load i8, ptr %25, align 8, !tbaa !5, !range !21, !noundef !22
  %27 = trunc nuw i8 %26 to i1
  br i1 %27, label %12, label %tailrecurse._crit_edge

tailrecurse._crit_edge:                           ; preds = %tailrecurse, %3
  %.tr11.lcssa = phi i32 [ %2, %3 ], [ %22, %tailrecurse ]
  tail call void @_ZNK17RigidBodyDynamics5Model11GetBodyNameB5cxx11Ej(ptr dead_on_unwind writable sret(%"class.std::__cxx11::basic_string") align 8 %0, ptr noundef nonnull align 8 dereferenceable(872) %1, i32 noundef %.tr11.lcssa)
  br label %28

28:                                               ; preds = %tailrecurse._crit_edge, %17
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(105) ptr @_ZNKSt6vectorIN17RigidBodyDynamics4BodyEN5Eigen17aligned_allocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNKSt6vectorIS_IjSaIjEESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIjSaIjEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK17RigidBodyDynamics5Model11GetBodyNameB5cxx11Ej(ptr dead_on_unwind noalias writable sret(%"class.std::__cxx11::basic_string") align 8, ptr noundef nonnull align 8 dereferenceable(872), i32 noundef) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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, !20, i64 104}
!6 = !{!"_ZTSN17RigidBodyDynamics4BodyE", !7, i64 0, !10, i64 8, !15, i64 32, !20, i64 104}
!7 = !{!"double", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTS9Vector3_t", !11, i64 0}
!11 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !12, i64 0}
!12 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !8, i64 0}
!15 = !{!"_ZTS9Matrix3_t", !16, i64 0}
!16 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !8, i64 0}
!20 = !{!"bool", !8, i64 0}
!21 = !{i8 0, i8 2}
!22 = !{}
!23 = !{!24, !24, i64 0}
!24 = !{!"int", !8, i64 0}


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