; LLVM IR from csabahruska/bullet :: cbits (Bullet)

; 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.btMatrix3x3 = type { [3 x %class.btVector3] }
%class.btVector3 = type { [4 x float] }
%class.btTransform = type { %class.btMatrix3x3, %class.btVector3 }

; 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: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48), i32 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64)) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local i32 @btGjkEpaSolver2_Distance(ptr noundef %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5) #2 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca %class.btMatrix3x3, align 4
  %15 = alloca %class.btVector3, align 4
  %16 = alloca %class.btTransform, align 4
  %17 = alloca ptr, align 8
  %18 = alloca %class.btMatrix3x3, align 4
  %19 = alloca %class.btVector3, align 4
  %20 = alloca %class.btTransform, align 4
  %21 = alloca %class.btVector3, align 4
  %22 = alloca ptr, align 8
  %23 = alloca i32, align 4
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store ptr %5, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #5
  %24 = load ptr, ptr %7, align 8, !tbaa !5
  store ptr %24, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr %14) #5
  %25 = load ptr, ptr %8, align 8, !tbaa !5
  %26 = getelementptr inbounds float, ptr %25, i64 0
  %27 = load ptr, ptr %8, align 8, !tbaa !5
  %28 = getelementptr inbounds float, ptr %27, i64 1
  %29 = load ptr, ptr %8, align 8, !tbaa !5
  %30 = getelementptr inbounds float, ptr %29, i64 2
  %31 = load ptr, ptr %8, align 8, !tbaa !5
  %32 = getelementptr inbounds float, ptr %31, i64 3
  %33 = load ptr, ptr %8, align 8, !tbaa !5
  %34 = getelementptr inbounds float, ptr %33, i64 4
  %35 = load ptr, ptr %8, align 8, !tbaa !5
  %36 = getelementptr inbounds float, ptr %35, i64 5
  %37 = load ptr, ptr %8, align 8, !tbaa !5
  %38 = getelementptr inbounds float, ptr %37, i64 6
  %39 = load ptr, ptr %8, align 8, !tbaa !5
  %40 = getelementptr inbounds float, ptr %39, i64 7
  %41 = load ptr, ptr %8, align 8, !tbaa !5
  %42 = getelementptr inbounds float, ptr %41, i64 8
  call void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48) %14, ptr noundef nonnull align 4 dereferenceable(4) %26, ptr noundef nonnull align 4 dereferenceable(4) %28, ptr noundef nonnull align 4 dereferenceable(4) %30, ptr noundef nonnull align 4 dereferenceable(4) %32, ptr noundef nonnull align 4 dereferenceable(4) %34, ptr noundef nonnull align 4 dereferenceable(4) %36, ptr noundef nonnull align 4 dereferenceable(4) %38, ptr noundef nonnull align 4 dereferenceable(4) %40, ptr noundef nonnull align 4 dereferenceable(4) %42)
  call void @llvm.lifetime.start.p0(i64 16, ptr %15) #5
  %43 = load ptr, ptr %8, align 8, !tbaa !5
  %44 = getelementptr inbounds float, ptr %43, i64 9
  %45 = load ptr, ptr %8, align 8, !tbaa !5
  %46 = getelementptr inbounds float, ptr %45, i64 10
  %47 = load ptr, ptr %8, align 8, !tbaa !5
  %48 = getelementptr inbounds float, ptr %47, i64 11
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %15, ptr noundef nonnull align 4 dereferenceable(4) %44, ptr noundef nonnull align 4 dereferenceable(4) %46, ptr noundef nonnull align 4 dereferenceable(4) %48)
  call void @llvm.lifetime.start.p0(i64 64, ptr %16) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %16, ptr noundef nonnull align 4 dereferenceable(48) %14, ptr noundef nonnull align 4 dereferenceable(16) %15)
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #5
  %49 = load ptr, ptr %9, align 8, !tbaa !5
  store ptr %49, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr %18) #5
  %50 = load ptr, ptr %10, align 8, !tbaa !5
  %51 = getelementptr inbounds float, ptr %50, i64 0
  %52 = load ptr, ptr %10, align 8, !tbaa !5
  %53 = getelementptr inbounds float, ptr %52, i64 1
  %54 = load ptr, ptr %10, align 8, !tbaa !5
  %55 = getelementptr inbounds float, ptr %54, i64 2
  %56 = load ptr, ptr %10, align 8, !tbaa !5
  %57 = getelementptr inbounds float, ptr %56, i64 3
  %58 = load ptr, ptr %10, align 8, !tbaa !5
  %59 = getelementptr inbounds float, ptr %58, i64 4
  %60 = load ptr, ptr %10, align 8, !tbaa !5
  %61 = getelementptr inbounds float, ptr %60, i64 5
  %62 = load ptr, ptr %10, align 8, !tbaa !5
  %63 = getelementptr inbounds float, ptr %62, i64 6
  %64 = load ptr, ptr %10, align 8, !tbaa !5
  %65 = getelementptr inbounds float, ptr %64, i64 7
  %66 = load ptr, ptr %10, align 8, !tbaa !5
  %67 = getelementptr inbounds float, ptr %66, i64 8
  call void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48) %18, ptr noundef nonnull align 4 dereferenceable(4) %51, ptr noundef nonnull align 4 dereferenceable(4) %53, ptr noundef nonnull align 4 dereferenceable(4) %55, ptr noundef nonnull align 4 dereferenceable(4) %57, ptr noundef nonnull align 4 dereferenceable(4) %59, ptr noundef nonnull align 4 dereferenceable(4) %61, ptr noundef nonnull align 4 dereferenceable(4) %63, ptr noundef nonnull align 4 dereferenceable(4) %65, ptr noundef nonnull align 4 dereferenceable(4) %67)
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #5
  %68 = load ptr, ptr %10, align 8, !tbaa !5
  %69 = getelementptr inbounds float, ptr %68, i64 9
  %70 = load ptr, ptr %10, align 8, !tbaa !5
  %71 = getelementptr inbounds float, ptr %70, i64 10
  %72 = load ptr, ptr %10, align 8, !tbaa !5
  %73 = getelementptr inbounds float, ptr %72, i64 11
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %19, ptr noundef nonnull align 4 dereferenceable(4) %69, ptr noundef nonnull align 4 dereferenceable(4) %71, ptr noundef nonnull align 4 dereferenceable(4) %73)
  call void @llvm.lifetime.start.p0(i64 64, ptr %20) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %20, ptr noundef nonnull align 4 dereferenceable(48) %18, ptr noundef nonnull align 4 dereferenceable(16) %19)
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #5
  %74 = load ptr, ptr %11, align 8, !tbaa !5
  %75 = getelementptr inbounds float, ptr %74, i64 0
  %76 = load ptr, ptr %11, align 8, !tbaa !5
  %77 = getelementptr inbounds float, ptr %76, i64 1
  %78 = load ptr, ptr %11, align 8, !tbaa !5
  %79 = getelementptr inbounds float, ptr %78, i64 2
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %21, ptr noundef nonnull align 4 dereferenceable(4) %75, ptr noundef nonnull align 4 dereferenceable(4) %77, ptr noundef nonnull align 4 dereferenceable(4) %79)
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #5
  %80 = load ptr, ptr %12, align 8, !tbaa !5
  store ptr %80, ptr %22, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #5
  %81 = load ptr, ptr %13, align 8, !tbaa !5
  %82 = load ptr, ptr %17, align 8, !tbaa !5
  %83 = load ptr, ptr %22, align 8, !tbaa !5
  %84 = call noundef zeroext i1 @_ZN15btGjkEpaSolver28DistanceEPK13btConvexShapeRK11btTransformS2_S5_RK9btVector3RNS_8sResultsE(ptr noundef %81, ptr noundef nonnull align 4 dereferenceable(64) %16, ptr noundef %82, ptr noundef nonnull align 4 dereferenceable(64) %20, ptr noundef nonnull align 4 dereferenceable(16) %21, ptr noundef nonnull align 4 dereferenceable(56) %83)
  %85 = zext i1 %84 to i32
  store i32 %85, ptr %23, align 4, !tbaa !9
  %86 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %87 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %86, i32 noundef 0)
  %88 = getelementptr inbounds %class.btVector3, ptr %87, i32 0, i32 0
  %89 = getelementptr inbounds [4 x float], ptr %88, i64 0, i64 0
  %90 = load float, ptr %89, align 4, !tbaa !11
  %91 = load ptr, ptr %8, align 8, !tbaa !5
  %92 = getelementptr inbounds float, ptr %91, i64 0
  store float %90, ptr %92, align 4, !tbaa !11
  %93 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %94 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %93, i32 noundef 0)
  %95 = getelementptr inbounds %class.btVector3, ptr %94, i32 0, i32 0
  %96 = getelementptr inbounds [4 x float], ptr %95, i64 0, i64 1
  %97 = load float, ptr %96, align 4, !tbaa !11
  %98 = load ptr, ptr %8, align 8, !tbaa !5
  %99 = getelementptr inbounds float, ptr %98, i64 1
  store float %97, ptr %99, align 4, !tbaa !11
  %100 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %101 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %100, i32 noundef 0)
  %102 = getelementptr inbounds %class.btVector3, ptr %101, i32 0, i32 0
  %103 = getelementptr inbounds [4 x float], ptr %102, i64 0, i64 2
  %104 = load float, ptr %103, align 4, !tbaa !11
  %105 = load ptr, ptr %8, align 8, !tbaa !5
  %106 = getelementptr inbounds float, ptr %105, i64 2
  store float %104, ptr %106, align 4, !tbaa !11
  %107 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %108 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %107, i32 noundef 1)
  %109 = getelementptr inbounds %class.btVector3, ptr %108, i32 0, i32 0
  %110 = getelementptr inbounds [4 x float], ptr %109, i64 0, i64 0
  %111 = load float, ptr %110, align 4, !tbaa !11
  %112 = load ptr, ptr %8, align 8, !tbaa !5
  %113 = getelementptr inbounds float, ptr %112, i64 3
  store float %111, ptr %113, align 4, !tbaa !11
  %114 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %115 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %114, i32 noundef 1)
  %116 = getelementptr inbounds %class.btVector3, ptr %115, i32 0, i32 0
  %117 = getelementptr inbounds [4 x float], ptr %116, i64 0, i64 1
  %118 = load float, ptr %117, align 4, !tbaa !11
  %119 = load ptr, ptr %8, align 8, !tbaa !5
  %120 = getelementptr inbounds float, ptr %119, i64 4
  store float %118, ptr %120, align 4, !tbaa !11
  %121 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %122 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %121, i32 noundef 1)
  %123 = getelementptr inbounds %class.btVector3, ptr %122, i32 0, i32 0
  %124 = getelementptr inbounds [4 x float], ptr %123, i64 0, i64 2
  %125 = load float, ptr %124, align 4, !tbaa !11
  %126 = load ptr, ptr %8, align 8, !tbaa !5
  %127 = getelementptr inbounds float, ptr %126, i64 5
  store float %125, ptr %127, align 4, !tbaa !11
  %128 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %129 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %128, i32 noundef 2)
  %130 = getelementptr inbounds %class.btVector3, ptr %129, i32 0, i32 0
  %131 = getelementptr inbounds [4 x float], ptr %130, i64 0, i64 0
  %132 = load float, ptr %131, align 4, !tbaa !11
  %133 = load ptr, ptr %8, align 8, !tbaa !5
  %134 = getelementptr inbounds float, ptr %133, i64 6
  store float %132, ptr %134, align 4, !tbaa !11
  %135 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %136 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %135, i32 noundef 2)
  %137 = getelementptr inbounds %class.btVector3, ptr %136, i32 0, i32 0
  %138 = getelementptr inbounds [4 x float], ptr %137, i64 0, i64 1
  %139 = load float, ptr %138, align 4, !tbaa !11
  %140 = load ptr, ptr %8, align 8, !tbaa !5
  %141 = getelementptr inbounds float, ptr %140, i64 7
  store float %139, ptr %141, align 4, !tbaa !11
  %142 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %143 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %142, i32 noundef 2)
  %144 = getelementptr inbounds %class.btVector3, ptr %143, i32 0, i32 0
  %145 = getelementptr inbounds [4 x float], ptr %144, i64 0, i64 2
  %146 = load float, ptr %145, align 4, !tbaa !11
  %147 = load ptr, ptr %8, align 8, !tbaa !5
  %148 = getelementptr inbounds float, ptr %147, i64 8
  store float %146, ptr %148, align 4, !tbaa !11
  %149 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %150 = getelementptr inbounds %class.btVector3, ptr %149, i32 0, i32 0
  %151 = getelementptr inbounds [4 x float], ptr %150, i64 0, i64 0
  %152 = load float, ptr %151, align 4, !tbaa !11
  %153 = load ptr, ptr %8, align 8, !tbaa !5
  %154 = getelementptr inbounds float, ptr %153, i64 9
  store float %152, ptr %154, align 4, !tbaa !11
  %155 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %156 = getelementptr inbounds %class.btVector3, ptr %155, i32 0, i32 0
  %157 = getelementptr inbounds [4 x float], ptr %156, i64 0, i64 1
  %158 = load float, ptr %157, align 4, !tbaa !11
  %159 = load ptr, ptr %8, align 8, !tbaa !5
  %160 = getelementptr inbounds float, ptr %159, i64 10
  store float %158, ptr %160, align 4, !tbaa !11
  %161 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %16)
  %162 = getelementptr inbounds %class.btVector3, ptr %161, i32 0, i32 0
  %163 = getelementptr inbounds [4 x float], ptr %162, i64 0, i64 2
  %164 = load float, ptr %163, align 4, !tbaa !11
  %165 = load ptr, ptr %8, align 8, !tbaa !5
  %166 = getelementptr inbounds float, ptr %165, i64 11
  store float %164, ptr %166, align 4, !tbaa !11
  %167 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %168 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %167, i32 noundef 0)
  %169 = getelementptr inbounds %class.btVector3, ptr %168, i32 0, i32 0
  %170 = getelementptr inbounds [4 x float], ptr %169, i64 0, i64 0
  %171 = load float, ptr %170, align 4, !tbaa !11
  %172 = load ptr, ptr %10, align 8, !tbaa !5
  %173 = getelementptr inbounds float, ptr %172, i64 0
  store float %171, ptr %173, align 4, !tbaa !11
  %174 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %175 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %174, i32 noundef 0)
  %176 = getelementptr inbounds %class.btVector3, ptr %175, i32 0, i32 0
  %177 = getelementptr inbounds [4 x float], ptr %176, i64 0, i64 1
  %178 = load float, ptr %177, align 4, !tbaa !11
  %179 = load ptr, ptr %10, align 8, !tbaa !5
  %180 = getelementptr inbounds float, ptr %179, i64 1
  store float %178, ptr %180, align 4, !tbaa !11
  %181 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %182 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %181, i32 noundef 0)
  %183 = getelementptr inbounds %class.btVector3, ptr %182, i32 0, i32 0
  %184 = getelementptr inbounds [4 x float], ptr %183, i64 0, i64 2
  %185 = load float, ptr %184, align 4, !tbaa !11
  %186 = load ptr, ptr %10, align 8, !tbaa !5
  %187 = getelementptr inbounds float, ptr %186, i64 2
  store float %185, ptr %187, align 4, !tbaa !11
  %188 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %189 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %188, i32 noundef 1)
  %190 = getelementptr inbounds %class.btVector3, ptr %189, i32 0, i32 0
  %191 = getelementptr inbounds [4 x float], ptr %190, i64 0, i64 0
  %192 = load float, ptr %191, align 4, !tbaa !11
  %193 = load ptr, ptr %10, align 8, !tbaa !5
  %194 = getelementptr inbounds float, ptr %193, i64 3
  store float %192, ptr %194, align 4, !tbaa !11
  %195 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %196 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %195, i32 noundef 1)
  %197 = getelementptr inbounds %class.btVector3, ptr %196, i32 0, i32 0
  %198 = getelementptr inbounds [4 x float], ptr %197, i64 0, i64 1
  %199 = load float, ptr %198, align 4, !tbaa !11
  %200 = load ptr, ptr %10, align 8, !tbaa !5
  %201 = getelementptr inbounds float, ptr %200, i64 4
  store float %199, ptr %201, align 4, !tbaa !11
  %202 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %203 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %202, i32 noundef 1)
  %204 = getelementptr inbounds %class.btVector3, ptr %203, i32 0, i32 0
  %205 = getelementptr inbounds [4 x float], ptr %204, i64 0, i64 2
  %206 = load float, ptr %205, align 4, !tbaa !11
  %207 = load ptr, ptr %10, align 8, !tbaa !5
  %208 = getelementptr inbounds float, ptr %207, i64 5
  store float %206, ptr %208, align 4, !tbaa !11
  %209 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %210 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %209, i32 noundef 2)
  %211 = getelementptr inbounds %class.btVector3, ptr %210, i32 0, i32 0
  %212 = getelementptr inbounds [4 x float], ptr %211, i64 0, i64 0
  %213 = load float, ptr %212, align 4, !tbaa !11
  %214 = load ptr, ptr %10, align 8, !tbaa !5
  %215 = getelementptr inbounds float, ptr %214, i64 6
  store float %213, ptr %215, align 4, !tbaa !11
  %216 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %217 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %216, i32 noundef 2)
  %218 = getelementptr inbounds %class.btVector3, ptr %217, i32 0, i32 0
  %219 = getelementptr inbounds [4 x float], ptr %218, i64 0, i64 1
  %220 = load float, ptr %219, align 4, !tbaa !11
  %221 = load ptr, ptr %10, align 8, !tbaa !5
  %222 = getelementptr inbounds float, ptr %221, i64 7
  store float %220, ptr %222, align 4, !tbaa !11
  %223 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %224 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %223, i32 noundef 2)
  %225 = getelementptr inbounds %class.btVector3, ptr %224, i32 0, i32 0
  %226 = getelementptr inbounds [4 x float], ptr %225, i64 0, i64 2
  %227 = load float, ptr %226, align 4, !tbaa !11
  %228 = load ptr, ptr %10, align 8, !tbaa !5
  %229 = getelementptr inbounds float, ptr %228, i64 8
  store float %227, ptr %229, align 4, !tbaa !11
  %230 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %231 = getelementptr inbounds %class.btVector3, ptr %230, i32 0, i32 0
  %232 = getelementptr inbounds [4 x float], ptr %231, i64 0, i64 0
  %233 = load float, ptr %232, align 4, !tbaa !11
  %234 = load ptr, ptr %10, align 8, !tbaa !5
  %235 = getelementptr inbounds float, ptr %234, i64 9
  store float %233, ptr %235, align 4, !tbaa !11
  %236 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %237 = getelementptr inbounds %class.btVector3, ptr %236, i32 0, i32 0
  %238 = getelementptr inbounds [4 x float], ptr %237, i64 0, i64 1
  %239 = load float, ptr %238, align 4, !tbaa !11
  %240 = load ptr, ptr %10, align 8, !tbaa !5
  %241 = getelementptr inbounds float, ptr %240, i64 10
  store float %239, ptr %241, align 4, !tbaa !11
  %242 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %20)
  %243 = getelementptr inbounds %class.btVector3, ptr %242, i32 0, i32 0
  %244 = getelementptr inbounds [4 x float], ptr %243, i64 0, i64 2
  %245 = load float, ptr %244, align 4, !tbaa !11
  %246 = load ptr, ptr %10, align 8, !tbaa !5
  %247 = getelementptr inbounds float, ptr %246, i64 11
  store float %245, ptr %247, align 4, !tbaa !11
  %248 = getelementptr inbounds %class.btVector3, ptr %21, i32 0, i32 0
  %249 = getelementptr inbounds [4 x float], ptr %248, i64 0, i64 0
  %250 = load float, ptr %249, align 4, !tbaa !11
  %251 = load ptr, ptr %11, align 8, !tbaa !5
  %252 = getelementptr inbounds float, ptr %251, i64 0
  store float %250, ptr %252, align 4, !tbaa !11
  %253 = getelementptr inbounds %class.btVector3, ptr %21, i32 0, i32 0
  %254 = getelementptr inbounds [4 x float], ptr %253, i64 0, i64 1
  %255 = load float, ptr %254, align 4, !tbaa !11
  %256 = load ptr, ptr %11, align 8, !tbaa !5
  %257 = getelementptr inbounds float, ptr %256, i64 1
  store float %255, ptr %257, align 4, !tbaa !11
  %258 = getelementptr inbounds %class.btVector3, ptr %21, i32 0, i32 0
  %259 = getelementptr inbounds [4 x float], ptr %258, i64 0, i64 2
  %260 = load float, ptr %259, align 4, !tbaa !11
  %261 = load ptr, ptr %11, align 8, !tbaa !5
  %262 = getelementptr inbounds float, ptr %261, i64 2
  store float %260, ptr %262, align 4, !tbaa !11
  %263 = load i32, ptr %23, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr %20) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr %18) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr %16) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr %14) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #5
  ret i32 %263
}

declare noundef zeroext i1 @_ZN15btGjkEpaSolver28DistanceEPK13btConvexShapeRK11btTransformS2_S5_RK9btVector3RNS_8sResultsE(ptr noundef, ptr noundef nonnull align 4 dereferenceable(64), ptr noundef, ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(56)) #4

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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 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 = { "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 = { 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, !12, i64 0}
!12 = !{!"float", !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.btMatrix3x3 = type { [3 x %class.btVector3] }
%class.btVector3 = type { [4 x float] }
%class.btTransform = type { %class.btMatrix3x3, %class.btVector3 }

; 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: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48), i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local range(i32 0, 2) i32 @btGjkEpaSolver2_Distance(ptr noundef %0, ptr noundef nonnull %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5) local_unnamed_addr #2 {
  %7 = alloca %class.btMatrix3x3, align 4
  %8 = alloca %class.btVector3, align 4
  %9 = alloca %class.btTransform, align 4
  %10 = alloca %class.btMatrix3x3, align 4
  %11 = alloca %class.btVector3, align 4
  %12 = alloca %class.btTransform, align 4
  %13 = alloca %class.btVector3, align 8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %7) #5
  %14 = getelementptr inbounds i8, ptr %1, i64 4
  %15 = getelementptr inbounds i8, ptr %1, i64 8
  %16 = getelementptr inbounds i8, ptr %1, i64 12
  %17 = getelementptr inbounds i8, ptr %1, i64 16
  %18 = getelementptr inbounds i8, ptr %1, i64 20
  %19 = getelementptr inbounds i8, ptr %1, i64 24
  %20 = getelementptr inbounds i8, ptr %1, i64 28
  %21 = getelementptr inbounds i8, ptr %1, i64 32
  call void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48) %7, ptr noundef nonnull align 4 dereferenceable(4) %1, ptr noundef nonnull align 4 dereferenceable(4) %14, ptr noundef nonnull align 4 dereferenceable(4) %15, ptr noundef nonnull align 4 dereferenceable(4) %16, ptr noundef nonnull align 4 dereferenceable(4) %17, ptr noundef nonnull align 4 dereferenceable(4) %18, ptr noundef nonnull align 4 dereferenceable(4) %19, ptr noundef nonnull align 4 dereferenceable(4) %20, ptr noundef nonnull align 4 dereferenceable(4) %21)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #5
  %22 = getelementptr inbounds i8, ptr %1, i64 36
  %23 = getelementptr inbounds i8, ptr %1, i64 40
  %24 = getelementptr inbounds i8, ptr %1, i64 44
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %8, ptr noundef nonnull align 4 dereferenceable(4) %22, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull align 4 dereferenceable(4) %24)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %9) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %9, ptr noundef nonnull align 4 dereferenceable(48) %7, ptr noundef nonnull align 4 dereferenceable(16) %8)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %10) #5
  %25 = getelementptr inbounds i8, ptr %3, i64 4
  %26 = getelementptr inbounds i8, ptr %3, i64 8
  %27 = getelementptr inbounds i8, ptr %3, i64 12
  %28 = getelementptr inbounds i8, ptr %3, i64 16
  %29 = getelementptr inbounds i8, ptr %3, i64 20
  %30 = getelementptr inbounds i8, ptr %3, i64 24
  %31 = getelementptr inbounds i8, ptr %3, i64 28
  %32 = getelementptr inbounds i8, ptr %3, i64 32
  call void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48) %10, ptr noundef nonnull align 4 dereferenceable(4) %3, ptr noundef nonnull align 4 dereferenceable(4) %25, ptr noundef nonnull align 4 dereferenceable(4) %26, ptr noundef nonnull align 4 dereferenceable(4) %27, ptr noundef nonnull align 4 dereferenceable(4) %28, ptr noundef nonnull align 4 dereferenceable(4) %29, ptr noundef nonnull align 4 dereferenceable(4) %30, ptr noundef nonnull align 4 dereferenceable(4) %31, ptr noundef nonnull align 4 dereferenceable(4) %32)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #5
  %33 = getelementptr inbounds i8, ptr %3, i64 36
  %34 = getelementptr inbounds i8, ptr %3, i64 40
  %35 = getelementptr inbounds i8, ptr %3, i64 44
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %11, ptr noundef nonnull align 4 dereferenceable(4) %33, ptr noundef nonnull align 4 dereferenceable(4) %34, ptr noundef nonnull align 4 dereferenceable(4) %35)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %12) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %12, ptr noundef nonnull align 4 dereferenceable(48) %10, ptr noundef nonnull align 4 dereferenceable(16) %11)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #5
  %36 = getelementptr inbounds i8, ptr %4, i64 4
  %37 = getelementptr inbounds i8, ptr %4, i64 8
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %13, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef nonnull align 4 dereferenceable(4) %36, ptr noundef nonnull align 4 dereferenceable(4) %37)
  %38 = call noundef zeroext i1 @_ZN15btGjkEpaSolver28DistanceEPK13btConvexShapeRK11btTransformS2_S5_RK9btVector3RNS_8sResultsE(ptr noundef %0, ptr noundef nonnull align 4 dereferenceable(64) %9, ptr noundef %2, ptr noundef nonnull align 4 dereferenceable(64) %12, ptr noundef nonnull align 4 dereferenceable(16) %13, ptr noundef nonnull align 4 dereferenceable(56) %5)
  %39 = zext i1 %38 to i32
  %40 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %41 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %40, i32 noundef 0)
  %42 = load float, ptr %41, align 4, !tbaa !5
  store float %42, ptr %1, align 4, !tbaa !5
  %43 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %44 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %43, i32 noundef 0)
  %45 = getelementptr inbounds i8, ptr %44, i64 4
  %46 = load float, ptr %45, align 4, !tbaa !5
  store float %46, ptr %14, align 4, !tbaa !5
  %47 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %48 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %47, i32 noundef 0)
  %49 = getelementptr inbounds i8, ptr %48, i64 8
  %50 = load float, ptr %49, align 4, !tbaa !5
  store float %50, ptr %15, align 4, !tbaa !5
  %51 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %52 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %51, i32 noundef 1)
  %53 = load float, ptr %52, align 4, !tbaa !5
  store float %53, ptr %16, align 4, !tbaa !5
  %54 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %55 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %54, i32 noundef 1)
  %56 = getelementptr inbounds i8, ptr %55, i64 4
  %57 = load float, ptr %56, align 4, !tbaa !5
  store float %57, ptr %17, align 4, !tbaa !5
  %58 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %59 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %58, i32 noundef 1)
  %60 = getelementptr inbounds i8, ptr %59, i64 8
  %61 = load float, ptr %60, align 4, !tbaa !5
  store float %61, ptr %18, align 4, !tbaa !5
  %62 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %63 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %62, i32 noundef 2)
  %64 = load float, ptr %63, align 4, !tbaa !5
  store float %64, ptr %19, align 4, !tbaa !5
  %65 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %66 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %65, i32 noundef 2)
  %67 = getelementptr inbounds i8, ptr %66, i64 4
  %68 = load float, ptr %67, align 4, !tbaa !5
  store float %68, ptr %20, align 4, !tbaa !5
  %69 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %70 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %69, i32 noundef 2)
  %71 = getelementptr inbounds i8, ptr %70, i64 8
  %72 = load float, ptr %71, align 4, !tbaa !5
  store float %72, ptr %21, align 4, !tbaa !5
  %73 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %74 = load float, ptr %73, align 4, !tbaa !5
  store float %74, ptr %22, align 4, !tbaa !5
  %75 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %76 = getelementptr inbounds i8, ptr %75, i64 4
  %77 = load float, ptr %76, align 4, !tbaa !5
  store float %77, ptr %23, align 4, !tbaa !5
  %78 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %79 = getelementptr inbounds i8, ptr %78, i64 8
  %80 = load float, ptr %79, align 4, !tbaa !5
  store float %80, ptr %24, align 4, !tbaa !5
  %81 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %82 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %81, i32 noundef 0)
  %83 = load float, ptr %82, align 4, !tbaa !5
  store float %83, ptr %3, align 4, !tbaa !5
  %84 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %85 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %84, i32 noundef 0)
  %86 = getelementptr inbounds i8, ptr %85, i64 4
  %87 = load float, ptr %86, align 4, !tbaa !5
  store float %87, ptr %25, align 4, !tbaa !5
  %88 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %89 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %88, i32 noundef 0)
  %90 = getelementptr inbounds i8, ptr %89, i64 8
  %91 = load float, ptr %90, align 4, !tbaa !5
  store float %91, ptr %26, align 4, !tbaa !5
  %92 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %93 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %92, i32 noundef 1)
  %94 = load float, ptr %93, align 4, !tbaa !5
  store float %94, ptr %27, align 4, !tbaa !5
  %95 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %96 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %95, i32 noundef 1)
  %97 = getelementptr inbounds i8, ptr %96, i64 4
  %98 = load float, ptr %97, align 4, !tbaa !5
  store float %98, ptr %28, align 4, !tbaa !5
  %99 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %100 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %99, i32 noundef 1)
  %101 = getelementptr inbounds i8, ptr %100, i64 8
  %102 = load float, ptr %101, align 4, !tbaa !5
  store float %102, ptr %29, align 4, !tbaa !5
  %103 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %104 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %103, i32 noundef 2)
  %105 = load float, ptr %104, align 4, !tbaa !5
  store float %105, ptr %30, align 4, !tbaa !5
  %106 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %107 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %106, i32 noundef 2)
  %108 = getelementptr inbounds i8, ptr %107, i64 4
  %109 = load float, ptr %108, align 4, !tbaa !5
  store float %109, ptr %31, align 4, !tbaa !5
  %110 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %111 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %110, i32 noundef 2)
  %112 = getelementptr inbounds i8, ptr %111, i64 8
  %113 = load float, ptr %112, align 4, !tbaa !5
  store float %113, ptr %32, align 4, !tbaa !5
  %114 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %115 = load float, ptr %114, align 4, !tbaa !5
  store float %115, ptr %33, align 4, !tbaa !5
  %116 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %117 = getelementptr inbounds i8, ptr %116, i64 4
  %118 = load float, ptr %117, align 4, !tbaa !5
  store float %118, ptr %34, align 4, !tbaa !5
  %119 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %12)
  %120 = getelementptr inbounds i8, ptr %119, i64 8
  %121 = load float, ptr %120, align 4, !tbaa !5
  store float %121, ptr %35, align 4, !tbaa !5
  %122 = load <2 x float>, ptr %13, align 8, !tbaa !5
  store <2 x float> %122, ptr %4, align 4, !tbaa !5
  %123 = getelementptr inbounds i8, ptr %13, i64 8
  %124 = load float, ptr %123, align 8, !tbaa !5
  store float %124, ptr %37, align 4, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %12) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %9) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %7) #5
  ret i32 %39
}

declare noundef zeroext i1 @_ZN15btGjkEpaSolver28DistanceEPK13btConvexShapeRK11btTransformS2_S5_RK9btVector3RNS_8sResultsE(ptr noundef, ptr noundef nonnull align 4 dereferenceable(64), ptr noundef, ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(56)) local_unnamed_addr #4

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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 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 = { "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 = { 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 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass