; LLVM IR from nubot-nudt/simatch :: src/auto_referee/src/Quaternion.ll (ZN6gazebo4math10Quaternion6InvertEv)

; 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.gazebo::math::Quaternion" = type { double, double, double, double }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN6gazebo4math10Quaternion6InvertEv(ptr noundef nonnull align 8 dereferenceable(32) %0) #0 align 2 {
  %2 = alloca ptr, align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %3 = load ptr, ptr %2, align 8
  call void @_ZN6gazebo4math10Quaternion9NormalizeEv(ptr noundef nonnull align 8 dereferenceable(32) %3)
  %4 = getelementptr inbounds %"class.gazebo::math::Quaternion", ptr %3, i32 0, i32 1
  %5 = load double, ptr %4, align 8, !tbaa !9
  %6 = fneg double %5
  %7 = getelementptr inbounds %"class.gazebo::math::Quaternion", ptr %3, i32 0, i32 1
  store double %6, ptr %7, align 8, !tbaa !9
  %8 = getelementptr inbounds %"class.gazebo::math::Quaternion", ptr %3, i32 0, i32 2
  %9 = load double, ptr %8, align 8, !tbaa !12
  %10 = fneg double %9
  %11 = getelementptr inbounds %"class.gazebo::math::Quaternion", ptr %3, i32 0, i32 2
  store double %10, ptr %11, align 8, !tbaa !12
  %12 = getelementptr inbounds %"class.gazebo::math::Quaternion", ptr %3, i32 0, i32 3
  %13 = load double, ptr %12, align 8, !tbaa !13
  %14 = fneg double %13
  %15 = getelementptr inbounds %"class.gazebo::math::Quaternion", ptr %3, i32 0, i32 3
  store double %14, ptr %15, align 8, !tbaa !13
  ret void
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN6gazebo4math10Quaternion9NormalizeEv(ptr noundef nonnull align 8 dereferenceable(32)) #0 align 2

attributes #0 = { 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" }

!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, !11, i64 8}
!10 = !{!"_ZTSN6gazebo4math10QuaternionE", !11, i64 0, !11, i64 8, !11, i64 16, !11, i64 24}
!11 = !{!"double", !7, i64 0}
!12 = !{!10, !11, i64 16}
!13 = !{!10, !11, i64 24}


; 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"

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN6gazebo4math10Quaternion6InvertEv(ptr noundef nonnull align 8 dereferenceable(32) %0) local_unnamed_addr #0 align 2 {
  tail call void @_ZN6gazebo4math10Quaternion9NormalizeEv(ptr noundef nonnull align 8 dereferenceable(32) %0)
  %2 = getelementptr inbounds i8, ptr %0, i64 8
  %3 = load <2 x double>, ptr %2, align 8, !tbaa !5
  %4 = fneg <2 x double> %3
  store <2 x double> %4, ptr %2, align 8, !tbaa !5
  %5 = getelementptr inbounds i8, ptr %0, i64 24
  %6 = load double, ptr %5, align 8, !tbaa !9
  %7 = fneg double %6
  store double %7, ptr %5, align 8, !tbaa !9
  ret void
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN6gazebo4math10Quaternion9NormalizeEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #0 align 2

attributes #0 = { 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" }

!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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 24}
!10 = !{!"_ZTSN6gazebo4math10QuaternionE", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}


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