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

; 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 }
%"struct.RigidBodyDynamics::Body" = type <{ double, %class.Vector3_t, %class.Matrix3_t, i8, [7 x i8] }>
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%class.Matrix3_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [9 x double] }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }
%"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.154" = type { i8 }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.100" }
%"class.Eigen::Matrix.100" = type { %"class.Eigen::PlainObjectBase.101" }
%"class.Eigen::PlainObjectBase.101" = type { %"class.Eigen::DenseStorage.108" }
%"class.Eigen::DenseStorage.108" = type { %"struct.Eigen::internal::plain_array.109" }
%"struct.Eigen::internal::plain_array.109" = type { [6 x double] }

@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.8 = external hidden unnamed_addr constant [106 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [28 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [28 x i8], align 1
@__PRETTY_FUNCTION__._Z20AddBodyMultiDofJointRN17RigidBodyDynamics5ModelEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE = external hidden unnamed_addr constant [131 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [1 x i8], align 1

declare i32 @__gxx_personality_v0(...)

; 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 dso_local void @_ZN17RigidBodyDynamics5JointC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96)) unnamed_addr #3 align 2

; 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 #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN17RigidBodyDynamics4BodyD2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) #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) #2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #3 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)) #2

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #5

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_Z20AddBodyMultiDofJointRN17RigidBodyDynamics5ModelEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %1, ptr noundef nonnull align 8 dereferenceable(96) %2, ptr noundef nonnull align 8 dereferenceable(24) %3, ptr noundef nonnull align 8 dereferenceable(105) %4, ptr noundef %5) #3 personality ptr @__gxx_personality_v0 {
  %7 = alloca i32, align 4
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  %15 = alloca %"struct.RigidBodyDynamics::Body", align 8
  %16 = alloca double, align 8
  %17 = alloca %class.Vector3_t, align 8
  %18 = alloca double, align 8
  %19 = alloca double, align 8
  %20 = alloca double, align 8
  %21 = alloca %class.Vector3_t, align 8
  %22 = alloca double, align 8
  %23 = alloca double, align 8
  %24 = alloca double, align 8
  %25 = alloca i32, align 4
  %26 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %27 = alloca ptr, align 8
  %28 = alloca i32, align 4
  %29 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %30 = alloca %"class.std::__cxx11::basic_string", align 8
  %31 = alloca %"class.std::allocator.154", align 1
  %32 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %33 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %34 = alloca %"class.std::__cxx11::basic_string", align 8
  %35 = alloca i32, align 4
  %36 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %37 = alloca i32, align 4
  %38 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %39 = alloca %class.Vector3_t, align 8
  %40 = alloca %class.Vector3_t, align 8
  %41 = alloca %class.Vector3_t, align 8
  %42 = alloca double, align 8
  %43 = alloca double, align 8
  %44 = alloca double, align 8
  %45 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %46 = alloca %class.Vector3_t, align 8
  %47 = alloca double, align 8
  %48 = alloca double, align 8
  %49 = alloca double, align 8
  %50 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %51 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %52 = alloca %"class.std::__cxx11::basic_string", align 8
  %53 = alloca %"class.std::allocator.154", align 1
  %54 = alloca %"class.std::__cxx11::basic_string", align 8
  store ptr %0, ptr %8, align 8, !tbaa !5
  store i32 %1, ptr %9, align 4, !tbaa !9
  store ptr %2, ptr %10, align 8, !tbaa !5
  store ptr %3, ptr %11, align 8, !tbaa !5
  store ptr %4, ptr %12, align 8, !tbaa !5
  store ptr %5, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #7
  store i32 0, ptr %14, align 4, !tbaa !9
  %55 = load ptr, ptr %11, align 8, !tbaa !5
  %56 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %55, i32 0, i32 1
  %57 = load i32, ptr %56, align 8, !tbaa !11
  %58 = icmp eq i32 %57, 15
  br i1 %58, label %59, label %60

59:                                               ; preds = %6
  store i32 1, ptr %14, align 4, !tbaa !9
  br label %109

60:                                               ; preds = %6
  %61 = load ptr, ptr %11, align 8, !tbaa !5
  %62 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %61, i32 0, i32 1
  %63 = load i32, ptr %62, align 8, !tbaa !11
  %64 = icmp eq i32 %63, 16
  br i1 %64, label %65, label %66

65:                                               ; preds = %60
  store i32 2, ptr %14, align 4, !tbaa !9
  br label %108

66:                                               ; preds = %60
  %67 = load ptr, ptr %11, align 8, !tbaa !5
  %68 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %67, i32 0, i32 1
  %69 = load i32, ptr %68, align 8, !tbaa !11
  %70 = icmp eq i32 %69, 17
  br i1 %70, label %71, label %72

71:                                               ; preds = %66
  store i32 3, ptr %14, align 4, !tbaa !9
  br label %107

72:                                               ; preds = %66
  %73 = load ptr, ptr %11, align 8, !tbaa !5
  %74 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %73, i32 0, i32 1
  %75 = load i32, ptr %74, align 8, !tbaa !11
  %76 = icmp eq i32 %75, 18
  br i1 %76, label %77, label %78

77:                                               ; preds = %72
  store i32 4, ptr %14, align 4, !tbaa !9
  br label %106

78:                                               ; preds = %72
  %79 = load ptr, ptr %11, align 8, !tbaa !5
  %80 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %79, i32 0, i32 1
  %81 = load i32, ptr %80, align 8, !tbaa !11
  %82 = icmp eq i32 %81, 19
  br i1 %82, label %83, label %84

83:                                               ; preds = %78
  store i32 5, ptr %14, align 4, !tbaa !9
  br label %105

84:                                               ; preds = %78
  %85 = load ptr, ptr %11, align 8, !tbaa !5
  %86 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %85, i32 0, i32 1
  %87 = load i32, ptr %86, align 8, !tbaa !11
  %88 = icmp eq i32 %87, 20
  br i1 %88, label %89, label %90

89:                                               ; preds = %84
  store i32 6, ptr %14, align 4, !tbaa !9
  br label %104

90:                                               ; preds = %84
  %91 = load ptr, ptr %11, align 8, !tbaa !5
  %92 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %91, i32 0, i32 1
  %93 = load i32, ptr %92, align 8, !tbaa !11
  %94 = icmp eq i32 %93, 12
  br i1 %94, label %95, label %96

95:                                               ; preds = %90
  br label %103

96:                                               ; preds = %90
  %97 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef @.str.11)
  %98 = load ptr, ptr %11, align 8, !tbaa !5
  %99 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %98, i32 0, i32 1
  %100 = load i32, ptr %99, align 8, !tbaa !11
  %101 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %97, i32 noundef %100)
  %102 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %101, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @__assert_fail(ptr noundef @.str.12, ptr noundef @.str.8, i32 noundef 178, ptr noundef @__PRETTY_FUNCTION__._Z20AddBodyMultiDofJointRN17RigidBodyDynamics5ModelEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE) #8
  unreachable

103:                                              ; preds = %95
  br label %104

104:                                              ; preds = %103, %89
  br label %105

105:                                              ; preds = %104, %83
  br label %106

106:                                              ; preds = %105, %77
  br label %107

107:                                              ; preds = %106, %71
  br label %108

108:                                              ; preds = %107, %65
  br label %109

109:                                              ; preds = %108, %59
  call void @llvm.lifetime.start.p0(i64 112, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  store double 0.000000e+00, ptr %16, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 24, ptr %17) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #7
  store double 0.000000e+00, ptr %18, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #7
  store double 0.000000e+00, ptr %19, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #7
  store double 0.000000e+00, ptr %20, align 8, !tbaa !14
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %17, ptr noundef nonnull align 8 dereferenceable(8) %18, ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef nonnull align 8 dereferenceable(8) %20)
  call void @llvm.lifetime.start.p0(i64 24, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #7
  store double 0.000000e+00, ptr %22, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #7
  store double 0.000000e+00, ptr %23, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #7
  store double 0.000000e+00, ptr %24, align 8, !tbaa !14
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %21, ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull align 8 dereferenceable(8) %24)
  call void @_ZN17RigidBodyDynamics4BodyC2ERKdRK9Vector3_tS5_(ptr noundef nonnull align 8 dereferenceable(105) %15, ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 8 dereferenceable(24) %17, ptr noundef nonnull align 8 dereferenceable(24) %21)
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #7
  %110 = getelementptr inbounds %"struct.RigidBodyDynamics::Body", ptr %15, i32 0, i32 3
  store i8 1, ptr %110, align 8, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  %111 = load i32, ptr %9, align 4, !tbaa !9
  store i32 %111, ptr %25, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 96, ptr %26) #7
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %26)
          to label %112 unwind label %133

112:                                              ; preds = %109
  %113 = load ptr, ptr %11, align 8, !tbaa !5
  %114 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %113, i32 0, i32 1
  %115 = load i32, ptr %114, align 8, !tbaa !11
  %116 = icmp eq i32 %115, 12
  br i1 %116, label %117, label %170

117:                                              ; preds = %112
  %118 = load ptr, ptr %8, align 8, !tbaa !5
  %119 = load i32, ptr %9, align 4, !tbaa !9
  %120 = load ptr, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr %29) #7
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeE(ptr noundef nonnull align 8 dereferenceable(24) %29, i32 noundef 11)
          to label %121 unwind label %137

121:                                              ; preds = %117
  call void @llvm.lifetime.start.p0(i64 1, ptr %31) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %31) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %30, ptr noundef @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %31)
          to label %122 unwind label %141

122:                                              ; preds = %121
  %123 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %118, i32 noundef %119, ptr noundef nonnull align 8 dereferenceable(96) %120, ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(105) %15, ptr noundef %30)
          to label %124 unwind label %145

124:                                              ; preds = %122
  store i32 %123, ptr %25, align 4, !tbaa !9
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %31) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %31) #7
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %29) #7
  %125 = load ptr, ptr %8, align 8, !tbaa !5
  %126 = load i32, ptr %25, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 96, ptr %32) #7
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %32)
          to label %127 unwind label %151

127:                                              ; preds = %124
  call void @llvm.lifetime.start.p0(i64 24, ptr %33) #7
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeE(ptr noundef nonnull align 8 dereferenceable(24) %33, i32 noundef 6)
          to label %128 unwind label %155

128:                                              ; preds = %127
  %129 = load ptr, ptr %12, align 8, !tbaa !5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %34, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %130 unwind label %159

130:                                              ; preds = %128
  %131 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %125, i32 noundef %126, ptr noundef nonnull align 8 dereferenceable(96) %32, ptr noundef nonnull align 8 dereferenceable(24) %33, ptr noundef nonnull align 8 dereferenceable(105) %129, ptr noundef %34)
          to label %132 unwind label %163

132:                                              ; preds = %130
  store i32 %131, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %34) #7
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %32) #7
  store i32 1, ptr %35, align 4
  br label %362

133:                                              ; preds = %109
  %134 = landingpad { ptr, i32 }
          cleanup
  %135 = extractvalue { ptr, i32 } %134, 0
  store ptr %135, ptr %27, align 8
  %136 = extractvalue { ptr, i32 } %134, 1
  store i32 %136, ptr %28, align 4
  br label %364

137:                                              ; preds = %117
  %138 = landingpad { ptr, i32 }
          cleanup
  %139 = extractvalue { ptr, i32 } %138, 0
  store ptr %139, ptr %27, align 8
  %140 = extractvalue { ptr, i32 } %138, 1
  store i32 %140, ptr %28, align 4
  br label %150

141:                                              ; preds = %121
  %142 = landingpad { ptr, i32 }
          cleanup
  %143 = extractvalue { ptr, i32 } %142, 0
  store ptr %143, ptr %27, align 8
  %144 = extractvalue { ptr, i32 } %142, 1
  store i32 %144, ptr %28, align 4
  br label %149

145:                                              ; preds = %122
  %146 = landingpad { ptr, i32 }
          cleanup
  %147 = extractvalue { ptr, i32 } %146, 0
  store ptr %147, ptr %27, align 8
  %148 = extractvalue { ptr, i32 } %146, 1
  store i32 %148, ptr %28, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #7
  br label %149

149:                                              ; preds = %145, %141
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %31) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %31) #7
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #7
  br label %150

150:                                              ; preds = %149, %137
  call void @llvm.lifetime.end.p0(i64 24, ptr %29) #7
  br label %364

151:                                              ; preds = %124
  %152 = landingpad { ptr, i32 }
          cleanup
  %153 = extractvalue { ptr, i32 } %152, 0
  store ptr %153, ptr %27, align 8
  %154 = extractvalue { ptr, i32 } %152, 1
  store i32 %154, ptr %28, align 4
  br label %169

155:                                              ; preds = %127
  %156 = landingpad { ptr, i32 }
          cleanup
  %157 = extractvalue { ptr, i32 } %156, 0
  store ptr %157, ptr %27, align 8
  %158 = extractvalue { ptr, i32 } %156, 1
  store i32 %158, ptr %28, align 4
  br label %168

159:                                              ; preds = %128
  %160 = landingpad { ptr, i32 }
          cleanup
  %161 = extractvalue { ptr, i32 } %160, 0
  store ptr %161, ptr %27, align 8
  %162 = extractvalue { ptr, i32 } %160, 1
  store i32 %162, ptr %28, align 4
  br label %167

163:                                              ; preds = %130
  %164 = landingpad { ptr, i32 }
          cleanup
  %165 = extractvalue { ptr, i32 } %164, 0
  store ptr %165, ptr %27, align 8
  %166 = extractvalue { ptr, i32 } %164, 1
  store i32 %166, ptr %28, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %34) #7
  br label %167

167:                                              ; preds = %163, %159
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  br label %168

168:                                              ; preds = %167, %155
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #7
  br label %169

169:                                              ; preds = %168, %151
  call void @llvm.lifetime.end.p0(i64 96, ptr %32) #7
  br label %364

170:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 24, ptr %36) #7
  invoke void @_ZN17RigidBodyDynamics5JointC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %36)
          to label %171 unwind label %247

171:                                              ; preds = %170
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #7
  store i32 0, ptr %37, align 4, !tbaa !9
  br label %172

172:                                              ; preds = %346, %171
  %173 = load i32, ptr %37, align 4, !tbaa !9
  %174 = load i32, ptr %14, align 4, !tbaa !9
  %175 = icmp ult i32 %173, %174
  br i1 %175, label %176, label %349

176:                                              ; preds = %172
  call void @llvm.lifetime.start.p0(i64 24, ptr %38) #7
  %177 = load ptr, ptr %11, align 8, !tbaa !5
  %178 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %177, i32 0, i32 0
  %179 = load ptr, ptr %178, align 8, !tbaa !29
  %180 = load i32, ptr %37, align 4, !tbaa !9
  %181 = zext i32 %180 to i64
  %182 = getelementptr inbounds %class.SpatialVector_t, ptr %179, i64 %181
  invoke void @_ZN17RigidBodyDynamics5JointC2ERK15SpatialVector_t(ptr noundef nonnull align 8 dereferenceable(24) %38, ptr noundef nonnull align 16 dereferenceable(48) %182)
          to label %183 unwind label %251

183:                                              ; preds = %176
  %184 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 8 dereferenceable(24) %38)
          to label %185 unwind label %255

185:                                              ; preds = %183
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %38) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %38) #7
  %186 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %36, i32 0, i32 1
  %187 = load i32, ptr %186, align 8, !tbaa !11
  %188 = icmp eq i32 %187, 15
  br i1 %188, label %189, label %306

189:                                              ; preds = %185
  call void @llvm.lifetime.start.p0(i64 24, ptr %39) #7
  %190 = load ptr, ptr %11, align 8, !tbaa !5
  %191 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %190, i32 0, i32 0
  %192 = load ptr, ptr %191, align 8, !tbaa !29
  %193 = load i32, ptr %37, align 4, !tbaa !9
  %194 = zext i32 %193 to i64
  %195 = getelementptr inbounds %class.SpatialVector_t, ptr %192, i64 %194
  %196 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %195, i64 noundef 0)
          to label %197 unwind label %260

197:                                              ; preds = %189
  %198 = load ptr, ptr %11, align 8, !tbaa !5
  %199 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %198, i32 0, i32 0
  %200 = load ptr, ptr %199, align 8, !tbaa !29
  %201 = load i32, ptr %37, align 4, !tbaa !9
  %202 = zext i32 %201 to i64
  %203 = getelementptr inbounds %class.SpatialVector_t, ptr %200, i64 %202
  %204 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %203, i64 noundef 1)
          to label %205 unwind label %260

205:                                              ; preds = %197
  %206 = load ptr, ptr %11, align 8, !tbaa !5
  %207 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %206, i32 0, i32 0
  %208 = load ptr, ptr %207, align 8, !tbaa !29
  %209 = load i32, ptr %37, align 4, !tbaa !9
  %210 = zext i32 %209 to i64
  %211 = getelementptr inbounds %class.SpatialVector_t, ptr %208, i64 %210
  %212 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %211, i64 noundef 2)
          to label %213 unwind label %260

213:                                              ; preds = %205
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %39, ptr noundef nonnull align 8 dereferenceable(8) %196, ptr noundef nonnull align 8 dereferenceable(8) %204, ptr noundef nonnull align 8 dereferenceable(8) %212)
          to label %214 unwind label %260

214:                                              ; preds = %213
  call void @llvm.lifetime.start.p0(i64 24, ptr %40) #7
  %215 = load ptr, ptr %11, align 8, !tbaa !5
  %216 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %215, i32 0, i32 0
  %217 = load ptr, ptr %216, align 8, !tbaa !29
  %218 = load i32, ptr %37, align 4, !tbaa !9
  %219 = zext i32 %218 to i64
  %220 = getelementptr inbounds %class.SpatialVector_t, ptr %217, i64 %219
  %221 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %220, i64 noundef 3)
          to label %222 unwind label %264

222:                                              ; preds = %214
  %223 = load ptr, ptr %11, align 8, !tbaa !5
  %224 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %223, i32 0, i32 0
  %225 = load ptr, ptr %224, align 8, !tbaa !29
  %226 = load i32, ptr %37, align 4, !tbaa !9
  %227 = zext i32 %226 to i64
  %228 = getelementptr inbounds %class.SpatialVector_t, ptr %225, i64 %227
  %229 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %228, i64 noundef 4)
          to label %230 unwind label %264

230:                                              ; preds = %222
  %231 = load ptr, ptr %11, align 8, !tbaa !5
  %232 = getelementptr inbounds %"struct.RigidBodyDynamics::Joint", ptr %231, i32 0, i32 0
  %233 = load ptr, ptr %232, align 8, !tbaa !29
  %234 = load i32, ptr %37, align 4, !tbaa !9
  %235 = zext i32 %234 to i64
  %236 = getelementptr inbounds %class.SpatialVector_t, ptr %233, i64 %235
  %237 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %236, i64 noundef 5)
          to label %238 unwind label %264

238:                                              ; preds = %230
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %40, ptr noundef nonnull align 8 dereferenceable(8) %221, ptr noundef nonnull align 8 dereferenceable(8) %229, ptr noundef nonnull align 8 dereferenceable(8) %237)
          to label %239 unwind label %264

239:                                              ; preds = %238
  call void @llvm.lifetime.start.p0(i64 24, ptr %41) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #7
  store double 0.000000e+00, ptr %42, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #7
  store double 0.000000e+00, ptr %43, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #7
  store double 0.000000e+00, ptr %44, align 8, !tbaa !14
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %41, ptr noundef nonnull align 8 dereferenceable(8) %42, ptr noundef nonnull align 8 dereferenceable(8) %43, ptr noundef nonnull align 8 dereferenceable(8) %44)
          to label %240 unwind label %268

240:                                              ; preds = %239
  %241 = invoke noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEeqIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %39, ptr noundef nonnull align 1 dereferenceable(1) %41)
          to label %242 unwind label %268

242:                                              ; preds = %240
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %41) #7
  br i1 %241, label %243, label %281

243:                                              ; preds = %242
  call void @llvm.lifetime.start.p0(i64 24, ptr %45) #7
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeERK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(24) %45, i32 noundef 2, ptr noundef nonnull align 8 dereferenceable(24) %40)
          to label %244 unwind label %272

244:                                              ; preds = %243
  %245 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 8 dereferenceable(24) %45)
          to label %246 unwind label %276

246:                                              ; preds = %244
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %45) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %45) #7
  br label %303

247:                                              ; preds = %170
  %248 = landingpad { ptr, i32 }
          cleanup
  %249 = extractvalue { ptr, i32 } %248, 0
  store ptr %249, ptr %27, align 8
  %250 = extractvalue { ptr, i32 } %248, 1
  store i32 %250, ptr %28, align 4
  br label %361

251:                                              ; preds = %176
  %252 = landingpad { ptr, i32 }
          cleanup
  %253 = extractvalue { ptr, i32 } %252, 0
  store ptr %253, ptr %27, align 8
  %254 = extractvalue { ptr, i32 } %252, 1
  store i32 %254, ptr %28, align 4
  br label %259

255:                                              ; preds = %183
  %256 = landingpad { ptr, i32 }
          cleanup
  %257 = extractvalue { ptr, i32 } %256, 0
  store ptr %257, ptr %27, align 8
  %258 = extractvalue { ptr, i32 } %256, 1
  store i32 %258, ptr %28, align 4
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %38) #7
  br label %259

259:                                              ; preds = %255, %251
  call void @llvm.lifetime.end.p0(i64 24, ptr %38) #7
  br label %360

260:                                              ; preds = %213, %205, %197, %189
  %261 = landingpad { ptr, i32 }
          cleanup
  %262 = extractvalue { ptr, i32 } %261, 0
  store ptr %262, ptr %27, align 8
  %263 = extractvalue { ptr, i32 } %261, 1
  store i32 %263, ptr %28, align 4
  br label %305

264:                                              ; preds = %238, %230, %222, %214
  %265 = landingpad { ptr, i32 }
          cleanup
  %266 = extractvalue { ptr, i32 } %265, 0
  store ptr %266, ptr %27, align 8
  %267 = extractvalue { ptr, i32 } %265, 1
  store i32 %267, ptr %28, align 4
  br label %304

268:                                              ; preds = %240, %239
  %269 = landingpad { ptr, i32 }
          cleanup
  %270 = extractvalue { ptr, i32 } %269, 0
  store ptr %270, ptr %27, align 8
  %271 = extractvalue { ptr, i32 } %269, 1
  store i32 %271, ptr %28, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %41) #7
  br label %304

272:                                              ; preds = %243
  %273 = landingpad { ptr, i32 }
          cleanup
  %274 = extractvalue { ptr, i32 } %273, 0
  store ptr %274, ptr %27, align 8
  %275 = extractvalue { ptr, i32 } %273, 1
  store i32 %275, ptr %28, align 4
  br label %280

276:                                              ; preds = %244
  %277 = landingpad { ptr, i32 }
          cleanup
  %278 = extractvalue { ptr, i32 } %277, 0
  store ptr %278, ptr %27, align 8
  %279 = extractvalue { ptr, i32 } %277, 1
  store i32 %279, ptr %28, align 4
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %45) #7
  br label %280

280:                                              ; preds = %276, %272
  call void @llvm.lifetime.end.p0(i64 24, ptr %45) #7
  br label %304

281:                                              ; preds = %242
  call void @llvm.lifetime.start.p0(i64 24, ptr %46) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #7
  store double 0.000000e+00, ptr %47, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #7
  store double 0.000000e+00, ptr %48, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #7
  store double 0.000000e+00, ptr %49, align 8, !tbaa !14
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %46, ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef nonnull align 8 dereferenceable(8) %48, ptr noundef nonnull align 8 dereferenceable(8) %49)
          to label %282 unwind label %289

282:                                              ; preds = %281
  %283 = invoke noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEeqIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 1 dereferenceable(1) %46)
          to label %284 unwind label %289

284:                                              ; preds = %282
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %46) #7
  br i1 %283, label %285, label %302

285:                                              ; preds = %284
  call void @llvm.lifetime.start.p0(i64 24, ptr %50) #7
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeERK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(24) %50, i32 noundef 1, ptr noundef nonnull align 8 dereferenceable(24) %39)
          to label %286 unwind label %293

286:                                              ; preds = %285
  %287 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 8 dereferenceable(24) %50)
          to label %288 unwind label %297

288:                                              ; preds = %286
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %50) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %50) #7
  br label %302

289:                                              ; preds = %282, %281
  %290 = landingpad { ptr, i32 }
          cleanup
  %291 = extractvalue { ptr, i32 } %290, 0
  store ptr %291, ptr %27, align 8
  %292 = extractvalue { ptr, i32 } %290, 1
  store i32 %292, ptr %28, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %46) #7
  br label %304

293:                                              ; preds = %285
  %294 = landingpad { ptr, i32 }
          cleanup
  %295 = extractvalue { ptr, i32 } %294, 0
  store ptr %295, ptr %27, align 8
  %296 = extractvalue { ptr, i32 } %294, 1
  store i32 %296, ptr %28, align 4
  br label %301

297:                                              ; preds = %286
  %298 = landingpad { ptr, i32 }
          cleanup
  %299 = extractvalue { ptr, i32 } %298, 0
  store ptr %299, ptr %27, align 8
  %300 = extractvalue { ptr, i32 } %298, 1
  store i32 %300, ptr %28, align 4
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %50) #7
  br label %301

301:                                              ; preds = %297, %293
  call void @llvm.lifetime.end.p0(i64 24, ptr %50) #7
  br label %304

302:                                              ; preds = %288, %284
  br label %303

303:                                              ; preds = %302, %246
  call void @llvm.lifetime.end.p0(i64 24, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %39) #7
  br label %306

304:                                              ; preds = %301, %289, %280, %268, %264
  call void @llvm.lifetime.end.p0(i64 24, ptr %40) #7
  br label %305

305:                                              ; preds = %304, %260
  call void @llvm.lifetime.end.p0(i64 24, ptr %39) #7
  br label %360

306:                                              ; preds = %303, %185
  %307 = load i32, ptr %37, align 4, !tbaa !9
  %308 = icmp eq i32 %307, 0
  br i1 %308, label %309, label %317

309:                                              ; preds = %306
  %310 = load ptr, ptr %10, align 8, !tbaa !5
  %311 = invoke noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %26, ptr noundef nonnull align 8 dereferenceable(96) %310)
          to label %312 unwind label %313

312:                                              ; preds = %309
  br label %324

313:                                              ; preds = %349, %309
  %314 = landingpad { ptr, i32 }
          cleanup
  %315 = extractvalue { ptr, i32 } %314, 0
  store ptr %315, ptr %27, align 8
  %316 = extractvalue { ptr, i32 } %314, 1
  store i32 %316, ptr %28, align 4
  br label %360

317:                                              ; preds = %306
  call void @llvm.lifetime.start.p0(i64 96, ptr %51) #7
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %51)
          to label %318 unwind label %320

318:                                              ; preds = %317
  %319 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %26, ptr noundef nonnull align 8 dereferenceable(96) %51) #7
  call void @llvm.lifetime.end.p0(i64 96, ptr %51) #7
  br label %324

320:                                              ; preds = %317
  %321 = landingpad { ptr, i32 }
          cleanup
  %322 = extractvalue { ptr, i32 } %321, 0
  store ptr %322, ptr %27, align 8
  %323 = extractvalue { ptr, i32 } %321, 1
  store i32 %323, ptr %28, align 4
  call void @llvm.lifetime.end.p0(i64 96, ptr %51) #7
  br label %360

324:                                              ; preds = %318, %312
  %325 = load i32, ptr %37, align 4, !tbaa !9
  %326 = load i32, ptr %14, align 4, !tbaa !9
  %327 = sub i32 %326, 1
  %328 = icmp eq i32 %325, %327
  br i1 %328, label %329, label %330

329:                                              ; preds = %324
  br label %349

330:                                              ; preds = %324
  %331 = load ptr, ptr %8, align 8, !tbaa !5
  %332 = load i32, ptr %25, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 1, ptr %53) #7
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %53) #7
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %52, ptr noundef @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %53)
          to label %333 unwind label %336

333:                                              ; preds = %330
  %334 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %331, i32 noundef %332, ptr noundef nonnull align 8 dereferenceable(96) %26, ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 8 dereferenceable(105) %15, ptr noundef %52)
          to label %335 unwind label %340

335:                                              ; preds = %333
  store i32 %334, ptr %25, align 4, !tbaa !9
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %52) #7
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %53) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %53) #7
  br label %345

336:                                              ; preds = %330
  %337 = landingpad { ptr, i32 }
          cleanup
  %338 = extractvalue { ptr, i32 } %337, 0
  store ptr %338, ptr %27, align 8
  %339 = extractvalue { ptr, i32 } %337, 1
  store i32 %339, ptr %28, align 4
  br label %344

340:                                              ; preds = %333
  %341 = landingpad { ptr, i32 }
          cleanup
  %342 = extractvalue { ptr, i32 } %341, 0
  store ptr %342, ptr %27, align 8
  %343 = extractvalue { ptr, i32 } %341, 1
  store i32 %343, ptr %28, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %52) #7
  br label %344

344:                                              ; preds = %340, %336
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %53) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %53) #7
  br label %360

345:                                              ; preds = %335
  br label %346

346:                                              ; preds = %345
  %347 = load i32, ptr %37, align 4, !tbaa !9
  %348 = add i32 %347, 1
  store i32 %348, ptr %37, align 4, !tbaa !9
  br label %172, !llvm.loop !30

349:                                              ; preds = %329, %172
  %350 = load ptr, ptr %8, align 8, !tbaa !5
  %351 = load i32, ptr %25, align 4, !tbaa !9
  %352 = load ptr, ptr %12, align 8, !tbaa !5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %54, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %353 unwind label %313

353:                                              ; preds = %349
  %354 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %350, i32 noundef %351, ptr noundef nonnull align 8 dereferenceable(96) %26, ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 8 dereferenceable(105) %352, ptr noundef %54)
          to label %355 unwind label %356

355:                                              ; preds = %353
  store i32 %354, ptr %7, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %54) #7
  store i32 1, ptr %35, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #7
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %36) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #7
  br label %362

356:                                              ; preds = %353
  %357 = landingpad { ptr, i32 }
          cleanup
  %358 = extractvalue { ptr, i32 } %357, 0
  store ptr %358, ptr %27, align 8
  %359 = extractvalue { ptr, i32 } %357, 1
  store i32 %359, ptr %28, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %54) #7
  br label %360

360:                                              ; preds = %356, %344, %320, %313, %305, %259
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #7
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %36) #7
  br label %361

361:                                              ; preds = %360, %247
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #7
  br label %364

362:                                              ; preds = %355, %132
  call void @llvm.lifetime.end.p0(i64 96, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @_ZN17RigidBodyDynamics4BodyD2Ev(ptr noundef nonnull align 8 dereferenceable(105) %15) #7
  call void @llvm.lifetime.end.p0(i64 112, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #7
  %363 = load i32, ptr %7, align 4
  ret i32 %363

364:                                              ; preds = %361, %169, %150, %133
  call void @llvm.lifetime.end.p0(i64 96, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @_ZN17RigidBodyDynamics4BodyD2Ev(ptr noundef nonnull align 8 dereferenceable(105) %15) #7
  call void @llvm.lifetime.end.p0(i64 112, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #7
  br label %365

365:                                              ; preds = %364
  %366 = load ptr, ptr %27, align 8
  %367 = load i32, ptr %28, align 4
  %368 = insertvalue { ptr, i32 } poison, ptr %366, 0
  %369 = insertvalue { ptr, i32 } %368, i32 %367, 1
  resume { ptr, i32 } %369
}

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #6

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4BodyC2ERKdRK9Vector3_tS5_(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(105), ptr noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeE(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5JointC2ERK15SpatialVector_t(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEeqIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeERK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }
attributes #8 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !13, i64 8}
!12 = !{!"_ZTSN17RigidBodyDynamics5JointE", !6, i64 0, !13, i64 8, !10, i64 12, !10, i64 16, !10, i64 20}
!13 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !7, i64 0}
!14 = !{!15, !15, i64 0}
!15 = !{!"double", !7, i64 0}
!16 = !{!17, !28, i64 104}
!17 = !{!"_ZTSN17RigidBodyDynamics4BodyE", !15, i64 0, !18, i64 8, !23, i64 32, !28, i64 104}
!18 = !{!"_ZTS9Vector3_t", !19, i64 0}
!19 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!23 = !{!"_ZTS9Matrix3_t", !24, i64 0}
!24 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!28 = !{!"bool", !7, i64 0}
!29 = !{!12, !6, i64 0}
!30 = distinct !{!30, !31}
!31 = !{!"llvm.loop.mustprogress"}


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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"struct.RigidBodyDynamics::Body" = type <{ double, %class.Vector3_t, %class.Matrix3_t, i8, [7 x i8] }>
%class.Vector3_t = type { %"class.Eigen::Matrix" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x double] }
%class.Matrix3_t = type { %"class.Eigen::Matrix.90" }
%"class.Eigen::Matrix.90" = type { %"class.Eigen::PlainObjectBase.91" }
%"class.Eigen::PlainObjectBase.91" = type { %"class.Eigen::DenseStorage.98" }
%"class.Eigen::DenseStorage.98" = type { %"struct.Eigen::internal::plain_array.99" }
%"struct.Eigen::internal::plain_array.99" = type { [9 x double] }
%"struct.RigidBodyDynamics::Math::SpatialTransform" = type { %class.Matrix3_t, %class.Vector3_t }
%"struct.RigidBodyDynamics::Joint" = type { ptr, i32, i32, i32, i32 }
%"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.154" = type { i8 }
%class.SpatialVector_t = type { %"class.Eigen::Matrix.100" }
%"class.Eigen::Matrix.100" = type { %"class.Eigen::PlainObjectBase.101" }
%"class.Eigen::PlainObjectBase.101" = type { %"class.Eigen::DenseStorage.108" }
%"class.Eigen::DenseStorage.108" = type { %"struct.Eigen::internal::plain_array.109" }
%"struct.Eigen::internal::plain_array.109" = type { [6 x double] }

@_ZSt4cerr = external global %"class.std::basic_ostream", align 8
@.str.8 = external hidden unnamed_addr constant [106 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [28 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [28 x i8], align 1
@__PRETTY_FUNCTION__._Z20AddBodyMultiDofJointRN17RigidBodyDynamics5ModelEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE = external hidden unnamed_addr constant [131 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [1 x i8], align 1

declare i32 @__gxx_personality_v0(...)

; 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 dso_local void @_ZN17RigidBodyDynamics5JointC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96)) unnamed_addr #3 align 2

; 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 #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN17RigidBodyDynamics4BodyD2Ev(ptr noundef nonnull align 8 dereferenceable(105)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(96)) local_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) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #3 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)) #2

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_Z20AddBodyMultiDofJointRN17RigidBodyDynamics5ModelEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %1, ptr noundef nonnull align 8 dereferenceable(96) %2, ptr nocapture noundef nonnull readonly align 8 dereferenceable(24) %3, ptr noundef nonnull align 8 dereferenceable(105) %4, ptr noundef %5) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %7 = alloca %"struct.RigidBodyDynamics::Body", align 8
  %8 = alloca double, align 8
  %9 = alloca %class.Vector3_t, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca %class.Vector3_t, align 8
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %18 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %19 = alloca %"class.std::__cxx11::basic_string", align 8
  %20 = alloca %"class.std::allocator.154", align 1
  %21 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %22 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %23 = alloca %"class.std::__cxx11::basic_string", align 8
  %24 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %25 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %26 = alloca %class.Vector3_t, align 8
  %27 = alloca %class.Vector3_t, align 8
  %28 = alloca %class.Vector3_t, align 8
  %29 = alloca double, align 8
  %30 = alloca double, align 8
  %31 = alloca double, align 8
  %32 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %33 = alloca %class.Vector3_t, align 8
  %34 = alloca double, align 8
  %35 = alloca double, align 8
  %36 = alloca double, align 8
  %37 = alloca %"struct.RigidBodyDynamics::Joint", align 8
  %38 = alloca %"struct.RigidBodyDynamics::Math::SpatialTransform", align 8
  %39 = alloca %"class.std::__cxx11::basic_string", align 8
  %40 = alloca %"class.std::allocator.154", align 1
  %41 = alloca %"class.std::__cxx11::basic_string", align 8
  %42 = getelementptr inbounds i8, ptr %3, i64 8
  %43 = load i32, ptr %42, align 8, !tbaa !5
  switch i32 %43, label %49 [
    i32 15, label %54
    i32 16, label %44
    i32 17, label %45
    i32 18, label %46
    i32 19, label %47
    i32 20, label %48
    i32 12, label %.fold.split
  ]

44:                                               ; preds = %6
  br label %54

45:                                               ; preds = %6
  br label %54

46:                                               ; preds = %6
  br label %54

47:                                               ; preds = %6
  br label %54

48:                                               ; preds = %6
  br label %54

49:                                               ; preds = %6
  %50 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cerr, ptr noundef nonnull @.str.11)
  %51 = load i32, ptr %42, align 8, !tbaa !5
  %52 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %50, i32 noundef %51)
  %53 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %52, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  tail call void @__assert_fail(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.8, i32 noundef 178, ptr noundef nonnull @__PRETTY_FUNCTION__._Z20AddBodyMultiDofJointRN17RigidBodyDynamics5ModelEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE) #8
  unreachable

.fold.split:                                      ; preds = %6
  br label %54

54:                                               ; preds = %6, %.fold.split, %44, %46, %48, %47, %45
  %55 = phi i1 [ true, %44 ], [ true, %45 ], [ true, %46 ], [ true, %47 ], [ true, %48 ], [ true, %6 ], [ false, %.fold.split ]
  %exitcond.peel.not = phi i1 [ false, %44 ], [ false, %45 ], [ false, %46 ], [ false, %47 ], [ false, %48 ], [ true, %6 ], [ true, %.fold.split ]
  %.059 = phi i32 [ 2, %44 ], [ 3, %45 ], [ 4, %46 ], [ 5, %47 ], [ 6, %48 ], [ 1, %6 ], [ 0, %.fold.split ]
  call void @llvm.lifetime.start.p0(i64 112, ptr nonnull %7) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #9
  store double 0.000000e+00, ptr %8, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #9
  store double 0.000000e+00, ptr %10, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #9
  store double 0.000000e+00, ptr %11, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #9
  store double 0.000000e+00, ptr %12, align 8, !tbaa !12
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %13) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #9
  store double 0.000000e+00, ptr %14, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #9
  store double 0.000000e+00, ptr %15, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #9
  store double 0.000000e+00, ptr %16, align 8, !tbaa !12
  call void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %13, ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %15, ptr noundef nonnull align 8 dereferenceable(8) %16)
  call void @_ZN17RigidBodyDynamics4BodyC2ERKdRK9Vector3_tS5_(ptr noundef nonnull align 8 dereferenceable(105) %7, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(24) %13)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %13) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #9
  %56 = getelementptr inbounds i8, ptr %7, i64 104
  store i8 1, ptr %56, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %17) #9
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %17)
          to label %57 unwind label %70

57:                                               ; preds = %54
  %58 = load i32, ptr %42, align 8, !tbaa !5
  %59 = icmp eq i32 %58, 12
  br i1 %59, label %60, label %91

60:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %18) #9
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeE(ptr noundef nonnull align 8 dereferenceable(24) %18, i32 noundef 11)
          to label %61 unwind label %72

61:                                               ; preds = %60
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %20) #9
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #9
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %19, ptr noundef nonnull @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %62 unwind label %74

62:                                               ; preds = %61
  %63 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %1, ptr noundef nonnull align 8 dereferenceable(96) %2, ptr noundef nonnull align 8 dereferenceable(24) %18, ptr noundef nonnull align 8 dereferenceable(105) %7, ptr noundef nonnull %19)
          to label %64 unwind label %76

64:                                               ; preds = %62
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #9
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #9
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %20) #9
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #9
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %21) #9
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %21)
          to label %65 unwind label %80

65:                                               ; preds = %64
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %22) #9
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeE(ptr noundef nonnull align 8 dereferenceable(24) %22, i32 noundef 6)
          to label %66 unwind label %82

66:                                               ; preds = %65
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %23, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %67 unwind label %84

67:                                               ; preds = %66
  %68 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %63, ptr noundef nonnull align 8 dereferenceable(96) %21, ptr noundef nonnull align 8 dereferenceable(24) %22, ptr noundef nonnull align 8 dereferenceable(105) %4, ptr noundef nonnull %23)
          to label %69 unwind label %86

69:                                               ; preds = %67
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #9
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %22) #9
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %21) #9
  br label %223

70:                                               ; preds = %54
  %71 = landingpad { ptr, i32 }
          cleanup
  br label %224

72:                                               ; preds = %60
  %73 = landingpad { ptr, i32 }
          cleanup
  br label %79

74:                                               ; preds = %61
  %75 = landingpad { ptr, i32 }
          cleanup
  br label %78

76:                                               ; preds = %62
  %77 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #9
  br label %78

78:                                               ; preds = %76, %74
  %.pn73 = phi { ptr, i32 } [ %77, %76 ], [ %75, %74 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %20) #9
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %20) #9
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #9
  br label %79

79:                                               ; preds = %78, %72
  %.pn73.pn = phi { ptr, i32 } [ %.pn73, %78 ], [ %73, %72 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #9
  br label %224

80:                                               ; preds = %64
  %81 = landingpad { ptr, i32 }
          cleanup
  br label %90

82:                                               ; preds = %65
  %83 = landingpad { ptr, i32 }
          cleanup
  br label %89

84:                                               ; preds = %66
  %85 = landingpad { ptr, i32 }
          cleanup
  br label %88

86:                                               ; preds = %67
  %87 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #9
  br label %88

88:                                               ; preds = %86, %84
  %.pn76 = phi { ptr, i32 } [ %87, %86 ], [ %85, %84 ]
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #9
  br label %89

89:                                               ; preds = %88, %82
  %.pn76.pn = phi { ptr, i32 } [ %.pn76, %88 ], [ %83, %82 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %22) #9
  br label %90

90:                                               ; preds = %89, %80
  %.pn76.pn.pn = phi { ptr, i32 } [ %.pn76.pn, %89 ], [ %81, %80 ]
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %21) #9
  br label %224

91:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %24) #9
  call void @_ZN17RigidBodyDynamics5JointC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %24)
  br i1 %55, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %91
  %92 = getelementptr inbounds i8, ptr %24, i64 8
  %93 = add nsw i32 %.059, -1
  %94 = zext i32 %93 to i64
  %umax = call i32 @llvm.umax.i32(i32 %.059, i32 1)
  %wide.trip.count = zext nneg i32 %umax to i64
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %25) #9
  %95 = load ptr, ptr %3, align 8, !tbaa !27
  invoke void @_ZN17RigidBodyDynamics5JointC2ERK15SpatialVector_t(ptr noundef nonnull align 8 dereferenceable(24) %25, ptr noundef nonnull align 16 dereferenceable(48) %95)
          to label %96 unwind label %.loopexit.split-lp102

96:                                               ; preds = %.lr.ph
  %97 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(24) %25)
          to label %98 unwind label %.loopexit.split-lp106

98:                                               ; preds = %96
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %25) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #9
  %99 = load i32, ptr %92, align 8, !tbaa !5
  %100 = icmp eq i32 %99, 15
  br i1 %100, label %101, label %138

101:                                              ; preds = %98
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %26) #9
  %102 = load ptr, ptr %3, align 8, !tbaa !27
  %103 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %102, i64 noundef 0)
          to label %104 unwind label %.loopexit.split-lp111

104:                                              ; preds = %101
  %105 = load ptr, ptr %3, align 8, !tbaa !27
  %106 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %105, i64 noundef 1)
          to label %107 unwind label %.loopexit.split-lp111

107:                                              ; preds = %104
  %108 = load ptr, ptr %3, align 8, !tbaa !27
  %109 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %108, i64 noundef 2)
          to label %110 unwind label %.loopexit.split-lp111

110:                                              ; preds = %107
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %26, ptr noundef nonnull align 8 dereferenceable(8) %103, ptr noundef nonnull align 8 dereferenceable(8) %106, ptr noundef nonnull align 8 dereferenceable(8) %109)
          to label %111 unwind label %.loopexit.split-lp111

111:                                              ; preds = %110
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %27) #9
  %112 = load ptr, ptr %3, align 8, !tbaa !27
  %113 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %112, i64 noundef 3)
          to label %114 unwind label %.loopexit.split-lp116

114:                                              ; preds = %111
  %115 = load ptr, ptr %3, align 8, !tbaa !27
  %116 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %115, i64 noundef 4)
          to label %117 unwind label %.loopexit.split-lp116

117:                                              ; preds = %114
  %118 = load ptr, ptr %3, align 8, !tbaa !27
  %119 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %118, i64 noundef 5)
          to label %120 unwind label %.loopexit.split-lp116

120:                                              ; preds = %117
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %27, ptr noundef nonnull align 8 dereferenceable(8) %113, ptr noundef nonnull align 8 dereferenceable(8) %116, ptr noundef nonnull align 8 dereferenceable(8) %119)
          to label %121 unwind label %.loopexit.split-lp116

121:                                              ; preds = %120
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %28) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #9
  store double 0.000000e+00, ptr %29, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #9
  store double 0.000000e+00, ptr %30, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #9
  store double 0.000000e+00, ptr %31, align 8, !tbaa !12
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %28, ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %122 unwind label %.loopexit.split-lp121

122:                                              ; preds = %121
  %123 = invoke noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEeqIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %26, ptr noundef nonnull align 1 dereferenceable(1) %28)
          to label %124 unwind label %.loopexit.split-lp121

124:                                              ; preds = %122
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %28) #9
  br i1 %123, label %133, label %125

125:                                              ; preds = %124
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %33) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %34) #9
  store double 0.000000e+00, ptr %34, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %35) #9
  store double 0.000000e+00, ptr %35, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %36) #9
  store double 0.000000e+00, ptr %36, align 8, !tbaa !12
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %33, ptr noundef nonnull align 8 dereferenceable(8) %34, ptr noundef nonnull align 8 dereferenceable(8) %35, ptr noundef nonnull align 8 dereferenceable(8) %36)
          to label %126 unwind label %.loopexit.split-lp126

126:                                              ; preds = %125
  %127 = invoke noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEeqIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %27, ptr noundef nonnull align 1 dereferenceable(1) %33)
          to label %128 unwind label %.loopexit.split-lp126

128:                                              ; preds = %126
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %35) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %33) #9
  br i1 %127, label %129, label %137

129:                                              ; preds = %128
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %37) #9
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeERK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(24) %37, i32 noundef 1, ptr noundef nonnull align 8 dereferenceable(24) %26)
          to label %130 unwind label %.loopexit.split-lp131

130:                                              ; preds = %129
  %131 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(24) %37)
          to label %132 unwind label %.loopexit.split-lp136

132:                                              ; preds = %130
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %37) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %37) #9
  br label %137

133:                                              ; preds = %124
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %32) #9
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeERK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(24) %32, i32 noundef 2, ptr noundef nonnull align 8 dereferenceable(24) %27)
          to label %134 unwind label %.loopexit.split-lp141

134:                                              ; preds = %133
  %135 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(24) %32)
          to label %136 unwind label %.loopexit.split-lp146

136:                                              ; preds = %134
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %32) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %32) #9
  br label %137

137:                                              ; preds = %136, %132, %128
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %27) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #9
  br label %138

138:                                              ; preds = %98, %137
  %139 = invoke noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSERKS1_(ptr noundef nonnull align 8 dereferenceable(96) %17, ptr noundef nonnull align 8 dereferenceable(96) %2)
          to label %140 unwind label %.loopexit

140:                                              ; preds = %138
  %141 = icmp eq i32 %93, 0
  br i1 %141, label %._crit_edge, label %142

142:                                              ; preds = %140
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %40) #9
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %40) #9
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %39, ptr noundef nonnull @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %40)
          to label %143 unwind label %.loopexit.split-lp159

143:                                              ; preds = %142
  %144 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %1, ptr noundef nonnull align 8 dereferenceable(96) %17, ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(105) %7, ptr noundef nonnull %39)
          to label %145 unwind label %.loopexit.split-lp163

145:                                              ; preds = %143
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %39) #9
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %40) #9
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %40) #9
  br i1 %exitcond.peel.not, label %._crit_edge, label %.peel.next

.peel.next:                                       ; preds = %145, %214
  %indvars.iv = phi i64 [ %indvars.iv.next, %214 ], [ 1, %145 ]
  %.05895 = phi i32 [ %213, %214 ], [ %144, %145 ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %25) #9
  %146 = load ptr, ptr %3, align 8, !tbaa !27
  %147 = getelementptr inbounds %class.SpatialVector_t, ptr %146, i64 %indvars.iv
  invoke void @_ZN17RigidBodyDynamics5JointC2ERK15SpatialVector_t(ptr noundef nonnull align 8 dereferenceable(24) %25, ptr noundef nonnull align 16 dereferenceable(48) %147)
          to label %148 unwind label %.loopexit101

148:                                              ; preds = %.peel.next
  %149 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(24) %25)
          to label %150 unwind label %.loopexit105

150:                                              ; preds = %148
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %25) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #9
  %151 = load i32, ptr %92, align 8, !tbaa !5
  %152 = icmp eq i32 %151, 15
  br i1 %152, label %153, label %206

153:                                              ; preds = %150
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %26) #9
  %154 = load ptr, ptr %3, align 8, !tbaa !27
  %155 = getelementptr inbounds %class.SpatialVector_t, ptr %154, i64 %indvars.iv
  %156 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %155, i64 noundef 0)
          to label %157 unwind label %.loopexit110

157:                                              ; preds = %153
  %158 = load ptr, ptr %3, align 8, !tbaa !27
  %159 = getelementptr inbounds %class.SpatialVector_t, ptr %158, i64 %indvars.iv
  %160 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %159, i64 noundef 1)
          to label %161 unwind label %.loopexit110

161:                                              ; preds = %157
  %162 = load ptr, ptr %3, align 8, !tbaa !27
  %163 = getelementptr inbounds %class.SpatialVector_t, ptr %162, i64 %indvars.iv
  %164 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %163, i64 noundef 2)
          to label %165 unwind label %.loopexit110

165:                                              ; preds = %161
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %26, ptr noundef nonnull align 8 dereferenceable(8) %156, ptr noundef nonnull align 8 dereferenceable(8) %160, ptr noundef nonnull align 8 dereferenceable(8) %164)
          to label %166 unwind label %.loopexit110

166:                                              ; preds = %165
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %27) #9
  %167 = load ptr, ptr %3, align 8, !tbaa !27
  %168 = getelementptr inbounds %class.SpatialVector_t, ptr %167, i64 %indvars.iv
  %169 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %168, i64 noundef 3)
          to label %170 unwind label %.loopexit115

170:                                              ; preds = %166
  %171 = load ptr, ptr %3, align 8, !tbaa !27
  %172 = getelementptr inbounds %class.SpatialVector_t, ptr %171, i64 %indvars.iv
  %173 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %172, i64 noundef 4)
          to label %174 unwind label %.loopexit115

174:                                              ; preds = %170
  %175 = load ptr, ptr %3, align 8, !tbaa !27
  %176 = getelementptr inbounds %class.SpatialVector_t, ptr %175, i64 %indvars.iv
  %177 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %176, i64 noundef 5)
          to label %178 unwind label %.loopexit115

178:                                              ; preds = %174
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %27, ptr noundef nonnull align 8 dereferenceable(8) %169, ptr noundef nonnull align 8 dereferenceable(8) %173, ptr noundef nonnull align 8 dereferenceable(8) %177)
          to label %179 unwind label %.loopexit115

179:                                              ; preds = %178
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %28) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #9
  store double 0.000000e+00, ptr %29, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #9
  store double 0.000000e+00, ptr %30, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #9
  store double 0.000000e+00, ptr %31, align 8, !tbaa !12
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %28, ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %180 unwind label %.loopexit120

180:                                              ; preds = %179
  %181 = invoke noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEeqIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %26, ptr noundef nonnull align 1 dereferenceable(1) %28)
          to label %182 unwind label %.loopexit120

182:                                              ; preds = %180
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %28) #9
  br i1 %181, label %183, label %192

183:                                              ; preds = %182
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %32) #9
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeERK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(24) %32, i32 noundef 2, ptr noundef nonnull align 8 dereferenceable(24) %27)
          to label %184 unwind label %.loopexit140

184:                                              ; preds = %183
  %185 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(24) %32)
          to label %186 unwind label %.loopexit145

186:                                              ; preds = %184
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %32) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %32) #9
  br label %203

.loopexit101:                                     ; preds = %.peel.next
  %lpad.loopexit103 = landingpad { ptr, i32 }
          cleanup
  br label %188

.loopexit.split-lp102:                            ; preds = %.lr.ph
  %lpad.loopexit.split-lp104 = landingpad { ptr, i32 }
          cleanup
  br label %188

.loopexit105:                                     ; preds = %148
  %lpad.loopexit107 = landingpad { ptr, i32 }
          cleanup
  br label %187

.loopexit.split-lp106:                            ; preds = %96
  %lpad.loopexit.split-lp108 = landingpad { ptr, i32 }
          cleanup
  br label %187

187:                                              ; preds = %.loopexit.split-lp106, %.loopexit105
  %lpad.phi109 = phi { ptr, i32 } [ %lpad.loopexit107, %.loopexit105 ], [ %lpad.loopexit.split-lp108, %.loopexit.split-lp106 ]
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %25) #9
  br label %188

188:                                              ; preds = %.loopexit101, %.loopexit.split-lp102, %187
  %.pn = phi { ptr, i32 } [ %lpad.phi109, %187 ], [ %lpad.loopexit103, %.loopexit101 ], [ %lpad.loopexit.split-lp104, %.loopexit.split-lp102 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #9
  br label %222

.loopexit110:                                     ; preds = %153, %157, %161, %165
  %lpad.loopexit112 = landingpad { ptr, i32 }
          cleanup
  br label %205

.loopexit.split-lp111:                            ; preds = %101, %104, %107, %110
  %lpad.loopexit.split-lp113 = landingpad { ptr, i32 }
          cleanup
  br label %205

.loopexit115:                                     ; preds = %166, %170, %174, %178
  %lpad.loopexit117 = landingpad { ptr, i32 }
          cleanup
  br label %204

.loopexit.split-lp116:                            ; preds = %111, %114, %117, %120
  %lpad.loopexit.split-lp118 = landingpad { ptr, i32 }
          cleanup
  br label %204

.loopexit120:                                     ; preds = %179, %180
  %lpad.loopexit122 = landingpad { ptr, i32 }
          cleanup
  br label %189

.loopexit.split-lp121:                            ; preds = %121, %122
  %lpad.loopexit.split-lp123 = landingpad { ptr, i32 }
          cleanup
  br label %189

189:                                              ; preds = %.loopexit.split-lp121, %.loopexit120
  %lpad.phi124 = phi { ptr, i32 } [ %lpad.loopexit122, %.loopexit120 ], [ %lpad.loopexit.split-lp123, %.loopexit.split-lp121 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %28) #9
  br label %204

.loopexit140:                                     ; preds = %183
  %lpad.loopexit142 = landingpad { ptr, i32 }
          cleanup
  br label %191

.loopexit.split-lp141:                            ; preds = %133
  %lpad.loopexit.split-lp143 = landingpad { ptr, i32 }
          cleanup
  br label %191

.loopexit145:                                     ; preds = %184
  %lpad.loopexit147 = landingpad { ptr, i32 }
          cleanup
  br label %190

.loopexit.split-lp146:                            ; preds = %134
  %lpad.loopexit.split-lp148 = landingpad { ptr, i32 }
          cleanup
  br label %190

190:                                              ; preds = %.loopexit.split-lp146, %.loopexit145
  %lpad.phi149 = phi { ptr, i32 } [ %lpad.loopexit147, %.loopexit145 ], [ %lpad.loopexit.split-lp148, %.loopexit.split-lp146 ]
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %32) #9
  br label %191

191:                                              ; preds = %.loopexit140, %.loopexit.split-lp141, %190
  %.pn65 = phi { ptr, i32 } [ %lpad.phi149, %190 ], [ %lpad.loopexit142, %.loopexit140 ], [ %lpad.loopexit.split-lp143, %.loopexit.split-lp141 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %32) #9
  br label %204

192:                                              ; preds = %182
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %33) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %34) #9
  store double 0.000000e+00, ptr %34, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %35) #9
  store double 0.000000e+00, ptr %35, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %36) #9
  store double 0.000000e+00, ptr %36, align 8, !tbaa !12
  invoke void @_ZN9Vector3_tC2ERKdS1_S1_(ptr noundef nonnull align 8 dereferenceable(24) %33, ptr noundef nonnull align 8 dereferenceable(8) %34, ptr noundef nonnull align 8 dereferenceable(8) %35, ptr noundef nonnull align 8 dereferenceable(8) %36)
          to label %193 unwind label %.loopexit125

193:                                              ; preds = %192
  %194 = invoke noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEeqIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1) %27, ptr noundef nonnull align 1 dereferenceable(1) %33)
          to label %195 unwind label %.loopexit125

195:                                              ; preds = %193
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %35) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %33) #9
  br i1 %194, label %196, label %203

196:                                              ; preds = %195
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %37) #9
  invoke void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeERK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(24) %37, i32 noundef 1, ptr noundef nonnull align 8 dereferenceable(24) %26)
          to label %197 unwind label %.loopexit130

197:                                              ; preds = %196
  %198 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(24) %37)
          to label %199 unwind label %.loopexit135

199:                                              ; preds = %197
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %37) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %37) #9
  br label %203

.loopexit125:                                     ; preds = %192, %193
  %lpad.loopexit127 = landingpad { ptr, i32 }
          cleanup
  br label %200

.loopexit.split-lp126:                            ; preds = %125, %126
  %lpad.loopexit.split-lp128 = landingpad { ptr, i32 }
          cleanup
  br label %200

200:                                              ; preds = %.loopexit.split-lp126, %.loopexit125
  %lpad.phi129 = phi { ptr, i32 } [ %lpad.loopexit127, %.loopexit125 ], [ %lpad.loopexit.split-lp128, %.loopexit.split-lp126 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %35) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %33) #9
  br label %204

.loopexit130:                                     ; preds = %196
  %lpad.loopexit132 = landingpad { ptr, i32 }
          cleanup
  br label %202

.loopexit.split-lp131:                            ; preds = %129
  %lpad.loopexit.split-lp133 = landingpad { ptr, i32 }
          cleanup
  br label %202

.loopexit135:                                     ; preds = %197
  %lpad.loopexit137 = landingpad { ptr, i32 }
          cleanup
  br label %201

.loopexit.split-lp136:                            ; preds = %130
  %lpad.loopexit.split-lp138 = landingpad { ptr, i32 }
          cleanup
  br label %201

201:                                              ; preds = %.loopexit.split-lp136, %.loopexit135
  %lpad.phi139 = phi { ptr, i32 } [ %lpad.loopexit137, %.loopexit135 ], [ %lpad.loopexit.split-lp138, %.loopexit.split-lp136 ]
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %37) #9
  br label %202

202:                                              ; preds = %.loopexit130, %.loopexit.split-lp131, %201
  %.pn63 = phi { ptr, i32 } [ %lpad.phi139, %201 ], [ %lpad.loopexit132, %.loopexit130 ], [ %lpad.loopexit.split-lp133, %.loopexit.split-lp131 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %37) #9
  br label %204

203:                                              ; preds = %195, %199, %186
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %27) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #9
  br label %206

204:                                              ; preds = %.loopexit115, %.loopexit.split-lp116, %202, %200, %191, %189
  %.pn65.pn = phi { ptr, i32 } [ %.pn65, %191 ], [ %.pn63, %202 ], [ %lpad.phi129, %200 ], [ %lpad.phi124, %189 ], [ %lpad.loopexit117, %.loopexit115 ], [ %lpad.loopexit.split-lp118, %.loopexit.split-lp116 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %27) #9
  br label %205

205:                                              ; preds = %.loopexit110, %.loopexit.split-lp111, %204
  %.pn65.pn.pn = phi { ptr, i32 } [ %.pn65.pn, %204 ], [ %lpad.loopexit112, %.loopexit110 ], [ %lpad.loopexit.split-lp113, %.loopexit.split-lp111 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %26) #9
  br label %222

.loopexit:                                        ; preds = %138
  %lpad.loopexit.split-lp156 = landingpad { ptr, i32 }
          cleanup
  br label %222

.loopexit.split-lp:                               ; preds = %._crit_edge
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %222

206:                                              ; preds = %150, %203
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %38) #9
  invoke void @_ZN17RigidBodyDynamics4Math16SpatialTransformC2Ev(ptr noundef nonnull align 8 dereferenceable(96) %38)
          to label %208 unwind label %207

207:                                              ; preds = %206
  %lpad.loopexit152 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %38) #9
  br label %222

208:                                              ; preds = %206
  %209 = call noundef nonnull align 8 dereferenceable(96) ptr @_ZN17RigidBodyDynamics4Math16SpatialTransformaSEOS1_(ptr noundef nonnull align 8 dereferenceable(96) %17, ptr noundef nonnull align 8 dereferenceable(96) %38) #9
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %38) #9
  %210 = icmp eq i64 %indvars.iv, %94
  br i1 %210, label %._crit_edge, label %211

211:                                              ; preds = %208
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %40) #9
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %40) #9
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %39, ptr noundef nonnull @.str.13, ptr noundef nonnull align 1 dereferenceable(1) %40)
          to label %212 unwind label %.loopexit158

212:                                              ; preds = %211
  %213 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %.05895, ptr noundef nonnull align 8 dereferenceable(96) %17, ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(105) %7, ptr noundef nonnull %39)
          to label %214 unwind label %.loopexit162

214:                                              ; preds = %212
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %39) #9
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %40) #9
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %40) #9
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %.peel.next, !llvm.loop !28

.loopexit158:                                     ; preds = %211
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %216

.loopexit.split-lp159:                            ; preds = %142
  %lpad.loopexit.split-lp160 = landingpad { ptr, i32 }
          cleanup
  br label %216

.loopexit162:                                     ; preds = %212
  %lpad.loopexit164 = landingpad { ptr, i32 }
          cleanup
  br label %215

.loopexit.split-lp163:                            ; preds = %143
  %lpad.loopexit.split-lp165 = landingpad { ptr, i32 }
          cleanup
  br label %215

215:                                              ; preds = %.loopexit.split-lp163, %.loopexit162
  %lpad.phi166 = phi { ptr, i32 } [ %lpad.loopexit164, %.loopexit162 ], [ %lpad.loopexit.split-lp165, %.loopexit.split-lp163 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %39) #9
  br label %216

216:                                              ; preds = %.loopexit158, %.loopexit.split-lp159, %215
  %.pn69 = phi { ptr, i32 } [ %lpad.phi166, %215 ], [ %lpad.loopexit, %.loopexit158 ], [ %lpad.loopexit.split-lp160, %.loopexit.split-lp159 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %40) #9
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %40) #9
  br label %222

._crit_edge:                                      ; preds = %214, %208, %140, %145, %91
  %.058.lcssa = phi i32 [ %1, %91 ], [ %1, %140 ], [ %144, %145 ], [ %213, %214 ], [ %.05895, %208 ]
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %41, ptr noundef nonnull align 8 dereferenceable(32) %5)
          to label %217 unwind label %.loopexit.split-lp

217:                                              ; preds = %._crit_edge
  %218 = invoke noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872) %0, i32 noundef %.058.lcssa, ptr noundef nonnull align 8 dereferenceable(96) %17, ptr noundef nonnull align 8 dereferenceable(24) %24, ptr noundef nonnull align 8 dereferenceable(105) %4, ptr noundef nonnull %41)
          to label %219 unwind label %220

219:                                              ; preds = %217
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %41) #9
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %24) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %24) #9
  br label %223

220:                                              ; preds = %217
  %221 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %41) #9
  br label %222

222:                                              ; preds = %.loopexit, %.loopexit.split-lp, %220, %216, %207, %205, %188
  %.pn71 = phi { ptr, i32 } [ %221, %220 ], [ %.pn69, %216 ], [ %lpad.loopexit152, %207 ], [ %.pn65.pn.pn, %205 ], [ %.pn, %188 ], [ %lpad.loopexit.split-lp156, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ]
  call void @_ZN17RigidBodyDynamics5JointD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %24) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %24) #9
  br label %224

223:                                              ; preds = %219, %69
  %.060 = phi i32 [ %68, %69 ], [ %218, %219 ]
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %17) #9
  call void @_ZN17RigidBodyDynamics4BodyD2Ev(ptr noundef nonnull align 8 dereferenceable(105) %7) #9
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %7) #9
  ret i32 %.060

224:                                              ; preds = %222, %90, %79, %70
  %.pn76.pn.pn.pn = phi { ptr, i32 } [ %.pn76.pn.pn, %90 ], [ %.pn73.pn, %79 ], [ %.pn71, %222 ], [ %71, %70 ]
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %17) #9
  call void @_ZN17RigidBodyDynamics4BodyD2Ev(ptr noundef nonnull align 8 dereferenceable(105) %7) #9
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %7) #9
  resume { ptr, i32 } %.pn76.pn.pn.pn
}

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #6

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics4BodyC2ERKdRK9Vector3_tS5_(ptr noundef nonnull align 8 dereferenceable(105), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN17RigidBodyDynamics5Model7AddBodyEjRKNS_4Math16SpatialTransformERKNS_5JointERKNS_4BodyENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(872), i32 noundef, ptr noundef nonnull align 8 dereferenceable(96), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(105), ptr noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeE(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5JointC2ERK15SpatialVector_t(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN17RigidBodyDynamics5JointaSERKS0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi6ELi1ELi0ELi6ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEeqIS2_EEbRKNS0_IT_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17RigidBodyDynamics5JointC2ENS_9JointTypeERK9Vector3_t(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.umax.i32(i32, i32) #7

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 = { 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 #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { noreturn nounwind }
attributes #9 = { 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 8}
!6 = !{!"_ZTSN17RigidBodyDynamics5JointE", !7, i64 0, !10, i64 8, !11, i64 12, !11, i64 16, !11, i64 20}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTSN17RigidBodyDynamics9JointTypeE", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!13, !13, i64 0}
!13 = !{!"double", !8, i64 0}
!14 = !{!15, !26, i64 104}
!15 = !{!"_ZTSN17RigidBodyDynamics4BodyE", !13, i64 0, !16, i64 8, !21, i64 32, !26, i64 104}
!16 = !{!"_ZTS9Vector3_t", !17, i64 0}
!17 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !8, i64 0}
!21 = !{!"_ZTS9Matrix3_t", !22, i64 0}
!22 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !8, i64 0}
!26 = !{!"bool", !8, i64 0}
!27 = !{!6, !7, i64 0}
!28 = distinct !{!28, !29, !30}
!29 = !{!"llvm.loop.mustprogress"}
!30 = !{!"llvm.loop.peeled.count", i32 1}


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