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

; 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"

%"struct.RigidBodyDynamics::InverseKinematicsConstraintSet" = type { %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.153", %"class.Eigen::Matrix.57", i32, double, i32, i32, double, double, double, %"class.std::vector.420", %"class.std::vector", %"class.std::vector.40", %"class.std::vector.40", %"class.std::vector.35", %"class.std::vector" }
%"class.Eigen::Matrix.153" = type { %"class.Eigen::PlainObjectBase.154" }
%"class.Eigen::PlainObjectBase.154" = type { %"class.Eigen::DenseStorage.161" }
%"class.Eigen::DenseStorage.161" = type { ptr, i64, i64 }
%"class.Eigen::Matrix.57" = type { %"class.Eigen::PlainObjectBase.58" }
%"class.Eigen::PlainObjectBase.58" = type { %"class.Eigen::DenseStorage.65" }
%"class.Eigen::DenseStorage.65" = type { ptr, i64 }
%"class.std::vector.420" = type { %"struct.std::_Vector_base.421" }
%"struct.std::_Vector_base.421" = type { %"struct.std::_Vector_base<RigidBodyDynamics::InverseKinematicsConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::InverseKinematicsConstraintSet::ConstraintType>>::_Vector_impl" }
%"struct.std::_Vector_base<RigidBodyDynamics::InverseKinematicsConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::InverseKinematicsConstraintSet::ConstraintType>>::_Vector_impl" = type { %"struct.std::_Vector_base<RigidBodyDynamics::InverseKinematicsConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::InverseKinematicsConstraintSet::ConstraintType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<RigidBodyDynamics::InverseKinematicsConstraintSet::ConstraintType, std::allocator<RigidBodyDynamics::InverseKinematicsConstraintSet::ConstraintType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.40" = type { %"struct.std::_Vector_base.41" }
%"struct.std::_Vector_base.41" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vector3_t, std::allocator<Vector3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.35" = type { %"struct.std::_Vector_base.36" }
%"struct.std::_Vector_base.36" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl" = type { %"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Matrix3_t, std::allocator<Matrix3_t>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics30InverseKinematicsConstraintSetC2Ev(ptr noundef nonnull align 8 dereferenceable(256) %0) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca ptr, align 8
  %4 = alloca i32, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %5 = load ptr, ptr %2, align 8
  %6 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 0
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6)
  %7 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 1
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %8 unwind label %23

8:                                                ; preds = %1
  %9 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 2
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9)
          to label %10 unwind label %27

10:                                               ; preds = %8
  %11 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 10
  call void @_ZNSt6vectorIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #4
  %12 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 11
  call void @_ZNSt6vectorIjSaIjEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #4
  %13 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 12
  call void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #4
  %14 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 13
  call void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #4
  %15 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 14
  call void @_ZNSt6vectorI9Matrix3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #4
  %16 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 15
  call void @_ZNSt6vectorIjSaIjEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #4
  %17 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 4
  store double 1.000000e-09, ptr %17, align 8, !tbaa !9
  %18 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 5
  store i32 0, ptr %18, align 8, !tbaa !36
  %19 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 6
  store i32 300, ptr %19, align 4, !tbaa !37
  %20 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 7
  store double 0x3D719799812DEA11, ptr %20, align 8, !tbaa !38
  %21 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 8
  store double 0x3D719799812DEA11, ptr %21, align 8, !tbaa !39
  %22 = getelementptr inbounds %"struct.RigidBodyDynamics::InverseKinematicsConstraintSet", ptr %5, i32 0, i32 3
  store i32 0, ptr %22, align 8, !tbaa !40
  ret void

23:                                               ; preds = %1
  %24 = landingpad { ptr, i32 }
          cleanup
  %25 = extractvalue { ptr, i32 } %24, 0
  store ptr %25, ptr %3, align 8
  %26 = extractvalue { ptr, i32 } %24, 1
  store i32 %26, ptr %4, align 4
  br label %31

27:                                               ; preds = %8
  %28 = landingpad { ptr, i32 }
          cleanup
  %29 = extractvalue { ptr, i32 } %28, 0
  store ptr %29, ptr %3, align 8
  %30 = extractvalue { ptr, i32 } %28, 1
  store i32 %30, ptr %4, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #4
  br label %31

31:                                               ; preds = %27, %23
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #4
  br label %32

32:                                               ; preds = %31
  %33 = load ptr, ptr %3, align 8
  %34 = load i32, ptr %4, align 4
  %35 = insertvalue { ptr, i32 } poison, ptr %33, 0
  %36 = insertvalue { ptr, i32 } %35, i32 %34, 1
  resume { ptr, i32 } %36
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIjSaIjEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI9Matrix3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

attributes #0 = { 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 #1 = { 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 #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 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 #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !19, i64 72}
!10 = !{!"_ZTSN17RigidBodyDynamics30InverseKinematicsConstraintSetE", !11, i64 0, !11, i64 24, !15, i64 48, !18, i64 64, !19, i64 72, !18, i64 80, !18, i64 84, !19, i64 88, !19, i64 96, !19, i64 104, !20, i64 112, !24, i64 136, !28, i64 160, !28, i64 184, !32, i64 208, !24, i64 232}
!11 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !12, i64 0}
!12 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !14, i64 8, !14, i64 16}
!14 = !{!"long", !7, i64 0}
!15 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !14, i64 8}
!18 = !{!"int", !7, i64 0}
!19 = !{!"double", !7, i64 0}
!20 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EE", !21, i64 0}
!21 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EE12_Vector_implE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!24 = !{!"_ZTSSt6vectorIjSaIjEE", !25, i64 0}
!25 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!28 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !29, i64 0}
!29 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!32 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !33, i64 0}
!33 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!36 = !{!10, !18, i64 80}
!37 = !{!10, !18, i64 84}
!38 = !{!10, !19, i64 88}
!39 = !{!10, !19, i64 96}
!40 = !{!10, !18, i64 64}


; 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"

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17RigidBodyDynamics30InverseKinematicsConstraintSetC2Ev(ptr noundef nonnull align 8 dereferenceable(256) %0) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  tail call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0)
  %2 = getelementptr inbounds i8, ptr %0, i64 24
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %2)
          to label %3 unwind label %17

3:                                                ; preds = %1
  %4 = getelementptr inbounds i8, ptr %0, i64 48
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4)
          to label %5 unwind label %19

5:                                                ; preds = %3
  %6 = getelementptr inbounds i8, ptr %0, i64 112
  tail call void @_ZNSt6vectorIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #4
  %7 = getelementptr inbounds i8, ptr %0, i64 136
  tail call void @_ZNSt6vectorIjSaIjEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #4
  %8 = getelementptr inbounds i8, ptr %0, i64 160
  tail call void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #4
  %9 = getelementptr inbounds i8, ptr %0, i64 184
  tail call void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #4
  %10 = getelementptr inbounds i8, ptr %0, i64 208
  tail call void @_ZNSt6vectorI9Matrix3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #4
  %11 = getelementptr inbounds i8, ptr %0, i64 232
  tail call void @_ZNSt6vectorIjSaIjEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #4
  %12 = getelementptr inbounds i8, ptr %0, i64 72
  store double 1.000000e-09, ptr %12, align 8, !tbaa !5
  %13 = getelementptr inbounds i8, ptr %0, i64 80
  store i32 0, ptr %13, align 8, !tbaa !35
  %14 = getelementptr inbounds i8, ptr %0, i64 84
  store i32 300, ptr %14, align 4, !tbaa !36
  %15 = getelementptr inbounds i8, ptr %0, i64 88
  store <2 x double> <double 0x3D719799812DEA11, double 0x3D719799812DEA11>, ptr %15, align 8, !tbaa !37
  %16 = getelementptr inbounds i8, ptr %0, i64 64
  store i32 0, ptr %16, align 8, !tbaa !38
  ret void

17:                                               ; preds = %1
  %18 = landingpad { ptr, i32 }
          cleanup
  br label %21

19:                                               ; preds = %3
  %20 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %2) #4
  br label %21

21:                                               ; preds = %19, %17
  %.pn = phi { ptr, i32 } [ %20, %19 ], [ %18, %17 ]
  tail call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #4
  resume { ptr, i32 } %.pn
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIjSaIjEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI9Vector3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI9Matrix3_tSaIS0_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

attributes #0 = { 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 #1 = { 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 #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 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 #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !18, i64 72}
!6 = !{!"_ZTSN17RigidBodyDynamics30InverseKinematicsConstraintSetE", !7, i64 0, !7, i64 24, !14, i64 48, !17, i64 64, !18, i64 72, !17, i64 80, !17, i64 84, !18, i64 88, !18, i64 96, !18, i64 104, !19, i64 112, !23, i64 136, !27, i64 160, !27, i64 184, !31, i64 208, !23, i64 232}
!7 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !8, i64 0}
!8 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !9, i64 0}
!9 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !10, i64 0, !13, i64 8, !13, i64 16}
!10 = !{!"any pointer", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"long", !11, i64 0}
!14 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !10, i64 0, !13, i64 8}
!17 = !{!"int", !11, i64 0}
!18 = !{!"double", !11, i64 0}
!19 = !{!"_ZTSSt6vectorIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EE", !20, i64 0}
!20 = !{!"_ZTSSt12_Vector_baseIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EE12_Vector_implE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIN17RigidBodyDynamics30InverseKinematicsConstraintSet14ConstraintTypeESaIS2_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!23 = !{!"_ZTSSt6vectorIjSaIjEE", !24, i64 0}
!24 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !25, i64 0}
!25 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!27 = !{!"_ZTSSt6vectorI9Vector3_tSaIS0_EE", !28, i64 0}
!28 = !{!"_ZTSSt12_Vector_baseI9Vector3_tSaIS0_EE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE12_Vector_implE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseI9Vector3_tSaIS0_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!31 = !{!"_ZTSSt6vectorI9Matrix3_tSaIS0_EE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseI9Matrix3_tSaIS0_EE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseI9Matrix3_tSaIS0_EE17_Vector_impl_dataE", !10, i64 0, !10, i64 8, !10, i64 16}
!35 = !{!6, !17, i64 80}
!36 = !{!6, !17, i64 84}
!37 = !{!18, !18, i64 0}
!38 = !{!6, !17, i64 64}


; Effective O3 passes: EarlyCSEPass,InstCombinePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass