; 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_Penetration(ptr noundef %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, i32 noundef %6) #2 {
  %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 i32, align 4
  %15 = alloca ptr, align 8
  %16 = alloca %class.btMatrix3x3, align 4
  %17 = alloca %class.btVector3, align 4
  %18 = alloca %class.btTransform, align 4
  %19 = alloca ptr, align 8
  %20 = alloca %class.btMatrix3x3, align 4
  %21 = alloca %class.btVector3, align 4
  %22 = alloca %class.btTransform, align 4
  %23 = alloca %class.btVector3, align 4
  %24 = alloca ptr, align 8
  %25 = alloca i32, align 4
  store ptr %0, ptr %8, align 8, !tbaa !5
  store ptr %1, ptr %9, align 8, !tbaa !5
  store ptr %2, ptr %10, align 8, !tbaa !5
  store ptr %3, ptr %11, align 8, !tbaa !5
  store ptr %4, ptr %12, align 8, !tbaa !5
  store ptr %5, ptr %13, align 8, !tbaa !5
  store i32 %6, ptr %14, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #5
  %26 = load ptr, ptr %8, align 8, !tbaa !5
  store ptr %26, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr %16) #5
  %27 = load ptr, ptr %9, align 8, !tbaa !5
  %28 = getelementptr inbounds float, ptr %27, i64 0
  %29 = load ptr, ptr %9, align 8, !tbaa !5
  %30 = getelementptr inbounds float, ptr %29, i64 1
  %31 = load ptr, ptr %9, align 8, !tbaa !5
  %32 = getelementptr inbounds float, ptr %31, i64 2
  %33 = load ptr, ptr %9, align 8, !tbaa !5
  %34 = getelementptr inbounds float, ptr %33, i64 3
  %35 = load ptr, ptr %9, align 8, !tbaa !5
  %36 = getelementptr inbounds float, ptr %35, i64 4
  %37 = load ptr, ptr %9, align 8, !tbaa !5
  %38 = getelementptr inbounds float, ptr %37, i64 5
  %39 = load ptr, ptr %9, align 8, !tbaa !5
  %40 = getelementptr inbounds float, ptr %39, i64 6
  %41 = load ptr, ptr %9, align 8, !tbaa !5
  %42 = getelementptr inbounds float, ptr %41, i64 7
  %43 = load ptr, ptr %9, align 8, !tbaa !5
  %44 = getelementptr inbounds float, ptr %43, i64 8
  call void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48) %16, 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, ptr noundef nonnull align 4 dereferenceable(4) %44)
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #5
  %45 = load ptr, ptr %9, align 8, !tbaa !5
  %46 = getelementptr inbounds float, ptr %45, i64 9
  %47 = load ptr, ptr %9, align 8, !tbaa !5
  %48 = getelementptr inbounds float, ptr %47, i64 10
  %49 = load ptr, ptr %9, align 8, !tbaa !5
  %50 = getelementptr inbounds float, ptr %49, i64 11
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %17, ptr noundef nonnull align 4 dereferenceable(4) %46, ptr noundef nonnull align 4 dereferenceable(4) %48, ptr noundef nonnull align 4 dereferenceable(4) %50)
  call void @llvm.lifetime.start.p0(i64 64, ptr %18) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %18, ptr noundef nonnull align 4 dereferenceable(48) %16, ptr noundef nonnull align 4 dereferenceable(16) %17)
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #5
  %51 = load ptr, ptr %10, align 8, !tbaa !5
  store ptr %51, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr %20) #5
  %52 = load ptr, ptr %11, align 8, !tbaa !5
  %53 = getelementptr inbounds float, ptr %52, i64 0
  %54 = load ptr, ptr %11, align 8, !tbaa !5
  %55 = getelementptr inbounds float, ptr %54, i64 1
  %56 = load ptr, ptr %11, align 8, !tbaa !5
  %57 = getelementptr inbounds float, ptr %56, i64 2
  %58 = load ptr, ptr %11, align 8, !tbaa !5
  %59 = getelementptr inbounds float, ptr %58, i64 3
  %60 = load ptr, ptr %11, align 8, !tbaa !5
  %61 = getelementptr inbounds float, ptr %60, i64 4
  %62 = load ptr, ptr %11, align 8, !tbaa !5
  %63 = getelementptr inbounds float, ptr %62, i64 5
  %64 = load ptr, ptr %11, align 8, !tbaa !5
  %65 = getelementptr inbounds float, ptr %64, i64 6
  %66 = load ptr, ptr %11, align 8, !tbaa !5
  %67 = getelementptr inbounds float, ptr %66, i64 7
  %68 = load ptr, ptr %11, align 8, !tbaa !5
  %69 = getelementptr inbounds float, ptr %68, i64 8
  call void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48) %20, 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, ptr noundef nonnull align 4 dereferenceable(4) %69)
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #5
  %70 = load ptr, ptr %11, align 8, !tbaa !5
  %71 = getelementptr inbounds float, ptr %70, i64 9
  %72 = load ptr, ptr %11, align 8, !tbaa !5
  %73 = getelementptr inbounds float, ptr %72, i64 10
  %74 = load ptr, ptr %11, align 8, !tbaa !5
  %75 = getelementptr inbounds float, ptr %74, i64 11
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %21, ptr noundef nonnull align 4 dereferenceable(4) %71, ptr noundef nonnull align 4 dereferenceable(4) %73, ptr noundef nonnull align 4 dereferenceable(4) %75)
  call void @llvm.lifetime.start.p0(i64 64, ptr %22) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %22, ptr noundef nonnull align 4 dereferenceable(48) %20, ptr noundef nonnull align 4 dereferenceable(16) %21)
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #5
  %76 = load ptr, ptr %12, align 8, !tbaa !5
  %77 = getelementptr inbounds float, ptr %76, i64 0
  %78 = load ptr, ptr %12, align 8, !tbaa !5
  %79 = getelementptr inbounds float, ptr %78, i64 1
  %80 = load ptr, ptr %12, align 8, !tbaa !5
  %81 = getelementptr inbounds float, ptr %80, i64 2
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %23, ptr noundef nonnull align 4 dereferenceable(4) %77, ptr noundef nonnull align 4 dereferenceable(4) %79, ptr noundef nonnull align 4 dereferenceable(4) %81)
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #5
  %82 = load ptr, ptr %13, align 8, !tbaa !5
  store ptr %82, ptr %24, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #5
  %83 = load ptr, ptr %15, align 8, !tbaa !5
  %84 = load ptr, ptr %19, align 8, !tbaa !5
  %85 = load ptr, ptr %24, align 8, !tbaa !5
  %86 = load i32, ptr %14, align 4, !tbaa !9
  %87 = icmp ne i32 %86, 0
  %88 = call noundef zeroext i1 @_ZN15btGjkEpaSolver211PenetrationEPK13btConvexShapeRK11btTransformS2_S5_RK9btVector3RNS_8sResultsEb(ptr noundef %83, ptr noundef nonnull align 4 dereferenceable(64) %18, ptr noundef %84, ptr noundef nonnull align 4 dereferenceable(64) %22, ptr noundef nonnull align 4 dereferenceable(16) %23, ptr noundef nonnull align 4 dereferenceable(56) %85, i1 noundef zeroext %87)
  %89 = zext i1 %88 to i32
  store i32 %89, ptr %25, align 4, !tbaa !9
  %90 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %91 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %90, i32 noundef 0)
  %92 = getelementptr inbounds %class.btVector3, ptr %91, i32 0, i32 0
  %93 = getelementptr inbounds [4 x float], ptr %92, i64 0, i64 0
  %94 = load float, ptr %93, align 4, !tbaa !11
  %95 = load ptr, ptr %9, align 8, !tbaa !5
  %96 = getelementptr inbounds float, ptr %95, i64 0
  store float %94, ptr %96, align 4, !tbaa !11
  %97 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %98 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %97, i32 noundef 0)
  %99 = getelementptr inbounds %class.btVector3, ptr %98, i32 0, i32 0
  %100 = getelementptr inbounds [4 x float], ptr %99, i64 0, i64 1
  %101 = load float, ptr %100, align 4, !tbaa !11
  %102 = load ptr, ptr %9, align 8, !tbaa !5
  %103 = getelementptr inbounds float, ptr %102, i64 1
  store float %101, ptr %103, align 4, !tbaa !11
  %104 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %105 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %104, i32 noundef 0)
  %106 = getelementptr inbounds %class.btVector3, ptr %105, i32 0, i32 0
  %107 = getelementptr inbounds [4 x float], ptr %106, i64 0, i64 2
  %108 = load float, ptr %107, align 4, !tbaa !11
  %109 = load ptr, ptr %9, align 8, !tbaa !5
  %110 = getelementptr inbounds float, ptr %109, i64 2
  store float %108, ptr %110, align 4, !tbaa !11
  %111 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %112 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %111, i32 noundef 1)
  %113 = getelementptr inbounds %class.btVector3, ptr %112, i32 0, i32 0
  %114 = getelementptr inbounds [4 x float], ptr %113, i64 0, i64 0
  %115 = load float, ptr %114, align 4, !tbaa !11
  %116 = load ptr, ptr %9, align 8, !tbaa !5
  %117 = getelementptr inbounds float, ptr %116, i64 3
  store float %115, ptr %117, align 4, !tbaa !11
  %118 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %119 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %118, i32 noundef 1)
  %120 = getelementptr inbounds %class.btVector3, ptr %119, i32 0, i32 0
  %121 = getelementptr inbounds [4 x float], ptr %120, i64 0, i64 1
  %122 = load float, ptr %121, align 4, !tbaa !11
  %123 = load ptr, ptr %9, align 8, !tbaa !5
  %124 = getelementptr inbounds float, ptr %123, i64 4
  store float %122, ptr %124, align 4, !tbaa !11
  %125 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %126 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %125, i32 noundef 1)
  %127 = getelementptr inbounds %class.btVector3, ptr %126, i32 0, i32 0
  %128 = getelementptr inbounds [4 x float], ptr %127, i64 0, i64 2
  %129 = load float, ptr %128, align 4, !tbaa !11
  %130 = load ptr, ptr %9, align 8, !tbaa !5
  %131 = getelementptr inbounds float, ptr %130, i64 5
  store float %129, ptr %131, align 4, !tbaa !11
  %132 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %133 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %132, i32 noundef 2)
  %134 = getelementptr inbounds %class.btVector3, ptr %133, i32 0, i32 0
  %135 = getelementptr inbounds [4 x float], ptr %134, i64 0, i64 0
  %136 = load float, ptr %135, align 4, !tbaa !11
  %137 = load ptr, ptr %9, align 8, !tbaa !5
  %138 = getelementptr inbounds float, ptr %137, i64 6
  store float %136, ptr %138, align 4, !tbaa !11
  %139 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %140 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %139, i32 noundef 2)
  %141 = getelementptr inbounds %class.btVector3, ptr %140, i32 0, i32 0
  %142 = getelementptr inbounds [4 x float], ptr %141, i64 0, i64 1
  %143 = load float, ptr %142, align 4, !tbaa !11
  %144 = load ptr, ptr %9, align 8, !tbaa !5
  %145 = getelementptr inbounds float, ptr %144, i64 7
  store float %143, ptr %145, align 4, !tbaa !11
  %146 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %147 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %146, i32 noundef 2)
  %148 = getelementptr inbounds %class.btVector3, ptr %147, i32 0, i32 0
  %149 = getelementptr inbounds [4 x float], ptr %148, i64 0, i64 2
  %150 = load float, ptr %149, align 4, !tbaa !11
  %151 = load ptr, ptr %9, align 8, !tbaa !5
  %152 = getelementptr inbounds float, ptr %151, i64 8
  store float %150, ptr %152, align 4, !tbaa !11
  %153 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %154 = getelementptr inbounds %class.btVector3, ptr %153, i32 0, i32 0
  %155 = getelementptr inbounds [4 x float], ptr %154, i64 0, i64 0
  %156 = load float, ptr %155, align 4, !tbaa !11
  %157 = load ptr, ptr %9, align 8, !tbaa !5
  %158 = getelementptr inbounds float, ptr %157, i64 9
  store float %156, ptr %158, align 4, !tbaa !11
  %159 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %160 = getelementptr inbounds %class.btVector3, ptr %159, i32 0, i32 0
  %161 = getelementptr inbounds [4 x float], ptr %160, i64 0, i64 1
  %162 = load float, ptr %161, align 4, !tbaa !11
  %163 = load ptr, ptr %9, align 8, !tbaa !5
  %164 = getelementptr inbounds float, ptr %163, i64 10
  store float %162, ptr %164, align 4, !tbaa !11
  %165 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %18)
  %166 = getelementptr inbounds %class.btVector3, ptr %165, i32 0, i32 0
  %167 = getelementptr inbounds [4 x float], ptr %166, i64 0, i64 2
  %168 = load float, ptr %167, align 4, !tbaa !11
  %169 = load ptr, ptr %9, align 8, !tbaa !5
  %170 = getelementptr inbounds float, ptr %169, i64 11
  store float %168, ptr %170, align 4, !tbaa !11
  %171 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %172 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %171, i32 noundef 0)
  %173 = getelementptr inbounds %class.btVector3, ptr %172, i32 0, i32 0
  %174 = getelementptr inbounds [4 x float], ptr %173, i64 0, i64 0
  %175 = load float, ptr %174, align 4, !tbaa !11
  %176 = load ptr, ptr %11, align 8, !tbaa !5
  %177 = getelementptr inbounds float, ptr %176, i64 0
  store float %175, ptr %177, align 4, !tbaa !11
  %178 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %179 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %178, i32 noundef 0)
  %180 = getelementptr inbounds %class.btVector3, ptr %179, i32 0, i32 0
  %181 = getelementptr inbounds [4 x float], ptr %180, i64 0, i64 1
  %182 = load float, ptr %181, align 4, !tbaa !11
  %183 = load ptr, ptr %11, align 8, !tbaa !5
  %184 = getelementptr inbounds float, ptr %183, i64 1
  store float %182, ptr %184, align 4, !tbaa !11
  %185 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %186 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %185, i32 noundef 0)
  %187 = getelementptr inbounds %class.btVector3, ptr %186, i32 0, i32 0
  %188 = getelementptr inbounds [4 x float], ptr %187, i64 0, i64 2
  %189 = load float, ptr %188, align 4, !tbaa !11
  %190 = load ptr, ptr %11, align 8, !tbaa !5
  %191 = getelementptr inbounds float, ptr %190, i64 2
  store float %189, ptr %191, align 4, !tbaa !11
  %192 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %193 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %192, i32 noundef 1)
  %194 = getelementptr inbounds %class.btVector3, ptr %193, i32 0, i32 0
  %195 = getelementptr inbounds [4 x float], ptr %194, i64 0, i64 0
  %196 = load float, ptr %195, align 4, !tbaa !11
  %197 = load ptr, ptr %11, align 8, !tbaa !5
  %198 = getelementptr inbounds float, ptr %197, i64 3
  store float %196, ptr %198, align 4, !tbaa !11
  %199 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %200 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %199, i32 noundef 1)
  %201 = getelementptr inbounds %class.btVector3, ptr %200, i32 0, i32 0
  %202 = getelementptr inbounds [4 x float], ptr %201, i64 0, i64 1
  %203 = load float, ptr %202, align 4, !tbaa !11
  %204 = load ptr, ptr %11, align 8, !tbaa !5
  %205 = getelementptr inbounds float, ptr %204, i64 4
  store float %203, ptr %205, align 4, !tbaa !11
  %206 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %207 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %206, i32 noundef 1)
  %208 = getelementptr inbounds %class.btVector3, ptr %207, i32 0, i32 0
  %209 = getelementptr inbounds [4 x float], ptr %208, i64 0, i64 2
  %210 = load float, ptr %209, align 4, !tbaa !11
  %211 = load ptr, ptr %11, align 8, !tbaa !5
  %212 = getelementptr inbounds float, ptr %211, i64 5
  store float %210, ptr %212, align 4, !tbaa !11
  %213 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %214 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %213, i32 noundef 2)
  %215 = getelementptr inbounds %class.btVector3, ptr %214, i32 0, i32 0
  %216 = getelementptr inbounds [4 x float], ptr %215, i64 0, i64 0
  %217 = load float, ptr %216, align 4, !tbaa !11
  %218 = load ptr, ptr %11, align 8, !tbaa !5
  %219 = getelementptr inbounds float, ptr %218, i64 6
  store float %217, ptr %219, align 4, !tbaa !11
  %220 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %221 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %220, i32 noundef 2)
  %222 = getelementptr inbounds %class.btVector3, ptr %221, i32 0, i32 0
  %223 = getelementptr inbounds [4 x float], ptr %222, i64 0, i64 1
  %224 = load float, ptr %223, align 4, !tbaa !11
  %225 = load ptr, ptr %11, align 8, !tbaa !5
  %226 = getelementptr inbounds float, ptr %225, i64 7
  store float %224, ptr %226, align 4, !tbaa !11
  %227 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %228 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %227, i32 noundef 2)
  %229 = getelementptr inbounds %class.btVector3, ptr %228, i32 0, i32 0
  %230 = getelementptr inbounds [4 x float], ptr %229, i64 0, i64 2
  %231 = load float, ptr %230, align 4, !tbaa !11
  %232 = load ptr, ptr %11, align 8, !tbaa !5
  %233 = getelementptr inbounds float, ptr %232, i64 8
  store float %231, ptr %233, align 4, !tbaa !11
  %234 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %235 = getelementptr inbounds %class.btVector3, ptr %234, i32 0, i32 0
  %236 = getelementptr inbounds [4 x float], ptr %235, i64 0, i64 0
  %237 = load float, ptr %236, align 4, !tbaa !11
  %238 = load ptr, ptr %11, align 8, !tbaa !5
  %239 = getelementptr inbounds float, ptr %238, i64 9
  store float %237, ptr %239, align 4, !tbaa !11
  %240 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %241 = getelementptr inbounds %class.btVector3, ptr %240, i32 0, i32 0
  %242 = getelementptr inbounds [4 x float], ptr %241, i64 0, i64 1
  %243 = load float, ptr %242, align 4, !tbaa !11
  %244 = load ptr, ptr %11, align 8, !tbaa !5
  %245 = getelementptr inbounds float, ptr %244, i64 10
  store float %243, ptr %245, align 4, !tbaa !11
  %246 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %22)
  %247 = getelementptr inbounds %class.btVector3, ptr %246, i32 0, i32 0
  %248 = getelementptr inbounds [4 x float], ptr %247, i64 0, i64 2
  %249 = load float, ptr %248, align 4, !tbaa !11
  %250 = load ptr, ptr %11, align 8, !tbaa !5
  %251 = getelementptr inbounds float, ptr %250, i64 11
  store float %249, ptr %251, align 4, !tbaa !11
  %252 = getelementptr inbounds %class.btVector3, ptr %23, i32 0, i32 0
  %253 = getelementptr inbounds [4 x float], ptr %252, i64 0, i64 0
  %254 = load float, ptr %253, align 4, !tbaa !11
  %255 = load ptr, ptr %12, align 8, !tbaa !5
  %256 = getelementptr inbounds float, ptr %255, i64 0
  store float %254, ptr %256, align 4, !tbaa !11
  %257 = getelementptr inbounds %class.btVector3, ptr %23, i32 0, i32 0
  %258 = getelementptr inbounds [4 x float], ptr %257, i64 0, i64 1
  %259 = load float, ptr %258, align 4, !tbaa !11
  %260 = load ptr, ptr %12, align 8, !tbaa !5
  %261 = getelementptr inbounds float, ptr %260, i64 1
  store float %259, ptr %261, align 4, !tbaa !11
  %262 = getelementptr inbounds %class.btVector3, ptr %23, i32 0, i32 0
  %263 = getelementptr inbounds [4 x float], ptr %262, i64 0, i64 2
  %264 = load float, ptr %263, align 4, !tbaa !11
  %265 = load ptr, ptr %12, align 8, !tbaa !5
  %266 = getelementptr inbounds float, ptr %265, i64 2
  store float %264, ptr %266, align 4, !tbaa !11
  %267 = load i32, ptr %25, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr %22) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr %20) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr %18) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr %16) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #5
  ret i32 %267
}

declare noundef zeroext i1 @_ZN15btGjkEpaSolver211PenetrationEPK13btConvexShapeRK11btTransformS2_S5_RK9btVector3RNS_8sResultsEb(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), i1 noundef zeroext) #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_Penetration(ptr noundef %0, ptr noundef nonnull %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, i32 noundef %6) local_unnamed_addr #2 {
  %8 = alloca %class.btMatrix3x3, align 4
  %9 = alloca %class.btVector3, align 4
  %10 = alloca %class.btTransform, align 4
  %11 = alloca %class.btMatrix3x3, align 4
  %12 = alloca %class.btVector3, align 4
  %13 = alloca %class.btTransform, align 4
  %14 = alloca %class.btVector3, align 8
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %8) #5
  %15 = getelementptr inbounds i8, ptr %1, i64 4
  %16 = getelementptr inbounds i8, ptr %1, i64 8
  %17 = getelementptr inbounds i8, ptr %1, i64 12
  %18 = getelementptr inbounds i8, ptr %1, i64 16
  %19 = getelementptr inbounds i8, ptr %1, i64 20
  %20 = getelementptr inbounds i8, ptr %1, i64 24
  %21 = getelementptr inbounds i8, ptr %1, i64 28
  %22 = getelementptr inbounds i8, ptr %1, i64 32
  call void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48) %8, ptr noundef nonnull align 4 dereferenceable(4) %1, 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, ptr noundef nonnull align 4 dereferenceable(4) %22)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #5
  %23 = getelementptr inbounds i8, ptr %1, i64 36
  %24 = getelementptr inbounds i8, ptr %1, i64 40
  %25 = getelementptr inbounds i8, ptr %1, i64 44
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %9, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull align 4 dereferenceable(4) %24, ptr noundef nonnull align 4 dereferenceable(4) %25)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %10) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %10, ptr noundef nonnull align 4 dereferenceable(48) %8, ptr noundef nonnull align 4 dereferenceable(16) %9)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %11) #5
  %26 = getelementptr inbounds i8, ptr %3, i64 4
  %27 = getelementptr inbounds i8, ptr %3, i64 8
  %28 = getelementptr inbounds i8, ptr %3, i64 12
  %29 = getelementptr inbounds i8, ptr %3, i64 16
  %30 = getelementptr inbounds i8, ptr %3, i64 20
  %31 = getelementptr inbounds i8, ptr %3, i64 24
  %32 = getelementptr inbounds i8, ptr %3, i64 28
  %33 = getelementptr inbounds i8, ptr %3, i64 32
  call void @_ZN11btMatrix3x3C2ERKfS1_S1_S1_S1_S1_S1_S1_S1_(ptr noundef nonnull align 4 dereferenceable(48) %11, ptr noundef nonnull align 4 dereferenceable(4) %3, 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, ptr noundef nonnull align 4 dereferenceable(4) %33)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #5
  %34 = getelementptr inbounds i8, ptr %3, i64 36
  %35 = getelementptr inbounds i8, ptr %3, i64 40
  %36 = getelementptr inbounds i8, ptr %3, i64 44
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %12, ptr noundef nonnull align 4 dereferenceable(4) %34, ptr noundef nonnull align 4 dereferenceable(4) %35, ptr noundef nonnull align 4 dereferenceable(4) %36)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %13) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %13, ptr noundef nonnull align 4 dereferenceable(48) %11, ptr noundef nonnull align 4 dereferenceable(16) %12)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #5
  %37 = getelementptr inbounds i8, ptr %4, i64 4
  %38 = getelementptr inbounds i8, ptr %4, i64 8
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %14, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef nonnull align 4 dereferenceable(4) %37, ptr noundef nonnull align 4 dereferenceable(4) %38)
  %39 = icmp ne i32 %6, 0
  %40 = call noundef zeroext i1 @_ZN15btGjkEpaSolver211PenetrationEPK13btConvexShapeRK11btTransformS2_S5_RK9btVector3RNS_8sResultsEb(ptr noundef %0, ptr noundef nonnull align 4 dereferenceable(64) %10, ptr noundef %2, ptr noundef nonnull align 4 dereferenceable(64) %13, ptr noundef nonnull align 4 dereferenceable(16) %14, ptr noundef nonnull align 4 dereferenceable(56) %5, i1 noundef zeroext %39)
  %41 = zext i1 %40 to i32
  %42 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %43 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %42, i32 noundef 0)
  %44 = load float, ptr %43, align 4, !tbaa !5
  store float %44, ptr %1, align 4, !tbaa !5
  %45 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %46 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %45, i32 noundef 0)
  %47 = getelementptr inbounds i8, ptr %46, i64 4
  %48 = load float, ptr %47, align 4, !tbaa !5
  store float %48, ptr %15, align 4, !tbaa !5
  %49 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %50 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %49, i32 noundef 0)
  %51 = getelementptr inbounds i8, ptr %50, i64 8
  %52 = load float, ptr %51, align 4, !tbaa !5
  store float %52, ptr %16, align 4, !tbaa !5
  %53 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %54 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %53, i32 noundef 1)
  %55 = load float, ptr %54, align 4, !tbaa !5
  store float %55, ptr %17, align 4, !tbaa !5
  %56 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %57 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %56, i32 noundef 1)
  %58 = getelementptr inbounds i8, ptr %57, i64 4
  %59 = load float, ptr %58, align 4, !tbaa !5
  store float %59, ptr %18, align 4, !tbaa !5
  %60 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %61 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %60, i32 noundef 1)
  %62 = getelementptr inbounds i8, ptr %61, i64 8
  %63 = load float, ptr %62, align 4, !tbaa !5
  store float %63, ptr %19, align 4, !tbaa !5
  %64 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %65 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %64, i32 noundef 2)
  %66 = load float, ptr %65, align 4, !tbaa !5
  store float %66, ptr %20, align 4, !tbaa !5
  %67 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %68 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %67, i32 noundef 2)
  %69 = getelementptr inbounds i8, ptr %68, i64 4
  %70 = load float, ptr %69, align 4, !tbaa !5
  store float %70, ptr %21, align 4, !tbaa !5
  %71 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %72 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %71, i32 noundef 2)
  %73 = getelementptr inbounds i8, ptr %72, i64 8
  %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) %10)
  %76 = load float, ptr %75, align 4, !tbaa !5
  store float %76, ptr %23, align 4, !tbaa !5
  %77 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %78 = getelementptr inbounds i8, ptr %77, i64 4
  %79 = load float, ptr %78, align 4, !tbaa !5
  store float %79, ptr %24, align 4, !tbaa !5
  %80 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %10)
  %81 = getelementptr inbounds i8, ptr %80, i64 8
  %82 = load float, ptr %81, align 4, !tbaa !5
  store float %82, ptr %25, align 4, !tbaa !5
  %83 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %84 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %83, i32 noundef 0)
  %85 = load float, ptr %84, align 4, !tbaa !5
  store float %85, ptr %3, align 4, !tbaa !5
  %86 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %87 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %86, i32 noundef 0)
  %88 = getelementptr inbounds i8, ptr %87, i64 4
  %89 = load float, ptr %88, align 4, !tbaa !5
  store float %89, ptr %26, align 4, !tbaa !5
  %90 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %91 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %90, i32 noundef 0)
  %92 = getelementptr inbounds i8, ptr %91, i64 8
  %93 = load float, ptr %92, align 4, !tbaa !5
  store float %93, ptr %27, align 4, !tbaa !5
  %94 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %95 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %94, i32 noundef 1)
  %96 = load float, ptr %95, align 4, !tbaa !5
  store float %96, ptr %28, align 4, !tbaa !5
  %97 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %98 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %97, i32 noundef 1)
  %99 = getelementptr inbounds i8, ptr %98, i64 4
  %100 = load float, ptr %99, align 4, !tbaa !5
  store float %100, ptr %29, align 4, !tbaa !5
  %101 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %102 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %101, i32 noundef 1)
  %103 = getelementptr inbounds i8, ptr %102, i64 8
  %104 = load float, ptr %103, align 4, !tbaa !5
  store float %104, ptr %30, align 4, !tbaa !5
  %105 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %106 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %105, i32 noundef 2)
  %107 = load float, ptr %106, align 4, !tbaa !5
  store float %107, ptr %31, align 4, !tbaa !5
  %108 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %109 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %108, i32 noundef 2)
  %110 = getelementptr inbounds i8, ptr %109, i64 4
  %111 = load float, ptr %110, align 4, !tbaa !5
  store float %111, ptr %32, align 4, !tbaa !5
  %112 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %113 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %112, i32 noundef 2)
  %114 = getelementptr inbounds i8, ptr %113, i64 8
  %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) %13)
  %117 = load float, ptr %116, align 4, !tbaa !5
  store float %117, ptr %34, align 4, !tbaa !5
  %118 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %119 = getelementptr inbounds i8, ptr %118, i64 4
  %120 = load float, ptr %119, align 4, !tbaa !5
  store float %120, ptr %35, align 4, !tbaa !5
  %121 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %13)
  %122 = getelementptr inbounds i8, ptr %121, i64 8
  %123 = load float, ptr %122, align 4, !tbaa !5
  store float %123, ptr %36, align 4, !tbaa !5
  %124 = load <2 x float>, ptr %14, align 8, !tbaa !5
  store <2 x float> %124, ptr %4, align 4, !tbaa !5
  %125 = getelementptr inbounds i8, ptr %14, i64 8
  %126 = load float, ptr %125, align 8, !tbaa !5
  store float %126, ptr %38, align 4, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %13) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %11) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %8) #5
  ret i32 %41
}

declare noundef zeroext i1 @_ZN15btGjkEpaSolver211PenetrationEPK13btConvexShapeRK11btTransformS2_S5_RK9btVector3RNS_8sResultsEb(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), i1 noundef zeroext) 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