; LLVM IR from robinrodricks/InspiritImage :: Inspirit.Assurf/clib/rpp (librpp)

; 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"

%struct.mat33_t = type { [9 x double] }
%struct.vec3_t = type { [3 x double] }
%struct.options_t = type { %struct.mat33_t, double, double, i32 }

; Function Attrs: nounwind uwtable
define dso_local void @robustPlanarPose(ptr noundef %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6, i32 noundef %7, ptr noundef %8, i32 noundef %9, double noundef %10, double noundef %11, i32 noundef %12) #0 {
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca i32, align 4
  %22 = alloca ptr, align 8
  %23 = alloca i32, align 4
  %24 = alloca double, align 8
  %25 = alloca double, align 8
  %26 = alloca i32, align 4
  %27 = alloca ptr, align 8
  %28 = alloca i64, align 8
  %29 = alloca i64, align 8
  %30 = alloca %struct.mat33_t, align 8
  %31 = alloca %struct.mat33_t, align 8
  %32 = alloca i32, align 4
  %33 = alloca %struct.vec3_t, align 8
  %34 = alloca %struct.vec3_t, align 8
  %35 = alloca %struct.options_t, align 8
  %36 = alloca double, align 8
  %37 = alloca %struct.mat33_t, align 8
  %38 = alloca %struct.vec3_t, align 8
  store ptr %0, ptr %14, align 8, !tbaa !5
  store ptr %1, ptr %15, align 8, !tbaa !5
  store ptr %2, ptr %16, align 8, !tbaa !5
  store ptr %3, ptr %17, align 8, !tbaa !5
  store ptr %4, ptr %18, align 8, !tbaa !5
  store ptr %5, ptr %19, align 8, !tbaa !5
  store ptr %6, ptr %20, align 8, !tbaa !5
  store i32 %7, ptr %21, align 4, !tbaa !9
  store ptr %8, ptr %22, align 8, !tbaa !5
  store i32 %9, ptr %23, align 4, !tbaa !9
  store double %10, ptr %24, align 8, !tbaa !11
  store double %11, ptr %25, align 8, !tbaa !11
  store i32 %12, ptr %26, align 4, !tbaa !9
  %39 = load i32, ptr %21, align 4, !tbaa !9
  %40 = zext i32 %39 to i64
  %41 = call ptr @llvm.stacksave.p0()
  store ptr %41, ptr %27, align 8
  %42 = alloca %struct.vec3_t, i64 %40, align 16
  store i64 %40, ptr %28, align 8
  %43 = load i32, ptr %21, align 4, !tbaa !9
  %44 = zext i32 %43 to i64
  %45 = alloca %struct.vec3_t, i64 %44, align 16
  store i64 %44, ptr %29, align 8
  call void @llvm.lifetime.start.p0(i64 72, ptr %30) #5
  call void @llvm.lifetime.start.p0(i64 72, ptr %31) #5
  call void @mat33_eye(ptr noundef %30)
  %46 = load ptr, ptr %18, align 8, !tbaa !5
  %47 = getelementptr inbounds double, ptr %46, i64 0
  %48 = load double, ptr %47, align 8, !tbaa !11
  %49 = getelementptr inbounds %struct.mat33_t, ptr %30, i32 0, i32 0
  %50 = getelementptr inbounds [9 x double], ptr %49, i64 0, i64 0
  store double %48, ptr %50, align 8, !tbaa !11
  %51 = load ptr, ptr %18, align 8, !tbaa !5
  %52 = getelementptr inbounds double, ptr %51, i64 1
  %53 = load double, ptr %52, align 8, !tbaa !11
  %54 = getelementptr inbounds %struct.mat33_t, ptr %30, i32 0, i32 0
  %55 = getelementptr inbounds [9 x double], ptr %54, i64 0, i64 4
  store double %53, ptr %55, align 8, !tbaa !11
  %56 = load ptr, ptr %17, align 8, !tbaa !5
  %57 = getelementptr inbounds double, ptr %56, i64 0
  %58 = load double, ptr %57, align 8, !tbaa !11
  %59 = getelementptr inbounds %struct.mat33_t, ptr %30, i32 0, i32 0
  %60 = getelementptr inbounds [9 x double], ptr %59, i64 0, i64 2
  store double %58, ptr %60, align 8, !tbaa !11
  %61 = load ptr, ptr %17, align 8, !tbaa !5
  %62 = getelementptr inbounds double, ptr %61, i64 1
  %63 = load double, ptr %62, align 8, !tbaa !11
  %64 = getelementptr inbounds %struct.mat33_t, ptr %30, i32 0, i32 0
  %65 = getelementptr inbounds [9 x double], ptr %64, i64 0, i64 5
  store double %63, ptr %65, align 8, !tbaa !11
  call void @mat33_inv(ptr noundef %31, ptr noundef %30)
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #5
  store i32 0, ptr %32, align 4, !tbaa !9
  br label %66

66:                                               ; preds = %119, %13
  %67 = load i32, ptr %32, align 4, !tbaa !9
  %68 = load i32, ptr %21, align 4, !tbaa !9
  %69 = icmp slt i32 %67, %68
  br i1 %69, label %70, label %122

70:                                               ; preds = %66
  call void @llvm.lifetime.start.p0(i64 24, ptr %33) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %34) #5
  %71 = load ptr, ptr %19, align 8, !tbaa !5
  %72 = load i32, ptr %32, align 4, !tbaa !9
  %73 = mul nsw i32 %72, 3
  %74 = add nsw i32 %73, 0
  %75 = sext i32 %74 to i64
  %76 = getelementptr inbounds double, ptr %71, i64 %75
  %77 = load double, ptr %76, align 8, !tbaa !11
  %78 = load ptr, ptr %19, align 8, !tbaa !5
  %79 = load i32, ptr %32, align 4, !tbaa !9
  %80 = mul nsw i32 %79, 3
  %81 = add nsw i32 %80, 1
  %82 = sext i32 %81 to i64
  %83 = getelementptr inbounds double, ptr %78, i64 %82
  %84 = load double, ptr %83, align 8, !tbaa !11
  %85 = load ptr, ptr %19, align 8, !tbaa !5
  %86 = load i32, ptr %32, align 4, !tbaa !9
  %87 = mul nsw i32 %86, 3
  %88 = add nsw i32 %87, 2
  %89 = sext i32 %88 to i64
  %90 = getelementptr inbounds double, ptr %85, i64 %89
  %91 = load double, ptr %90, align 8, !tbaa !11
  call void @vec3_assign(ptr noundef %33, double noundef %77, double noundef %84, double noundef %91)
  %92 = load i32, ptr %32, align 4, !tbaa !9
  %93 = sext i32 %92 to i64
  %94 = getelementptr inbounds %struct.vec3_t, ptr %42, i64 %93
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %94, ptr align 8 %33, i64 24, i1 false), !tbaa.struct !13
  %95 = load ptr, ptr %20, align 8, !tbaa !5
  %96 = load i32, ptr %32, align 4, !tbaa !9
  %97 = mul nsw i32 %96, 3
  %98 = add nsw i32 %97, 0
  %99 = sext i32 %98 to i64
  %100 = getelementptr inbounds double, ptr %95, i64 %99
  %101 = load double, ptr %100, align 8, !tbaa !11
  %102 = load ptr, ptr %20, align 8, !tbaa !5
  %103 = load i32, ptr %32, align 4, !tbaa !9
  %104 = mul nsw i32 %103, 3
  %105 = add nsw i32 %104, 1
  %106 = sext i32 %105 to i64
  %107 = getelementptr inbounds double, ptr %102, i64 %106
  %108 = load double, ptr %107, align 8, !tbaa !11
  %109 = load ptr, ptr %20, align 8, !tbaa !5
  %110 = load i32, ptr %32, align 4, !tbaa !9
  %111 = mul nsw i32 %110, 3
  %112 = add nsw i32 %111, 2
  %113 = sext i32 %112 to i64
  %114 = getelementptr inbounds double, ptr %109, i64 %113
  %115 = load double, ptr %114, align 8, !tbaa !11
  call void @vec3_assign(ptr noundef %33, double noundef %101, double noundef %108, double noundef %115)
  call void @vec3_mult_mat(ptr noundef %34, ptr noundef %31, ptr noundef %33)
  %116 = load i32, ptr %32, align 4, !tbaa !9
  %117 = sext i32 %116 to i64
  %118 = getelementptr inbounds %struct.vec3_t, ptr %45, i64 %117
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %118, ptr align 8 %34, i64 24, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #5
  br label %119

119:                                              ; preds = %70
  %120 = load i32, ptr %32, align 4, !tbaa !9
  %121 = add nsw i32 %120, 1
  store i32 %121, ptr %32, align 4, !tbaa !9
  br label %66, !llvm.loop !15

122:                                              ; preds = %66
  call void @llvm.lifetime.start.p0(i64 96, ptr %35) #5
  %123 = load i32, ptr %26, align 4, !tbaa !9
  %124 = getelementptr inbounds %struct.options_t, ptr %35, i32 0, i32 3
  store i32 %123, ptr %124, align 8, !tbaa !17
  %125 = load double, ptr %24, align 8, !tbaa !11
  %126 = fcmp oeq double %125, 0.000000e+00
  br i1 %126, label %127, label %128

127:                                              ; preds = %122
  br label %130

128:                                              ; preds = %122
  %129 = load double, ptr %24, align 8, !tbaa !11
  br label %130

130:                                              ; preds = %128, %127
  %131 = phi double [ 1.000000e-08, %127 ], [ %129, %128 ]
  %132 = getelementptr inbounds %struct.options_t, ptr %35, i32 0, i32 2
  store double %131, ptr %132, align 8, !tbaa !20
  %133 = load double, ptr %25, align 8, !tbaa !11
  %134 = fcmp oeq double %133, 0.000000e+00
  br i1 %134, label %135, label %136

135:                                              ; preds = %130
  br label %138

136:                                              ; preds = %130
  %137 = load double, ptr %25, align 8, !tbaa !11
  br label %138

138:                                              ; preds = %136, %135
  %139 = phi double [ 1.000000e-05, %135 ], [ %137, %136 ]
  %140 = getelementptr inbounds %struct.options_t, ptr %35, i32 0, i32 1
  store double %139, ptr %140, align 8, !tbaa !21
  %141 = load i32, ptr %23, align 4, !tbaa !9
  %142 = icmp eq i32 %141, 1
  br i1 %142, label %143, label %145

143:                                              ; preds = %138
  %144 = getelementptr inbounds %struct.options_t, ptr %35, i32 0, i32 0
  call void @mat33_set_all_zeros(ptr noundef %144)
  br label %146

145:                                              ; preds = %138
  br label %146

146:                                              ; preds = %145, %143
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #5
  call void @llvm.lifetime.start.p0(i64 72, ptr %37) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %38) #5
  %147 = load i32, ptr %21, align 4, !tbaa !9
  call void @robust_pose2(ptr noundef %36, ptr noundef %37, ptr noundef %38, ptr noundef %42, ptr noundef %45, ptr noundef byval(%struct.options_t) align 8 %35, i32 noundef %147)
  %148 = load ptr, ptr %15, align 8, !tbaa !5
  %149 = getelementptr inbounds %struct.mat33_t, ptr %37, i32 0, i32 0
  %150 = getelementptr inbounds [9 x double], ptr %149, i64 0, i64 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %148, ptr align 8 %150, i64 72, i1 false)
  %151 = load ptr, ptr %16, align 8, !tbaa !5
  %152 = getelementptr inbounds %struct.vec3_t, ptr %38, i32 0, i32 0
  %153 = getelementptr inbounds [3 x double], ptr %152, i64 0, i64 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %151, ptr align 8 %153, i64 24, i1 false)
  %154 = load double, ptr %36, align 8, !tbaa !11
  %155 = load ptr, ptr %14, align 8, !tbaa !5
  store double %154, ptr %155, align 8, !tbaa !11
  call void @llvm.lifetime.end.p0(i64 24, ptr %38) #5
  call void @llvm.lifetime.end.p0(i64 72, ptr %37) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #5
  call void @llvm.lifetime.end.p0(i64 96, ptr %35) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #5
  call void @llvm.lifetime.end.p0(i64 72, ptr %31) #5
  call void @llvm.lifetime.end.p0(i64 72, ptr %30) #5
  %156 = load ptr, ptr %27, align 8
  call void @llvm.stackrestore.p0(ptr %156)
  ret void
}

; Function Attrs: nocallback nofree nosync nounwind willreturn
declare ptr @llvm.stacksave.p0() #1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

declare void @mat33_eye(ptr noundef) #3

declare void @mat33_inv(ptr noundef, ptr noundef) #3

declare void @vec3_assign(ptr noundef, double noundef, double noundef, double noundef) #3

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #4

declare void @vec3_mult_mat(ptr noundef, ptr noundef, ptr noundef) #3

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

declare void @mat33_set_all_zeros(ptr noundef) #3

declare void @robust_pose2(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef byval(%struct.options_t) align 8, i32 noundef) #3

; Function Attrs: nocallback nofree nosync nounwind willreturn
declare void @llvm.stackrestore.p0(ptr) #1

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn }
attributes #2 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = !{i64 0, i64 24, !14}
!14 = !{!7, !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = !{!18, !10, i64 88}
!18 = !{!"", !19, i64 0, !12, i64 72, !12, i64 80, !10, i64 88}
!19 = !{!"", !7, i64 0}
!20 = !{!18, !12, i64 80}
!21 = !{!18, !12, i64 72}


; 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"

%struct.mat33_t = type { [9 x double] }
%struct.vec3_t = type { [3 x double] }
%struct.options_t = type { %struct.mat33_t, double, double, i32 }

; Function Attrs: nounwind uwtable
define dso_local void @robustPlanarPose(ptr nocapture noundef writeonly %0, ptr nocapture noundef writeonly %1, ptr nocapture noundef writeonly %2, ptr nocapture noundef readonly %3, ptr nocapture noundef readonly %4, ptr nocapture noundef readonly %5, ptr nocapture noundef readonly %6, i32 noundef %7, ptr nocapture noundef readnone %8, i32 noundef %9, double noundef %10, double noundef %11, i32 noundef %12) local_unnamed_addr #0 {
  %14 = alloca %struct.mat33_t, align 8
  %15 = alloca %struct.mat33_t, align 8
  %16 = alloca %struct.vec3_t, align 8
  %17 = alloca %struct.vec3_t, align 8
  %18 = alloca %struct.options_t, align 8
  %19 = alloca double, align 8
  %20 = alloca %struct.mat33_t, align 8
  %21 = alloca %struct.vec3_t, align 8
  %22 = zext i32 %7 to i64
  %23 = alloca %struct.vec3_t, i64 %22, align 16
  %24 = alloca %struct.vec3_t, i64 %22, align 16
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %14) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %15) #4
  call void @mat33_eye(ptr noundef nonnull %14) #4
  %25 = load double, ptr %4, align 8, !tbaa !5
  store double %25, ptr %14, align 8, !tbaa !5
  %26 = getelementptr inbounds i8, ptr %4, i64 8
  %27 = load double, ptr %26, align 8, !tbaa !5
  %28 = getelementptr inbounds i8, ptr %14, i64 32
  store double %27, ptr %28, align 8, !tbaa !5
  %29 = load double, ptr %3, align 8, !tbaa !5
  %30 = getelementptr inbounds i8, ptr %14, i64 16
  store double %29, ptr %30, align 8, !tbaa !5
  %31 = getelementptr inbounds i8, ptr %3, i64 8
  %32 = load double, ptr %31, align 8, !tbaa !5
  %33 = getelementptr inbounds i8, ptr %14, i64 40
  store double %32, ptr %33, align 8, !tbaa !5
  call void @mat33_inv(ptr noundef nonnull %15, ptr noundef nonnull %14) #4
  %34 = icmp sgt i32 %7, 0
  br i1 %34, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %13, %.lr.ph
  %indvars.iv = phi i64 [ %indvars.iv.next, %.lr.ph ], [ 0, %13 ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %17) #4
  %35 = mul nuw nsw i64 %indvars.iv, 3
  %36 = getelementptr inbounds double, ptr %5, i64 %35
  %37 = load double, ptr %36, align 8, !tbaa !5
  %38 = add nuw nsw i64 %35, 1
  %39 = getelementptr inbounds double, ptr %5, i64 %38
  %40 = load double, ptr %39, align 8, !tbaa !5
  %41 = add nuw nsw i64 %35, 2
  %42 = getelementptr inbounds double, ptr %5, i64 %41
  %43 = load double, ptr %42, align 8, !tbaa !5
  call void @vec3_assign(ptr noundef nonnull %16, double noundef %37, double noundef %40, double noundef %43) #4
  %44 = getelementptr inbounds %struct.vec3_t, ptr %23, i64 %indvars.iv
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %44, ptr noundef nonnull align 8 dereferenceable(24) %16, i64 24, i1 false), !tbaa.struct !9
  %45 = getelementptr inbounds double, ptr %6, i64 %35
  %46 = load double, ptr %45, align 8, !tbaa !5
  %47 = getelementptr inbounds double, ptr %6, i64 %38
  %48 = load double, ptr %47, align 8, !tbaa !5
  %49 = getelementptr inbounds double, ptr %6, i64 %41
  %50 = load double, ptr %49, align 8, !tbaa !5
  call void @vec3_assign(ptr noundef nonnull %16, double noundef %46, double noundef %48, double noundef %50) #4
  call void @vec3_mult_mat(ptr noundef nonnull %17, ptr noundef nonnull %15, ptr noundef nonnull %16) #4
  %51 = getelementptr inbounds %struct.vec3_t, ptr %24, i64 %indvars.iv
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %51, ptr noundef nonnull align 8 dereferenceable(24) %17, i64 24, i1 false), !tbaa.struct !9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #4
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %22
  br i1 %exitcond.not, label %._crit_edge, label %.lr.ph, !llvm.loop !11

._crit_edge:                                      ; preds = %.lr.ph, %13
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %18) #4
  %52 = getelementptr inbounds i8, ptr %18, i64 88
  store i32 %12, ptr %52, align 8, !tbaa !13
  %53 = insertelement <2 x double> poison, double %11, i64 0
  %54 = insertelement <2 x double> %53, double %10, i64 1
  %55 = fcmp oeq <2 x double> %54, zeroinitializer
  %56 = getelementptr inbounds i8, ptr %18, i64 72
  %57 = select <2 x i1> %55, <2 x double> <double 1.000000e-05, double 1.000000e-08>, <2 x double> %54
  store <2 x double> %57, ptr %56, align 8, !tbaa !5
  %58 = icmp eq i32 %9, 1
  br i1 %58, label %59, label %60

59:                                               ; preds = %._crit_edge
  call void @mat33_set_all_zeros(ptr noundef nonnull %18) #4
  br label %60

60:                                               ; preds = %._crit_edge, %59
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %20) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %21) #4
  call void @robust_pose2(ptr noundef nonnull %19, ptr noundef nonnull %20, ptr noundef nonnull %21, ptr noundef nonnull %23, ptr noundef nonnull %24, ptr noundef nonnull byval(%struct.options_t) align 8 %18, i32 noundef %7) #4
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(72) %1, ptr noundef nonnull align 8 dereferenceable(72) %20, i64 72, i1 false)
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 8 dereferenceable(24) %21, i64 24, i1 false)
  %61 = load double, ptr %19, align 8, !tbaa !5
  store double %61, ptr %0, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %21) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %20) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %18) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %14) #4
  ret void
}

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

declare void @mat33_eye(ptr noundef) local_unnamed_addr #2

declare void @mat33_inv(ptr noundef, ptr noundef) local_unnamed_addr #2

declare void @vec3_assign(ptr noundef, double noundef, double noundef, double noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

declare void @vec3_mult_mat(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #2

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

declare void @mat33_set_all_zeros(ptr noundef) local_unnamed_addr #2

declare void @robust_pose2(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef byval(%struct.options_t) align 8, i32 noundef) local_unnamed_addr #2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{i64 0, i64 24, !10}
!10 = !{!7, !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = !{!14, !16, i64 88}
!14 = !{!"", !15, i64 0, !6, i64 72, !6, i64 80, !16, i64 88}
!15 = !{!"", !7, i64 0}
!16 = !{!"int", !7, i64 0}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass,SimplifyCFGPass