; LLVM IR from unitreerobotics/kinect_teleoperate :: src/sample_helper_libs/window_controller_3d (WindowController3d)

; 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.__gnu_cxx::__normal_iterator" = type { ptr }
%"struct.Visualization::Joint" = type { [3 x float], %"union.linmath::quaternion", [4 x float] }
%"union.linmath::quaternion" = type { %"struct.linmath::(anonymous union)::_wxyz" }
%"struct.linmath::(anonymous union)::_wxyz" = type { float, float, float, float }
%"class.Visualization::WindowController3d" = type { i8, i32, i32, i8, %class.ViewControl, %class.ViewControl, %class.ViewControl, %class.ViewControl, %"struct.std::array", %"class.Visualization::PointCloudRenderer", %"class.Visualization::SkeletonRenderer", %"class.Visualization::FloorRenderer", double, float, i32, i32, i32, i32, float, float, ptr, i8, i8, i32, [2 x float], ptr, ptr, ptr, ptr, %"class.std::mutex" }
%class.ViewControl = type { %struct.ViewParameters, %struct.Viewport, i8, float, float, float }
%struct.ViewParameters = type { [3 x float], float, [3 x float], float, float, [3 x float], [3 x float], [3 x float] }
%struct.Viewport = type { i32, i32, i32, i32 }
%"struct.std::array" = type { [4 x ptr] }
%"class.Visualization::PointCloudRenderer" = type { %"class.Visualization::RendererBase.base", float, %"class.std::optional", i8, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, %"class.std::mutex" }
%"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.std::optional" = type { %"struct.std::_Optional_base" }
%"struct.std::_Optional_base" = type { %"struct.std::_Optional_payload" }
%"struct.std::_Optional_payload" = type { %"struct.std::_Optional_payload_base.base", [3 x i8] }
%"struct.std::_Optional_payload_base.base" = type <{ %"union.std::_Optional_payload_base<float>::_Storage", i8 }>
%"union.std::_Optional_payload_base<float>::_Storage" = type { 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::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 }
%"class.Visualization::FloorRenderer" = type <{ %"class.Visualization::RendererBase.base", [4 x [4 x float]], float, float, [4 x i8], %"class.std::vector", %"class.std::vector.0", i32, i32, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.std::mutex" = type { %"class.std::__mutex_base" }
%"class.std::__mutex_base" = type { %union.pthread_mutex_t }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }

; 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: 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) #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN13Visualization18WindowController3d22ChangeCameraPivotPointER11ViewControlPf(ptr noundef nonnull align 8 dereferenceable(2184) %0, ptr noundef nonnull align 4 dereferenceable(104) %1, ptr noundef %2) #2 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca float, align 4
  %8 = alloca [3 x float], align 4
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %12 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %13 = alloca %"struct.Visualization::Joint", align 4
  %14 = alloca [2 x float], align 4
  %15 = alloca [2 x float], align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  %16 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #7
  %17 = call noundef float @_ZNSt14numeric_limitsIfE3maxEv() #7
  store float %17, ptr %7, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %8) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %18 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %16, i32 0, i32 10
  %19 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZN13Visualization16SkeletonRenderer9GetJointsEv(ptr noundef nonnull align 8 dereferenceable(992) %18)
  store ptr %19, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %20 = load ptr, ptr %9, align 8, !tbaa !5
  store ptr %20, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %21 = load ptr, ptr %10, align 8, !tbaa !5
  %22 = call ptr @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %21) #7
  %23 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %11, i32 0, i32 0
  store ptr %22, ptr %23, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %24 = load ptr, ptr %10, align 8, !tbaa !5
  %25 = call ptr @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #7
  %26 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %12, i32 0, i32 0
  store ptr %25, ptr %26, align 8
  br label %27

27:                                               ; preds = %53, %3
  %28 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12) #7
  br i1 %28, label %30, label %29

29:                                               ; preds = %27
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  br label %55

30:                                               ; preds = %27
  call void @llvm.lifetime.start.p0(i64 44, ptr %13) #7
  %31 = call noundef nonnull align 4 dereferenceable(44) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %11) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %13, ptr align 4 %31, i64 44, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %32 = load ptr, ptr %5, align 8, !tbaa !5
  %33 = getelementptr inbounds [2 x float], ptr %14, i64 0, i64 0
  %34 = getelementptr inbounds %"struct.Visualization::Joint", ptr %13, i32 0, i32 0
  %35 = getelementptr inbounds [3 x float], ptr %34, i64 0, i64 0
  %36 = call noundef zeroext i1 @_ZN11ViewControl15ProjectToScreenEPfPKf(ptr noundef nonnull align 4 dereferenceable(104) %32, ptr noundef %33, ptr noundef %35)
  br i1 %36, label %37, label %52

37:                                               ; preds = %30
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  %38 = getelementptr inbounds [2 x float], ptr %15, i64 0, i64 0
  %39 = load ptr, ptr %6, align 8, !tbaa !5
  %40 = getelementptr inbounds [2 x float], ptr %14, i64 0, i64 0
  call void @_ZN7linmathL8vec2_subEPfPKfS2_(ptr noundef %38, ptr noundef %39, ptr noundef %40)
  %41 = getelementptr inbounds [2 x float], ptr %15, i64 0, i64 0
  %42 = call noundef float @_ZN7linmathL8vec2_lenEPKf(ptr noundef %41)
  %43 = load float, ptr %7, align 4, !tbaa !9
  %44 = fcmp olt float %42, %43
  br i1 %44, label %45, label %51

45:                                               ; preds = %37
  %46 = getelementptr inbounds [2 x float], ptr %15, i64 0, i64 0
  %47 = call noundef float @_ZN7linmathL8vec2_lenEPKf(ptr noundef %46)
  store float %47, ptr %7, align 4, !tbaa !9
  %48 = getelementptr inbounds [3 x float], ptr %8, i64 0, i64 0
  %49 = getelementptr inbounds %"struct.Visualization::Joint", ptr %13, i32 0, i32 0
  %50 = getelementptr inbounds [3 x float], ptr %49, i64 0, i64 0
  call void @_ZN7linmathL9vec3_copyEPfPKf(ptr noundef %48, ptr noundef %50)
  br label %51

51:                                               ; preds = %45, %37
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  br label %52

52:                                               ; preds = %51, %30
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 44, ptr %13) #7
  br label %53

53:                                               ; preds = %52
  %54 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %11) #7
  br label %27

55:                                               ; preds = %29
  %56 = load float, ptr %7, align 4, !tbaa !9
  %57 = call noundef float @_ZNSt14numeric_limitsIfE3maxEv() #7
  %58 = fcmp une float %56, %57
  br i1 %58, label %59, label %62

59:                                               ; preds = %55
  %60 = load ptr, ptr %5, align 8, !tbaa !5
  %61 = getelementptr inbounds [3 x float], ptr %8, i64 0, i64 0
  call void @_ZN11ViewControl13SetViewTargetEPKf(ptr noundef nonnull align 4 dereferenceable(104) %60, ptr noundef %61)
  br label %62

62:                                               ; preds = %59, %55
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #7
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden void @_ZN7linmathL8vec2_subEPfPKfS2_(ptr noundef, ptr noundef, ptr noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZNSt14numeric_limitsIfE3maxEv() #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN13Visualization16SkeletonRenderer9GetJointsEv(ptr noundef nonnull align 8 dereferenceable(992)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(44) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

declare noundef zeroext i1 @_ZN11ViewControl15ProjectToScreenEPfPKf(ptr noundef nonnull align 4 dereferenceable(104), ptr noundef, ptr noundef) #5

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef float @_ZN7linmathL8vec2_lenEPKf(ptr noundef) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden void @_ZN7linmathL9vec3_copyEPfPKf(ptr noundef, ptr noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

declare void @_ZN11ViewControl13SetViewTargetEPKf(ptr noundef nonnull align 4 dereferenceable(104), ptr noundef) #5

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { 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 = { "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 = { 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 #7 = { 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 = !{!"float", !7, i64 0}
!11 = !{i64 0, i64 12, !12, i64 12, i64 16, !12, i64 28, i64 16, !12}
!12 = !{!7, !7, i64 0}


; 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.__gnu_cxx::__normal_iterator" = type { ptr }
%"struct.Visualization::Joint" = type { [3 x float], %"union.linmath::quaternion", [4 x float] }
%"union.linmath::quaternion" = type { %"struct.linmath::(anonymous union)::_wxyz" }
%"struct.linmath::(anonymous union)::_wxyz" = type { float, float, float, float }

; 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 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) #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN13Visualization18WindowController3d22ChangeCameraPivotPointER11ViewControlPf(ptr noundef nonnull align 8 dereferenceable(2184) %0, ptr noundef nonnull align 4 dereferenceable(104) %1, ptr noundef %2) local_unnamed_addr #2 align 2 {
  %4 = alloca [3 x float], align 4
  %5 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %6 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %7 = alloca %"struct.Visualization::Joint", align 4
  %8 = alloca [2 x float], align 4
  %9 = alloca [2 x float], align 4
  %10 = tail call noundef float @_ZNSt14numeric_limitsIfE3maxEv() #7
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %4) #7
  %11 = getelementptr inbounds i8, ptr %0, i64 736
  %12 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZN13Visualization16SkeletonRenderer9GetJointsEv(ptr noundef nonnull align 8 dereferenceable(992) %11)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  %13 = tail call ptr @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %12) #7
  store ptr %13, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #7
  %14 = tail call ptr @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %12) #7
  store ptr %14, ptr %6, align 8
  %15 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %5, ptr noundef nonnull align 8 dereferenceable(8) %6) #7
  br i1 %15, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %26, %3
  %.0.lcssa = phi float [ %10, %3 ], [ %.2, %26 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  %16 = call noundef float @_ZNSt14numeric_limitsIfE3maxEv() #7
  %17 = fcmp une float %.0.lcssa, %16
  br i1 %17, label %29, label %30

.lr.ph:                                           ; preds = %3, %26
  %.09 = phi float [ %.2, %26 ], [ %10, %3 ]
  call void @llvm.lifetime.start.p0(i64 44, ptr nonnull %7) #7
  %18 = call noundef nonnull align 4 dereferenceable(44) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %5) #7
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(44) %7, ptr noundef nonnull align 4 dereferenceable(44) %18, i64 44, i1 false), !tbaa.struct !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #7
  %19 = call noundef zeroext i1 @_ZN11ViewControl15ProjectToScreenEPfPKf(ptr noundef nonnull align 4 dereferenceable(104) %1, ptr noundef nonnull %8, ptr noundef nonnull %7)
  br i1 %19, label %20, label %26

20:                                               ; preds = %.lr.ph
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #7
  call void @_ZN7linmathL8vec2_subEPfPKfS2_(ptr noundef nonnull %9, ptr noundef %2, ptr noundef nonnull %8)
  %21 = call noundef float @_ZN7linmathL8vec2_lenEPKf(ptr noundef nonnull %9)
  %22 = fcmp olt float %21, %.09
  br i1 %22, label %23, label %25

23:                                               ; preds = %20
  %24 = call noundef float @_ZN7linmathL8vec2_lenEPKf(ptr noundef nonnull %9)
  call void @_ZN7linmathL9vec3_copyEPfPKf(ptr noundef nonnull %4, ptr noundef nonnull %7)
  br label %25

25:                                               ; preds = %23, %20
  %.1 = phi float [ %24, %23 ], [ %.09, %20 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #7
  br label %26

26:                                               ; preds = %25, %.lr.ph
  %.2 = phi float [ %.1, %25 ], [ %.09, %.lr.ph ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 44, ptr nonnull %7) #7
  %27 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %5) #7
  %28 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %5, ptr noundef nonnull align 8 dereferenceable(8) %6) #7
  br i1 %28, label %.lr.ph, label %._crit_edge

29:                                               ; preds = %._crit_edge
  call void @_ZN11ViewControl13SetViewTargetEPKf(ptr noundef nonnull align 4 dereferenceable(104) %1, ptr noundef nonnull %4)
  br label %30

30:                                               ; preds = %29, %._crit_edge
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %4) #7
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden void @_ZN7linmathL8vec2_subEPfPKfS2_(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZNSt14numeric_limitsIfE3maxEv() local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN13Visualization16SkeletonRenderer9GetJointsEv(ptr noundef nonnull align 8 dereferenceable(992)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN13Visualization5JointESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(44) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

declare noundef zeroext i1 @_ZN11ViewControl15ProjectToScreenEPfPKf(ptr noundef nonnull align 4 dereferenceable(104), ptr noundef, ptr noundef) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef float @_ZN7linmathL8vec2_lenEPKf(ptr noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden void @_ZN7linmathL9vec3_copyEPfPKf(ptr noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN13Visualization5JointESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

declare void @_ZN11ViewControl13SetViewTargetEPKf(ptr noundef nonnull align 4 dereferenceable(104), ptr noundef) local_unnamed_addr #5

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { 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 = { "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 = { 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 #7 = { 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 = !{i64 0, i64 12, !6, i64 12, i64 16, !6, i64 28, i64 16, !6}
!6 = !{!7, !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}


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