; 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.btVector3 = type { [4 x float] }
%class.btMatrix3x3 = type { [3 x %class.btVector3] }
%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 float @btGjkEpaSolver2_SignedDistance(ptr noundef %0, float noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4) #2 {
  %6 = alloca ptr, align 8
  %7 = alloca float, align 4
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca %class.btVector3, align 4
  %12 = alloca ptr, align 8
  %13 = alloca %class.btMatrix3x3, align 4
  %14 = alloca %class.btVector3, align 4
  %15 = alloca %class.btTransform, align 4
  %16 = alloca ptr, align 8
  %17 = alloca float, align 4
  store ptr %0, ptr %6, align 8, !tbaa !5
  store float %1, ptr %7, align 4, !tbaa !9
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  store ptr %4, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %11) #5
  %18 = load ptr, ptr %6, align 8, !tbaa !5
  %19 = getelementptr inbounds float, ptr %18, i64 0
  %20 = load ptr, ptr %6, align 8, !tbaa !5
  %21 = getelementptr inbounds float, ptr %20, i64 1
  %22 = load ptr, ptr %6, align 8, !tbaa !5
  %23 = getelementptr inbounds float, ptr %22, i64 2
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %11, ptr noundef nonnull align 4 dereferenceable(4) %19, ptr noundef nonnull align 4 dereferenceable(4) %21, ptr noundef nonnull align 4 dereferenceable(4) %23)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #5
  %24 = load ptr, ptr %8, align 8, !tbaa !5
  store ptr %24, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr %13) #5
  %25 = load ptr, ptr %9, align 8, !tbaa !5
  %26 = getelementptr inbounds float, ptr %25, i64 0
  %27 = load ptr, ptr %9, align 8, !tbaa !5
  %28 = getelementptr inbounds float, ptr %27, i64 1
  %29 = load ptr, ptr %9, align 8, !tbaa !5
  %30 = getelementptr inbounds float, ptr %29, i64 2
  %31 = load ptr, ptr %9, align 8, !tbaa !5
  %32 = getelementptr inbounds float, ptr %31, i64 3
  %33 = load ptr, ptr %9, align 8, !tbaa !5
  %34 = getelementptr inbounds float, ptr %33, i64 4
  %35 = load ptr, ptr %9, align 8, !tbaa !5
  %36 = getelementptr inbounds float, ptr %35, i64 5
  %37 = load ptr, ptr %9, align 8, !tbaa !5
  %38 = getelementptr inbounds float, ptr %37, i64 6
  %39 = load ptr, ptr %9, align 8, !tbaa !5
  %40 = getelementptr inbounds float, ptr %39, i64 7
  %41 = load ptr, ptr %9, 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) %13, 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 %14) #5
  %43 = load ptr, ptr %9, align 8, !tbaa !5
  %44 = getelementptr inbounds float, ptr %43, i64 9
  %45 = load ptr, ptr %9, align 8, !tbaa !5
  %46 = getelementptr inbounds float, ptr %45, i64 10
  %47 = load ptr, ptr %9, align 8, !tbaa !5
  %48 = getelementptr inbounds float, ptr %47, i64 11
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %14, 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 %15) #5
  call void @_ZN11btTransformC2ERK11btMatrix3x3RK9btVector3(ptr noundef nonnull align 4 dereferenceable(64) %15, ptr noundef nonnull align 4 dereferenceable(48) %13, ptr noundef nonnull align 4 dereferenceable(16) %14)
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #5
  %49 = load ptr, ptr %10, align 8, !tbaa !5
  store ptr %49, ptr %16, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #5
  %50 = load float, ptr %7, align 4, !tbaa !9
  %51 = load ptr, ptr %12, align 8, !tbaa !5
  %52 = load ptr, ptr %16, align 8, !tbaa !5
  %53 = call noundef float @_ZN15btGjkEpaSolver214SignedDistanceERK9btVector3fPK13btConvexShapeRK11btTransformRNS_8sResultsE(ptr noundef nonnull align 4 dereferenceable(16) %11, float noundef %50, ptr noundef %51, ptr noundef nonnull align 4 dereferenceable(64) %15, ptr noundef nonnull align 4 dereferenceable(56) %52)
  store float %53, ptr %17, align 4, !tbaa !9
  %54 = getelementptr inbounds %class.btVector3, ptr %11, i32 0, i32 0
  %55 = getelementptr inbounds [4 x float], ptr %54, i64 0, i64 0
  %56 = load float, ptr %55, align 4, !tbaa !9
  %57 = load ptr, ptr %6, align 8, !tbaa !5
  %58 = getelementptr inbounds float, ptr %57, i64 0
  store float %56, ptr %58, align 4, !tbaa !9
  %59 = getelementptr inbounds %class.btVector3, ptr %11, i32 0, i32 0
  %60 = getelementptr inbounds [4 x float], ptr %59, i64 0, i64 1
  %61 = load float, ptr %60, align 4, !tbaa !9
  %62 = load ptr, ptr %6, align 8, !tbaa !5
  %63 = getelementptr inbounds float, ptr %62, i64 1
  store float %61, ptr %63, align 4, !tbaa !9
  %64 = getelementptr inbounds %class.btVector3, ptr %11, i32 0, i32 0
  %65 = getelementptr inbounds [4 x float], ptr %64, i64 0, i64 2
  %66 = load float, ptr %65, align 4, !tbaa !9
  %67 = load ptr, ptr %6, align 8, !tbaa !5
  %68 = getelementptr inbounds float, ptr %67, i64 2
  store float %66, ptr %68, align 4, !tbaa !9
  %69 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %70 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %69, i32 noundef 0)
  %71 = getelementptr inbounds %class.btVector3, ptr %70, i32 0, i32 0
  %72 = getelementptr inbounds [4 x float], ptr %71, i64 0, i64 0
  %73 = load float, ptr %72, align 4, !tbaa !9
  %74 = load ptr, ptr %9, align 8, !tbaa !5
  %75 = getelementptr inbounds float, ptr %74, i64 0
  store float %73, ptr %75, align 4, !tbaa !9
  %76 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %77 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %76, i32 noundef 0)
  %78 = getelementptr inbounds %class.btVector3, ptr %77, i32 0, i32 0
  %79 = getelementptr inbounds [4 x float], ptr %78, i64 0, i64 1
  %80 = load float, ptr %79, align 4, !tbaa !9
  %81 = load ptr, ptr %9, align 8, !tbaa !5
  %82 = getelementptr inbounds float, ptr %81, i64 1
  store float %80, ptr %82, align 4, !tbaa !9
  %83 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %84 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %83, i32 noundef 0)
  %85 = getelementptr inbounds %class.btVector3, ptr %84, i32 0, i32 0
  %86 = getelementptr inbounds [4 x float], ptr %85, i64 0, i64 2
  %87 = load float, ptr %86, align 4, !tbaa !9
  %88 = load ptr, ptr %9, align 8, !tbaa !5
  %89 = getelementptr inbounds float, ptr %88, i64 2
  store float %87, ptr %89, align 4, !tbaa !9
  %90 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %91 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %90, i32 noundef 1)
  %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 !9
  %95 = load ptr, ptr %9, align 8, !tbaa !5
  %96 = getelementptr inbounds float, ptr %95, i64 3
  store float %94, ptr %96, align 4, !tbaa !9
  %97 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %98 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %97, i32 noundef 1)
  %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 !9
  %102 = load ptr, ptr %9, align 8, !tbaa !5
  %103 = getelementptr inbounds float, ptr %102, i64 4
  store float %101, ptr %103, align 4, !tbaa !9
  %104 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %105 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %104, i32 noundef 1)
  %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 !9
  %109 = load ptr, ptr %9, align 8, !tbaa !5
  %110 = getelementptr inbounds float, ptr %109, i64 5
  store float %108, ptr %110, align 4, !tbaa !9
  %111 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %112 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %111, i32 noundef 2)
  %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 !9
  %116 = load ptr, ptr %9, align 8, !tbaa !5
  %117 = getelementptr inbounds float, ptr %116, i64 6
  store float %115, ptr %117, align 4, !tbaa !9
  %118 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %119 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %118, i32 noundef 2)
  %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 !9
  %123 = load ptr, ptr %9, align 8, !tbaa !5
  %124 = getelementptr inbounds float, ptr %123, i64 7
  store float %122, ptr %124, align 4, !tbaa !9
  %125 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %126 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %125, i32 noundef 2)
  %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 !9
  %130 = load ptr, ptr %9, align 8, !tbaa !5
  %131 = getelementptr inbounds float, ptr %130, i64 8
  store float %129, ptr %131, align 4, !tbaa !9
  %132 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %133 = getelementptr inbounds %class.btVector3, ptr %132, i32 0, i32 0
  %134 = getelementptr inbounds [4 x float], ptr %133, i64 0, i64 0
  %135 = load float, ptr %134, align 4, !tbaa !9
  %136 = load ptr, ptr %9, align 8, !tbaa !5
  %137 = getelementptr inbounds float, ptr %136, i64 9
  store float %135, ptr %137, align 4, !tbaa !9
  %138 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %139 = getelementptr inbounds %class.btVector3, ptr %138, i32 0, i32 0
  %140 = getelementptr inbounds [4 x float], ptr %139, i64 0, i64 1
  %141 = load float, ptr %140, align 4, !tbaa !9
  %142 = load ptr, ptr %9, align 8, !tbaa !5
  %143 = getelementptr inbounds float, ptr %142, i64 10
  store float %141, ptr %143, align 4, !tbaa !9
  %144 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %15)
  %145 = getelementptr inbounds %class.btVector3, ptr %144, i32 0, i32 0
  %146 = getelementptr inbounds [4 x float], ptr %145, i64 0, i64 2
  %147 = load float, ptr %146, align 4, !tbaa !9
  %148 = load ptr, ptr %9, align 8, !tbaa !5
  %149 = getelementptr inbounds float, ptr %148, i64 11
  store float %147, ptr %149, align 4, !tbaa !9
  %150 = load float, ptr %17, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #5
  call void @llvm.lifetime.end.p0(i64 64, ptr %15) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #5
  call void @llvm.lifetime.end.p0(i64 48, ptr %13) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #5
  ret float %150
}

declare noundef float @_ZN15btGjkEpaSolver214SignedDistanceERK9btVector3fPK13btConvexShapeRK11btTransformRNS_8sResultsE(ptr noundef nonnull align 4 dereferenceable(16), float noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(64), 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 = !{!"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.btVector3 = type { [4 x float] }
%class.btMatrix3x3 = type { [3 x %class.btVector3] }
%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 noundef float @btGjkEpaSolver2_SignedDistance(ptr noundef nonnull %0, float noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4) local_unnamed_addr #2 {
  %6 = alloca %class.btVector3, align 8
  %7 = alloca %class.btMatrix3x3, align 4
  %8 = alloca %class.btVector3, align 4
  %9 = alloca %class.btTransform, align 4
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #5
  %10 = getelementptr inbounds i8, ptr %0, i64 4
  %11 = getelementptr inbounds i8, ptr %0, i64 8
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %6, ptr noundef nonnull align 4 dereferenceable(4) %0, ptr noundef nonnull align 4 dereferenceable(4) %10, ptr noundef nonnull align 4 dereferenceable(4) %11)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %7) #5
  %12 = getelementptr inbounds i8, ptr %3, i64 4
  %13 = getelementptr inbounds i8, ptr %3, i64 8
  %14 = getelementptr inbounds i8, ptr %3, i64 12
  %15 = getelementptr inbounds i8, ptr %3, i64 16
  %16 = getelementptr inbounds i8, ptr %3, i64 20
  %17 = getelementptr inbounds i8, ptr %3, i64 24
  %18 = getelementptr inbounds i8, ptr %3, i64 28
  %19 = getelementptr inbounds i8, ptr %3, 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) %3, ptr noundef nonnull align 4 dereferenceable(4) %12, ptr noundef nonnull align 4 dereferenceable(4) %13, 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)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #5
  %20 = getelementptr inbounds i8, ptr %3, i64 36
  %21 = getelementptr inbounds i8, ptr %3, i64 40
  %22 = getelementptr inbounds i8, ptr %3, i64 44
  call void @_ZN9btVector3C2ERKfS1_S1_(ptr noundef nonnull align 4 dereferenceable(16) %8, 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 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)
  %23 = call noundef float @_ZN15btGjkEpaSolver214SignedDistanceERK9btVector3fPK13btConvexShapeRK11btTransformRNS_8sResultsE(ptr noundef nonnull align 4 dereferenceable(16) %6, float noundef %1, ptr noundef %2, ptr noundef nonnull align 4 dereferenceable(64) %9, ptr noundef nonnull align 4 dereferenceable(56) %4)
  %24 = load <2 x float>, ptr %6, align 8, !tbaa !5
  store <2 x float> %24, ptr %0, align 4, !tbaa !5
  %25 = getelementptr inbounds i8, ptr %6, i64 8
  %26 = load float, ptr %25, align 8, !tbaa !5
  store float %26, ptr %11, align 4, !tbaa !5
  %27 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %28 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %27, i32 noundef 0)
  %29 = load float, ptr %28, align 4, !tbaa !5
  store float %29, ptr %3, align 4, !tbaa !5
  %30 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %31 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %30, i32 noundef 0)
  %32 = getelementptr inbounds i8, ptr %31, i64 4
  %33 = load float, ptr %32, align 4, !tbaa !5
  store float %33, ptr %12, align 4, !tbaa !5
  %34 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %35 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %34, i32 noundef 0)
  %36 = getelementptr inbounds i8, ptr %35, i64 8
  %37 = load float, ptr %36, align 4, !tbaa !5
  store float %37, ptr %13, align 4, !tbaa !5
  %38 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %39 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %38, i32 noundef 1)
  %40 = load float, ptr %39, align 4, !tbaa !5
  store float %40, ptr %14, align 4, !tbaa !5
  %41 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %42 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %41, i32 noundef 1)
  %43 = getelementptr inbounds i8, ptr %42, i64 4
  %44 = load float, ptr %43, align 4, !tbaa !5
  store float %44, ptr %15, align 4, !tbaa !5
  %45 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %46 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %45, i32 noundef 1)
  %47 = getelementptr inbounds i8, ptr %46, i64 8
  %48 = load float, ptr %47, align 4, !tbaa !5
  store float %48, ptr %16, align 4, !tbaa !5
  %49 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %50 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %49, i32 noundef 2)
  %51 = load float, ptr %50, align 4, !tbaa !5
  store float %51, ptr %17, align 4, !tbaa !5
  %52 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %53 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %52, i32 noundef 2)
  %54 = getelementptr inbounds i8, ptr %53, i64 4
  %55 = load float, ptr %54, align 4, !tbaa !5
  store float %55, ptr %18, align 4, !tbaa !5
  %56 = call noundef nonnull align 4 dereferenceable(48) ptr @_ZN11btTransform8getBasisEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %57 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK11btMatrix3x36getRowEi(ptr noundef nonnull align 4 dereferenceable(48) %56, i32 noundef 2)
  %58 = getelementptr inbounds i8, ptr %57, i64 8
  %59 = load float, ptr %58, align 4, !tbaa !5
  store float %59, ptr %19, align 4, !tbaa !5
  %60 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %61 = load float, ptr %60, align 4, !tbaa !5
  store float %61, ptr %20, align 4, !tbaa !5
  %62 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %63 = getelementptr inbounds i8, ptr %62, i64 4
  %64 = load float, ptr %63, align 4, !tbaa !5
  store float %64, ptr %21, align 4, !tbaa !5
  %65 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZN11btTransform9getOriginEv(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %66 = getelementptr inbounds i8, ptr %65, i64 8
  %67 = load float, ptr %66, align 4, !tbaa !5
  store float %67, ptr %22, align 4, !tbaa !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
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #5
  ret float %23
}

declare noundef float @_ZN15btGjkEpaSolver214SignedDistanceERK9btVector3fPK13btConvexShapeRK11btTransformRNS_8sResultsE(ptr noundef nonnull align 4 dereferenceable(16), float noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(64), 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,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass