; LLVM IR from unitreerobotics/kinect_teleoperate :: src/sample_helper_libs/window_controller_3d (SkeletonRenderer)

; 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"

%"union.linmath::quaternion" = type { %"struct.linmath::(anonymous union)::_wxyz" }
%"struct.linmath::(anonymous union)::_wxyz" = type { float, float, float, float }
%"class.Visualization::SkeletonRenderer" = type { %"class.Visualization::RendererBase.base", i8, i8, float, float, float, float, %"class.Visualization::Sphere", %"class.Visualization::Cylinder", %"class.Visualization::CoordinateAxes", %"class.std::vector.10", %"class.std::vector.15" }
%"class.Visualization::RendererBase.base" = type <{ ptr, i8, [3 x i8], [4 x [4 x float]], [4 x [4 x float]], [4 x i8], ptr, i32, i32, i32 }>
%"class.Visualization::Sphere" = type <{ %"class.Visualization::RendererBase.base", float, i32, i32, %"class.std::vector", %"class.std::vector.0", i32, i32, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<Visualization::MonoVertex, std::allocator<Visualization::MonoVertex>>::_Vector_impl" }
%"struct.std::_Vector_base<Visualization::MonoVertex, std::allocator<Visualization::MonoVertex>>::_Vector_impl" = type { %"struct.std::_Vector_base<Visualization::MonoVertex, std::allocator<Visualization::MonoVertex>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Visualization::MonoVertex, std::allocator<Visualization::MonoVertex>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Visualization::Cylinder" = type <{ %"class.Visualization::RendererBase.base", float, float, i32, %"class.std::vector", %"class.std::vector.0", i32, i32, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.Visualization::CoordinateAxes" = type { %"class.Visualization::RendererBase.base", float, float, %"class.std::vector.5", %"class.std::vector.0", i32, i32, i32, i32, i32, i32 }
%"class.std::vector.5" = type { %"struct.std::_Vector_base.6" }
%"struct.std::_Vector_base.6" = type { %"struct.std::_Vector_base<Visualization::ColorVertex, std::allocator<Visualization::ColorVertex>>::_Vector_impl" }
%"struct.std::_Vector_base<Visualization::ColorVertex, std::allocator<Visualization::ColorVertex>>::_Vector_impl" = type { %"struct.std::_Vector_base<Visualization::ColorVertex, std::allocator<Visualization::ColorVertex>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Visualization::ColorVertex, std::allocator<Visualization::ColorVertex>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.10" = type { %"struct.std::_Vector_base.11" }
%"struct.std::_Vector_base.11" = type { %"struct.std::_Vector_base<Visualization::Joint, std::allocator<Visualization::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<Visualization::Joint, std::allocator<Visualization::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<Visualization::Joint, std::allocator<Visualization::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Visualization::Joint, std::allocator<Visualization::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<Visualization::Bone, std::allocator<Visualization::Bone>>::_Vector_impl" }
%"struct.std::_Vector_base<Visualization::Bone, std::allocator<Visualization::Bone>>::_Vector_impl" = type { %"struct.std::_Vector_base<Visualization::Bone, std::allocator<Visualization::Bone>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Visualization::Bone, std::allocator<Visualization::Bone>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.Visualization::Bone" = type { [3 x float], [3 x float], [4 x float] }
%"struct.Visualization::Joint" = type { [3 x float], %"union.linmath::quaternion", [4 x float] }

@glad_glDisable = external global ptr, align 8
@glad_glEnable = external global ptr, align 8
@glad_glBlendFunc = external global ptr, align 8
@glad_glBindVertexArray = external global ptr, align 8

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN13Visualization16SkeletonRenderer6RenderEv(ptr noundef nonnull align 8 dereferenceable(992) %0) unnamed_addr #0 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i64, align 8
  %4 = alloca i64, align 8
  %5 = alloca i64, align 8
  %6 = alloca %"union.linmath::quaternion", align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %7 = load ptr, ptr %2, align 8
  %8 = load ptr, ptr @glad_glDisable, align 8, !tbaa !5
  call void %8(i32 noundef 2929)
  %9 = load ptr, ptr @glad_glEnable, align 8, !tbaa !5
  call void %9(i32 noundef 3042)
  %10 = load ptr, ptr @glad_glBlendFunc, align 8, !tbaa !5
  call void %10(i32 noundef 770, i32 noundef 771)
  %11 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 1
  %12 = load i8, ptr %11, align 4, !tbaa !9, !range !38, !noundef !39
  %13 = trunc i8 %12 to i1
  br i1 %13, label %14, label %63

14:                                               ; preds = %1
  call void @llvm.lifetime.start.p0(i64 8, ptr %3) #6
  store i64 0, ptr %3, align 8, !tbaa !40
  br label %15

15:                                               ; preds = %38, %14
  %16 = load i64, ptr %3, align 8, !tbaa !40
  %17 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 11
  %18 = call noundef i64 @_ZNKSt6vectorIN13Visualization4BoneESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %17) #6
  %19 = icmp ult i64 %16, %18
  br i1 %19, label %21, label %20

20:                                               ; preds = %15
  call void @llvm.lifetime.end.p0(i64 8, ptr %3) #6
  br label %41

21:                                               ; preds = %15
  %22 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 8
  %23 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 11
  %24 = load i64, ptr %3, align 8, !tbaa !40
  %25 = call noundef nonnull align 4 dereferenceable(40) ptr @_ZNSt6vectorIN13Visualization4BoneESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %23, i64 noundef %24) #6
  %26 = getelementptr inbounds %"struct.Visualization::Bone", ptr %25, i32 0, i32 0
  %27 = getelementptr inbounds [3 x float], ptr %26, i64 0, i64 0
  %28 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 11
  %29 = load i64, ptr %3, align 8, !tbaa !40
  %30 = call noundef nonnull align 4 dereferenceable(40) ptr @_ZNSt6vectorIN13Visualization4BoneESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %28, i64 noundef %29) #6
  %31 = getelementptr inbounds %"struct.Visualization::Bone", ptr %30, i32 0, i32 1
  %32 = getelementptr inbounds [3 x float], ptr %31, i64 0, i64 0
  %33 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 11
  %34 = load i64, ptr %3, align 8, !tbaa !40
  %35 = call noundef nonnull align 4 dereferenceable(40) ptr @_ZNSt6vectorIN13Visualization4BoneESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %34) #6
  %36 = getelementptr inbounds %"struct.Visualization::Bone", ptr %35, i32 0, i32 2
  %37 = getelementptr inbounds [4 x float], ptr %36, i64 0, i64 0
  call void @_ZN13Visualization8Cylinder6RenderEPKfS2_S2_(ptr noundef nonnull align 8 dereferenceable(252) %22, ptr noundef %27, ptr noundef %32, ptr noundef %37)
  br label %38

38:                                               ; preds = %21
  %39 = load i64, ptr %3, align 8, !tbaa !40
  %40 = add i64 %39, 1
  store i64 %40, ptr %3, align 8, !tbaa !40
  br label %15, !llvm.loop !42

41:                                               ; preds = %20
  call void @llvm.lifetime.start.p0(i64 8, ptr %4) #6
  store i64 0, ptr %4, align 8, !tbaa !40
  br label %42

42:                                               ; preds = %59, %41
  %43 = load i64, ptr %4, align 8, !tbaa !40
  %44 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 10
  %45 = call noundef i64 @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %44) #6
  %46 = icmp ult i64 %43, %45
  br i1 %46, label %48, label %47

47:                                               ; preds = %42
  call void @llvm.lifetime.end.p0(i64 8, ptr %4) #6
  br label %62

48:                                               ; preds = %42
  %49 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 10
  %50 = load i64, ptr %4, align 8, !tbaa !40
  %51 = call noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef %50) #6
  %52 = getelementptr inbounds %"struct.Visualization::Joint", ptr %51, i32 0, i32 0
  %53 = getelementptr inbounds [3 x float], ptr %52, i64 0, i64 0
  %54 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 10
  %55 = load i64, ptr %4, align 8, !tbaa !40
  %56 = call noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef %55) #6
  %57 = getelementptr inbounds %"struct.Visualization::Joint", ptr %56, i32 0, i32 2
  %58 = getelementptr inbounds [4 x float], ptr %57, i64 0, i64 0
  call void @_ZN13Visualization16SkeletonRenderer11RenderJointEPKfS2_(ptr noundef nonnull align 8 dereferenceable(992) %7, ptr noundef %53, ptr noundef %58)
  br label %59

59:                                               ; preds = %48
  %60 = load i64, ptr %4, align 8, !tbaa !40
  %61 = add i64 %60, 1
  store i64 %61, ptr %4, align 8, !tbaa !40
  br label %42, !llvm.loop !44

62:                                               ; preds = %47
  br label %63

63:                                               ; preds = %62, %1
  %64 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 2
  %65 = load i8, ptr %64, align 1, !tbaa !45, !range !38, !noundef !39
  %66 = trunc i8 %65 to i1
  br i1 %66, label %67, label %92

67:                                               ; preds = %63
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #6
  store i64 0, ptr %5, align 8, !tbaa !40
  br label %68

68:                                               ; preds = %88, %67
  %69 = load i64, ptr %5, align 8, !tbaa !40
  %70 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 10
  %71 = call noundef i64 @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %70) #6
  %72 = icmp ult i64 %69, %71
  br i1 %72, label %74, label %73

73:                                               ; preds = %68
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  br label %91

74:                                               ; preds = %68
  %75 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 10
  %76 = load i64, ptr %5, align 8, !tbaa !40
  %77 = call noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %75, i64 noundef %76) #6
  %78 = getelementptr inbounds %"struct.Visualization::Joint", ptr %77, i32 0, i32 0
  %79 = getelementptr inbounds [3 x float], ptr %78, i64 0, i64 0
  %80 = getelementptr inbounds %"class.Visualization::SkeletonRenderer", ptr %7, i32 0, i32 10
  %81 = load i64, ptr %5, align 8, !tbaa !40
  %82 = call noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %80, i64 noundef %81) #6
  %83 = getelementptr inbounds %"struct.Visualization::Joint", ptr %82, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %6, ptr align 4 %83, i64 16, i1 false), !tbaa.struct !46
  %84 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %6, i32 0, i32 0
  %85 = load <2 x float>, ptr %84, align 4
  %86 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %6, i32 0, i32 1
  %87 = load <2 x float>, ptr %86, align 4
  call void @_ZN13Visualization16SkeletonRenderer20RenderCoordinateAxesEPKfN7linmath10quaternionE(ptr noundef nonnull align 8 dereferenceable(992) %7, ptr noundef %79, <2 x float> %85, <2 x float> %87)
  br label %88

88:                                               ; preds = %74
  %89 = load i64, ptr %5, align 8, !tbaa !40
  %90 = add i64 %89, 1
  store i64 %90, ptr %5, align 8, !tbaa !40
  br label %68, !llvm.loop !48

91:                                               ; preds = %73
  br label %92

92:                                               ; preds = %91, %63
  %93 = load ptr, ptr @glad_glBindVertexArray, align 8, !tbaa !5
  call void %93(i32 noundef 0)
  ret void
}

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN13Visualization4BoneESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

declare void @_ZN13Visualization8Cylinder6RenderEPKfS2_S2_(ptr noundef nonnull align 8 dereferenceable(252), ptr noundef, ptr noundef, ptr noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(40) ptr @_ZNSt6vectorIN13Visualization4BoneESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13Visualization16SkeletonRenderer11RenderJointEPKfS2_(ptr noundef nonnull align 8 dereferenceable(992), ptr noundef, ptr noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13Visualization16SkeletonRenderer20RenderCoordinateAxesEPKfN7linmath10quaternionE(ptr noundef nonnull align 8 dereferenceable(992), ptr noundef, <2 x float>, <2 x float>) #0 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #5

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !12, i64 164}
!10 = !{!"_ZTSN13Visualization16SkeletonRendererE", !11, i64 0, !12, i64 164, !12, i64 165, !14, i64 168, !14, i64 172, !14, i64 176, !14, i64 180, !15, i64 184, !24, i64 440, !25, i64 696, !30, i64 944, !34, i64 968}
!11 = !{!"_ZTSN13Visualization12RendererBaseE", !12, i64 8, !7, i64 12, !7, i64 76, !6, i64 144, !13, i64 152, !13, i64 156, !13, i64 160}
!12 = !{!"bool", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = !{!"_ZTSN13Visualization6SphereE", !11, i64 0, !14, i64 164, !13, i64 168, !13, i64 172, !16, i64 176, !20, i64 200, !13, i64 224, !13, i64 228, !13, i64 232, !13, i64 236, !13, i64 240, !13, i64 244, !13, i64 248}
!16 = !{!"_ZTSSt6vectorIN13Visualization10MonoVertexESaIS1_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!20 = !{!"_ZTSSt6vectorIjSaIjEE", !21, i64 0}
!21 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!24 = !{!"_ZTSN13Visualization8CylinderE", !11, i64 0, !14, i64 164, !14, i64 168, !13, i64 172, !16, i64 176, !20, i64 200, !13, i64 224, !13, i64 228, !13, i64 232, !13, i64 236, !13, i64 240, !13, i64 244, !13, i64 248}
!25 = !{!"_ZTSN13Visualization14CoordinateAxesE", !11, i64 0, !14, i64 164, !14, i64 168, !26, i64 176, !20, i64 200, !13, i64 224, !13, i64 228, !13, i64 232, !13, i64 236, !13, i64 240, !13, i64 244}
!26 = !{!"_ZTSSt6vectorIN13Visualization11ColorVertexESaIS1_EE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!30 = !{!"_ZTSSt6vectorIN13Visualization5JointESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseIN13Visualization5JointESaIS1_EE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN13Visualization5JointESaIS1_EE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN13Visualization5JointESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!34 = !{!"_ZTSSt6vectorIN13Visualization4BoneESaIS1_EE", !35, i64 0}
!35 = !{!"_ZTSSt12_Vector_baseIN13Visualization4BoneESaIS1_EE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIN13Visualization4BoneESaIS1_EE12_Vector_implE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIN13Visualization4BoneESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!38 = !{i8 0, i8 2}
!39 = !{}
!40 = !{!41, !41, i64 0}
!41 = !{!"long", !7, i64 0}
!42 = distinct !{!42, !43}
!43 = !{!"llvm.loop.mustprogress"}
!44 = distinct !{!44, !43}
!45 = !{!10, !12, i64 165}
!46 = !{i64 0, i64 16, !47}
!47 = !{!7, !7, i64 0}
!48 = distinct !{!48, !43}


; 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"

@glad_glDisable = external local_unnamed_addr global ptr, align 8
@glad_glEnable = external local_unnamed_addr global ptr, align 8
@glad_glBlendFunc = external local_unnamed_addr global ptr, align 8
@glad_glBindVertexArray = external local_unnamed_addr global ptr, align 8

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN13Visualization16SkeletonRenderer6RenderEv(ptr noundef nonnull align 8 dereferenceable(992) %0) unnamed_addr #0 align 2 {
  %2 = load ptr, ptr @glad_glDisable, align 8, !tbaa !5
  tail call void %2(i32 noundef 2929)
  %3 = load ptr, ptr @glad_glEnable, align 8, !tbaa !5
  tail call void %3(i32 noundef 3042)
  %4 = load ptr, ptr @glad_glBlendFunc, align 8, !tbaa !5
  tail call void %4(i32 noundef 770, i32 noundef 771)
  %5 = getelementptr inbounds i8, ptr %0, i64 164
  %6 = load i8, ptr %5, align 4, !tbaa !9, !range !38, !noundef !39
  %7 = trunc nuw i8 %6 to i1
  br i1 %7, label %.preheader17, label %.loopexit16

.preheader17:                                     ; preds = %1
  %8 = getelementptr inbounds i8, ptr %0, i64 968
  %9 = tail call noundef i64 @_ZNKSt6vectorIN13Visualization4BoneESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #4
  %.not = icmp eq i64 %9, 0
  br i1 %.not, label %.preheader15, label %.lr.ph

.lr.ph:                                           ; preds = %.preheader17
  %10 = getelementptr inbounds i8, ptr %0, i64 440
  br label %13

.preheader15:                                     ; preds = %13, %.preheader17
  %11 = getelementptr inbounds i8, ptr %0, i64 944
  %12 = tail call noundef i64 @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #4
  %.not23 = icmp eq i64 %12, 0
  br i1 %.not23, label %.loopexit16, label %.lr.ph20

13:                                               ; preds = %.lr.ph, %13
  %.018 = phi i64 [ 0, %.lr.ph ], [ %19, %13 ]
  %14 = tail call noundef nonnull align 4 dereferenceable(40) ptr @_ZNSt6vectorIN13Visualization4BoneESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %8, i64 noundef %.018) #4
  %15 = tail call noundef nonnull align 4 dereferenceable(40) ptr @_ZNSt6vectorIN13Visualization4BoneESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %8, i64 noundef %.018) #4
  %16 = getelementptr inbounds i8, ptr %15, i64 12
  %17 = tail call noundef nonnull align 4 dereferenceable(40) ptr @_ZNSt6vectorIN13Visualization4BoneESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %8, i64 noundef %.018) #4
  %18 = getelementptr inbounds i8, ptr %17, i64 24
  tail call void @_ZN13Visualization8Cylinder6RenderEPKfS2_S2_(ptr noundef nonnull align 8 dereferenceable(252) %10, ptr noundef nonnull %14, ptr noundef nonnull %16, ptr noundef nonnull %18)
  %19 = add nuw i64 %.018, 1
  %20 = tail call noundef i64 @_ZNKSt6vectorIN13Visualization4BoneESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #4
  %21 = icmp ult i64 %19, %20
  br i1 %21, label %13, label %.preheader15, !llvm.loop !40

.lr.ph20:                                         ; preds = %.preheader15, %.lr.ph20
  %.01319 = phi i64 [ %25, %.lr.ph20 ], [ 0, %.preheader15 ]
  %22 = tail call noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %.01319) #4
  %23 = tail call noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %.01319) #4
  %24 = getelementptr inbounds i8, ptr %23, i64 28
  tail call void @_ZN13Visualization16SkeletonRenderer11RenderJointEPKfS2_(ptr noundef nonnull align 8 dereferenceable(992) %0, ptr noundef nonnull %22, ptr noundef nonnull %24)
  %25 = add nuw i64 %.01319, 1
  %26 = tail call noundef i64 @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #4
  %27 = icmp ult i64 %25, %26
  br i1 %27, label %.lr.ph20, label %.loopexit16, !llvm.loop !42

.loopexit16:                                      ; preds = %.lr.ph20, %.preheader15, %1
  %28 = getelementptr inbounds i8, ptr %0, i64 165
  %29 = load i8, ptr %28, align 1, !tbaa !43, !range !38, !noundef !39
  %30 = trunc nuw i8 %29 to i1
  br i1 %30, label %.preheader, label %.loopexit

.preheader:                                       ; preds = %.loopexit16
  %31 = getelementptr inbounds i8, ptr %0, i64 944
  %32 = tail call noundef i64 @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %31) #4
  %.not24 = icmp eq i64 %32, 0
  br i1 %.not24, label %.loopexit, label %.lr.ph22

.lr.ph22:                                         ; preds = %.preheader, %.lr.ph22
  %.01421 = phi i64 [ %36, %.lr.ph22 ], [ 0, %.preheader ]
  %33 = tail call noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %.01421) #4
  %34 = tail call noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %31, i64 noundef %.01421) #4
  %35 = getelementptr inbounds i8, ptr %34, i64 12
  %.sroa.0.0.copyload = load <2 x float>, ptr %35, align 4
  %.sroa.2.0..sroa_idx = getelementptr inbounds i8, ptr %34, i64 20
  %.sroa.2.0.copyload = load <2 x float>, ptr %.sroa.2.0..sroa_idx, align 4, !tbaa !44
  tail call void @_ZN13Visualization16SkeletonRenderer20RenderCoordinateAxesEPKfN7linmath10quaternionE(ptr noundef nonnull align 8 dereferenceable(992) %0, ptr noundef nonnull %33, <2 x float> %.sroa.0.0.copyload, <2 x float> %.sroa.2.0.copyload)
  %36 = add nuw i64 %.01421, 1
  %37 = tail call noundef i64 @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %31) #4
  %38 = icmp ult i64 %36, %37
  br i1 %38, label %.lr.ph22, label %.loopexit, !llvm.loop !45

.loopexit:                                        ; preds = %.lr.ph22, %.preheader, %.loopexit16
  %39 = load ptr, ptr @glad_glBindVertexArray, align 8, !tbaa !5
  tail call void %39(i32 noundef 0)
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN13Visualization4BoneESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

declare void @_ZN13Visualization8Cylinder6RenderEPKfS2_S2_(ptr noundef nonnull align 8 dereferenceable(252), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(40) ptr @_ZNSt6vectorIN13Visualization4BoneESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13Visualization16SkeletonRenderer11RenderJointEPKfS2_(ptr noundef nonnull align 8 dereferenceable(992), ptr noundef, ptr noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(44) ptr @_ZNSt6vectorIN13Visualization5JointESaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13Visualization16SkeletonRenderer20RenderCoordinateAxesEPKfN7linmath10quaternionE(ptr noundef nonnull align 8 dereferenceable(992), ptr noundef, <2 x float>, <2 x float>) local_unnamed_addr #0 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="64" "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 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 = { "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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !12, i64 164}
!10 = !{!"_ZTSN13Visualization16SkeletonRendererE", !11, i64 0, !12, i64 164, !12, i64 165, !14, i64 168, !14, i64 172, !14, i64 176, !14, i64 180, !15, i64 184, !24, i64 440, !25, i64 696, !30, i64 944, !34, i64 968}
!11 = !{!"_ZTSN13Visualization12RendererBaseE", !12, i64 8, !7, i64 12, !7, i64 76, !6, i64 144, !13, i64 152, !13, i64 156, !13, i64 160}
!12 = !{!"bool", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = !{!"_ZTSN13Visualization6SphereE", !11, i64 0, !14, i64 164, !13, i64 168, !13, i64 172, !16, i64 176, !20, i64 200, !13, i64 224, !13, i64 228, !13, i64 232, !13, i64 236, !13, i64 240, !13, i64 244, !13, i64 248}
!16 = !{!"_ZTSSt6vectorIN13Visualization10MonoVertexESaIS1_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!20 = !{!"_ZTSSt6vectorIjSaIjEE", !21, i64 0}
!21 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!24 = !{!"_ZTSN13Visualization8CylinderE", !11, i64 0, !14, i64 164, !14, i64 168, !13, i64 172, !16, i64 176, !20, i64 200, !13, i64 224, !13, i64 228, !13, i64 232, !13, i64 236, !13, i64 240, !13, i64 244, !13, i64 248}
!25 = !{!"_ZTSN13Visualization14CoordinateAxesE", !11, i64 0, !14, i64 164, !14, i64 168, !26, i64 176, !20, i64 200, !13, i64 224, !13, i64 228, !13, i64 232, !13, i64 236, !13, i64 240, !13, i64 244}
!26 = !{!"_ZTSSt6vectorIN13Visualization11ColorVertexESaIS1_EE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!30 = !{!"_ZTSSt6vectorIN13Visualization5JointESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseIN13Visualization5JointESaIS1_EE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN13Visualization5JointESaIS1_EE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN13Visualization5JointESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!34 = !{!"_ZTSSt6vectorIN13Visualization4BoneESaIS1_EE", !35, i64 0}
!35 = !{!"_ZTSSt12_Vector_baseIN13Visualization4BoneESaIS1_EE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIN13Visualization4BoneESaIS1_EE12_Vector_implE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIN13Visualization4BoneESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!38 = !{i8 0, i8 2}
!39 = !{}
!40 = distinct !{!40, !41}
!41 = !{!"llvm.loop.mustprogress"}
!42 = distinct !{!42, !41}
!43 = !{!10, !12, i64 165}
!44 = !{!7, !7, i64 0}
!45 = distinct !{!45, !41}


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