; LLVM IR from vectozavr/3dzavr :: engine/components/physics/RigidObject.ll (ZN11RigidObject3EPAERK7SimplexSt10shared_ptrIS_E)

; 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.SupportPoint = type { %class.Vec3D, %class.Vec3D, %class.Vec3D }
%class.Vec3D = type { %"struct.std::array.3" }
%"struct.std::array.3" = type { [3 x double] }
%struct.CollisionPoint = type { %class.Vec3D, %class.Vec3D, double, %struct.SupportPoint, %struct.SupportPoint, %struct.SupportPoint, %"class.std::vector.20" }
%"class.std::vector.20" = type { %"struct.std::_Vector_base.21" }
%"struct.std::_Vector_base.21" = type { %"struct.std::_Vector_base<SupportPoint, std::allocator<SupportPoint>>::_Vector_impl" }
%"struct.std::_Vector_base<SupportPoint, std::allocator<SupportPoint>>::_Vector_impl" = type { %"struct.std::_Vector_base<SupportPoint, std::allocator<SupportPoint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SupportPoint, std::allocator<SupportPoint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.std::_List_const_iterator" = type { ptr }
%"class.std::allocator.22" = type { i8 }
%"class.std::vector.25" = type { %"struct.std::_Vector_base.26" }
%"struct.std::_Vector_base.26" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::initializer_list.30" = type { ptr, i64 }
%"class.std::allocator.27" = type { i8 }
%"struct.std::pair.31" = type { %"class.std::vector.33", i64 }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = type { %"struct.std::_Vector_base<FaceNormal, std::allocator<FaceNormal>>::_Vector_impl" }
%"struct.std::_Vector_base<FaceNormal, std::allocator<FaceNormal>>::_Vector_impl" = type { %"struct.std::_Vector_base<FaceNormal, std::allocator<FaceNormal>>::_Vector_impl_data" }
%"struct.std::_Vector_base<FaceNormal, std::allocator<FaceNormal>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = type { %"struct.std::_Vector_base<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator.44" = type { ptr }
%"class.__gnu_cxx::__normal_iterator.43" = type { ptr }
%"class.__gnu_cxx::__normal_iterator.45" = type { ptr }
%"struct.std::pair.46" = type { i64, i64 }
%struct.FaceNormal = type { %class.Vec3D, double }
%class.RigidObject = type { %class.Component, %class.Vec3D, %class.Vec3D, double, double, double, %class.Vec3D, %class.Matrix3x3, %class.Matrix3x3, double, double, i8, %class.HitBox, i8, i8, %class.Vec3D, %"class.std::function" }
%class.Component = type { ptr, ptr }
%class.Matrix3x3 = type { %"struct.std::array.9" }
%"struct.std::array.9" = type { [3 x %"struct.std::array.3"] }
%class.HitBox = type { %"class.std::vector" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<Vec3D, std::allocator<Vec3D>>::_Vector_impl" }
%"struct.std::_Vector_base<Vec3D, std::allocator<Vec3D>>::_Vector_impl" = type { %"struct.std::_Vector_base<Vec3D, std::allocator<Vec3D>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Vec3D, std::allocator<Vec3D>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }

@constinit = external hidden constant [12 x i64], align 8

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZNSt14numeric_limitsIdE3maxEv() #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Vec3D3dotERKS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; 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) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11RigidObject7supportERKSt10shared_ptrIS_ERK5Vec3D(ptr dead_on_unwind noalias writable sret(%struct.SupportPoint) align 8, ptr noundef nonnull align 8 dereferenceable(368), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessI11RigidObjectLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Vec3DC2ERKS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Vec3DmiERKS_(ptr dead_on_unwind noalias writable sret(%class.Vec3D) align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3minImERKT_S2_S2_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK11RigidObject10hitBoxSizeEv(ptr noundef nonnull align 8 dereferenceable(368)) #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN11RigidObject3EPAERK7SimplexSt10shared_ptrIS_E(ptr dead_on_unwind noalias writable sret(%struct.CollisionPoint) align 8 %0, ptr noundef nonnull align 8 dereferenceable(368) %1, ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef %3) #4 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca %"class.std::vector.20", align 8
  %10 = alloca %"struct.std::_List_const_iterator", align 8
  %11 = alloca %"struct.std::_List_const_iterator", align 8
  %12 = alloca %"class.std::allocator.22", align 1
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  %15 = alloca %"class.std::vector.25", align 8
  %16 = alloca %"class.std::initializer_list.30", align 8
  %17 = alloca [12 x i64], align 8
  %18 = alloca %"class.std::allocator.27", align 1
  %19 = alloca %"struct.std::pair.31", align 8
  %20 = alloca %"class.std::vector.33", align 8
  %21 = alloca i64, align 8
  %22 = alloca %class.Vec3D, align 8
  %23 = alloca double, align 8
  %24 = alloca i64, align 8
  %25 = alloca i64, align 8
  %26 = alloca i64, align 8
  %27 = alloca %struct.SupportPoint, align 8
  %28 = alloca double, align 8
  %29 = alloca %"class.std::vector.38", align 8
  %30 = alloca i64, align 8
  %31 = alloca i64, align 8
  %32 = alloca %class.Vec3D, align 8
  %33 = alloca %"class.std::vector.38", align 8
  %34 = alloca %"class.std::vector.38", align 8
  %35 = alloca %"class.std::vector.38", align 8
  %36 = alloca %"class.__gnu_cxx::__normal_iterator.44", align 8
  %37 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %38 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %39 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %40 = alloca %"class.__gnu_cxx::__normal_iterator.44", align 8
  %41 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %42 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %43 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %44 = alloca %"class.__gnu_cxx::__normal_iterator.44", align 8
  %45 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %46 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %47 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %48 = alloca %"class.std::vector.25", align 8
  %49 = alloca ptr, align 8
  %50 = alloca %"class.__gnu_cxx::__normal_iterator.45", align 8
  %51 = alloca %"class.__gnu_cxx::__normal_iterator.45", align 8
  %52 = alloca %"struct.std::pair.46", align 8
  %53 = alloca ptr, align 8
  %54 = alloca ptr, align 8
  %55 = alloca i64, align 8
  %56 = alloca %"class.__gnu_cxx::__normal_iterator.44", align 8
  %57 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %58 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %59 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %60 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %61 = alloca %"struct.std::pair.31", align 8
  %62 = alloca double, align 8
  %63 = alloca %class.Vec3D, align 8
  store ptr %0, ptr %5, align 8
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store ptr %3, ptr %8, align 8, !tbaa !5
  %64 = load ptr, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr %9) #6
  %65 = load ptr, ptr %7, align 8, !tbaa !5
  %66 = call ptr @_ZNK7Simplex5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %65)
  %67 = getelementptr inbounds %"struct.std::_List_const_iterator", ptr %10, i32 0, i32 0
  store ptr %66, ptr %67, align 8
  %68 = load ptr, ptr %7, align 8, !tbaa !5
  %69 = call ptr @_ZNK7Simplex3endEv(ptr noundef nonnull align 8 dereferenceable(24) %68)
  %70 = getelementptr inbounds %"struct.std::_List_const_iterator", ptr %11, i32 0, i32 0
  store ptr %69, ptr %70, align 8
  call void @llvm.lifetime.start.p0(i64 1, ptr %12) #6
  call void @_ZNSaI12SupportPointEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  %71 = getelementptr inbounds %"struct.std::_List_const_iterator", ptr %10, i32 0, i32 0
  %72 = load ptr, ptr %71, align 8
  %73 = getelementptr inbounds %"struct.std::_List_const_iterator", ptr %11, i32 0, i32 0
  %74 = load ptr, ptr %73, align 8
  invoke void @_ZNSt6vectorI12SupportPointSaIS0_EEC2ISt20_List_const_iteratorIS0_EvEET_S6_RKS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr %72, ptr %74, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %75 unwind label %137

75:                                               ; preds = %4
  call void @_ZNSt15__new_allocatorI12SupportPointED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %15) #6
  call void @llvm.lifetime.start.p0(i64 96, ptr %17) #6
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %17, ptr align 8 @constinit, i64 96, i1 false), !tbaa.struct !9
  %76 = getelementptr inbounds %"class.std::initializer_list.30", ptr %16, i32 0, i32 0
  store ptr %17, ptr %76, align 8, !tbaa !11
  %77 = getelementptr inbounds %"class.std::initializer_list.30", ptr %16, i32 0, i32 1
  store i64 12, ptr %77, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 1, ptr %18) #6
  call void @_ZNSaImEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #6
  %78 = getelementptr inbounds { ptr, i64 }, ptr %16, i32 0, i32 0
  %79 = load ptr, ptr %78, align 8
  %80 = getelementptr inbounds { ptr, i64 }, ptr %16, i32 0, i32 1
  %81 = load i64, ptr %80, align 8
  invoke void @_ZNSt6vectorImSaImEEC2ESt16initializer_listImERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr %79, i64 %81, ptr noundef nonnull align 1 dereferenceable(1) %18)
          to label %82 unwind label %141

82:                                               ; preds = %75
  call void @_ZNSt15__new_allocatorImED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %17) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %19) #6
  invoke void @_ZN11RigidObject14getFaceNormalsERKSt6vectorI12SupportPointSaIS1_EERKS0_ImSaImEE(ptr dead_on_unwind writable sret(%"struct.std::pair.31") align 8 %19, ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(24) %15)
          to label %83 unwind label %145

83:                                               ; preds = %82
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #6
  %84 = getelementptr inbounds %"struct.std::pair.31", ptr %19, i32 0, i32 0
  invoke void @_ZNSt6vectorI10FaceNormalSaIS0_EEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(24) %84)
          to label %85 unwind label %149

85:                                               ; preds = %83
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #6
  %86 = getelementptr inbounds %"struct.std::pair.31", ptr %19, i32 0, i32 1
  %87 = load i64, ptr %86, align 8, !tbaa !15
  store i64 %87, ptr %21, align 8, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 24, ptr %22) #6
  %88 = load i64, ptr %21, align 8, !tbaa !21
  %89 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %88) #6
  %90 = getelementptr inbounds %struct.FaceNormal, ptr %89, i32 0, i32 0
  invoke void @_ZN5Vec3DC2ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %22, ptr noundef nonnull align 8 dereferenceable(24) %90)
          to label %91 unwind label %153

91:                                               ; preds = %85
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #6
  %92 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  store double %92, ptr %23, align 8, !tbaa !22
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #6
  store i64 0, ptr %24, align 8, !tbaa !21
  br label %93

93:                                               ; preds = %343, %91
  %94 = load double, ptr %23, align 8, !tbaa !22
  %95 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  %96 = fcmp oeq double %94, %95
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #6
  br i1 %96, label %97, label %110

97:                                               ; preds = %93
  %98 = load i64, ptr %24, align 8, !tbaa !21
  %99 = add i64 %98, 1
  store i64 %99, ptr %24, align 8, !tbaa !21
  %100 = invoke noundef i64 @_ZNK11RigidObject10hitBoxSizeEv(ptr noundef nonnull align 8 dereferenceable(368) %64)
          to label %101 unwind label %157

101:                                              ; preds = %97
  %102 = call noundef ptr @_ZNKSt19__shared_ptr_accessI11RigidObjectLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %3) #6
  %103 = invoke noundef i64 @_ZNK11RigidObject10hitBoxSizeEv(ptr noundef nonnull align 8 dereferenceable(368) %102)
          to label %104 unwind label %157

104:                                              ; preds = %101
  %105 = add i64 %100, %103
  store i64 %105, ptr %25, align 8, !tbaa !21
  store i64 30, ptr %26, align 8, !tbaa !21
  %106 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3minImERKT_S2_S2_(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26)
          to label %107 unwind label %161

107:                                              ; preds = %104
  %108 = load i64, ptr %106, align 8, !tbaa !21
  %109 = icmp ult i64 %98, %108
  br label %110

110:                                              ; preds = %107, %93
  %111 = phi i1 [ false, %93 ], [ %109, %107 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  br i1 %111, label %112, label %346

112:                                              ; preds = %110
  %113 = load i64, ptr %21, align 8, !tbaa !21
  %114 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %113) #6
  %115 = getelementptr inbounds %struct.FaceNormal, ptr %114, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %22, ptr align 8 %115, i64 24, i1 false), !tbaa.struct !24
  %116 = load i64, ptr %21, align 8, !tbaa !21
  %117 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %116) #6
  %118 = getelementptr inbounds %struct.FaceNormal, ptr %117, i32 0, i32 1
  %119 = load double, ptr %118, align 8, !tbaa !25
  store double %119, ptr %23, align 8, !tbaa !22
  call void @llvm.lifetime.start.p0(i64 72, ptr %27) #6
  invoke void @_ZN11RigidObject7supportERKSt10shared_ptrIS_ERK5Vec3D(ptr dead_on_unwind writable sret(%struct.SupportPoint) align 8 %27, ptr noundef nonnull align 8 dereferenceable(368) %64, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(24) %22)
          to label %120 unwind label %166

120:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #6
  %121 = getelementptr inbounds %struct.SupportPoint, ptr %27, i32 0, i32 2
  %122 = invoke noundef double @_ZNK5Vec3D3dotERKS_(ptr noundef nonnull align 8 dereferenceable(24) %22, ptr noundef nonnull align 8 dereferenceable(24) %121)
          to label %123 unwind label %170

123:                                              ; preds = %120
  store double %122, ptr %28, align 8, !tbaa !22
  %124 = load double, ptr %28, align 8, !tbaa !22
  %125 = load double, ptr %23, align 8, !tbaa !22
  %126 = fsub double %124, %125
  %127 = invoke noundef double @_ZSt3absd(double noundef %126)
          to label %128 unwind label %170

128:                                              ; preds = %123
  %129 = fcmp ogt double %127, 0x3DA5FD7FE1796495
  br i1 %129, label %130, label %343

130:                                              ; preds = %128
  %131 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  store double %131, ptr %23, align 8, !tbaa !22
  call void @llvm.lifetime.start.p0(i64 24, ptr %29) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #6
  store i64 0, ptr %30, align 8, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #6
  store i64 0, ptr %31, align 8, !tbaa !21
  br label %132

132:                                              ; preds = %269, %130
  %133 = load i64, ptr %31, align 8, !tbaa !21
  %134 = call noundef i64 @_ZNKSt6vectorI10FaceNormalSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  %135 = icmp ult i64 %133, %134
  br i1 %135, label %174, label %136

136:                                              ; preds = %132
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #6
  br label %273

137:                                              ; preds = %4
  %138 = landingpad { ptr, i32 }
          cleanup
  %139 = extractvalue { ptr, i32 } %138, 0
  store ptr %139, ptr %13, align 8
  %140 = extractvalue { ptr, i32 } %138, 1
  store i32 %140, ptr %14, align 4
  call void @_ZNSt15__new_allocatorI12SupportPointED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #6
  br label %421

141:                                              ; preds = %75
  %142 = landingpad { ptr, i32 }
          cleanup
  %143 = extractvalue { ptr, i32 } %142, 0
  store ptr %143, ptr %13, align 8
  %144 = extractvalue { ptr, i32 } %142, 1
  store i32 %144, ptr %14, align 4
  call void @_ZNSt15__new_allocatorImED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %18) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %17) #6
  br label %420

145:                                              ; preds = %82
  %146 = landingpad { ptr, i32 }
          cleanup
  %147 = extractvalue { ptr, i32 } %146, 0
  store ptr %147, ptr %13, align 8
  %148 = extractvalue { ptr, i32 } %146, 1
  store i32 %148, ptr %14, align 4
  br label %419

149:                                              ; preds = %83
  %150 = landingpad { ptr, i32 }
          cleanup
  %151 = extractvalue { ptr, i32 } %150, 0
  store ptr %151, ptr %13, align 8
  %152 = extractvalue { ptr, i32 } %150, 1
  store i32 %152, ptr %14, align 4
  br label %418

153:                                              ; preds = %85
  %154 = landingpad { ptr, i32 }
          cleanup
  %155 = extractvalue { ptr, i32 } %154, 0
  store ptr %155, ptr %13, align 8
  %156 = extractvalue { ptr, i32 } %154, 1
  store i32 %156, ptr %14, align 4
  br label %417

157:                                              ; preds = %101, %97
  %158 = landingpad { ptr, i32 }
          cleanup
  %159 = extractvalue { ptr, i32 } %158, 0
  store ptr %159, ptr %13, align 8
  %160 = extractvalue { ptr, i32 } %158, 1
  store i32 %160, ptr %14, align 4
  br label %165

161:                                              ; preds = %104
  %162 = landingpad { ptr, i32 }
          cleanup
  %163 = extractvalue { ptr, i32 } %162, 0
  store ptr %163, ptr %13, align 8
  %164 = extractvalue { ptr, i32 } %162, 1
  store i32 %164, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  br label %165

165:                                              ; preds = %161, %157
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  br label %416

166:                                              ; preds = %112
  %167 = landingpad { ptr, i32 }
          cleanup
  %168 = extractvalue { ptr, i32 } %167, 0
  store ptr %168, ptr %13, align 8
  %169 = extractvalue { ptr, i32 } %167, 1
  store i32 %169, ptr %14, align 4
  br label %345

170:                                              ; preds = %123, %120
  %171 = landingpad { ptr, i32 }
          cleanup
  %172 = extractvalue { ptr, i32 } %171, 0
  store ptr %172, ptr %13, align 8
  %173 = extractvalue { ptr, i32 } %171, 1
  store i32 %173, ptr %14, align 4
  br label %344

174:                                              ; preds = %132
  %175 = load i64, ptr %31, align 8, !tbaa !21
  %176 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %175) #6
  %177 = getelementptr inbounds %struct.FaceNormal, ptr %176, i32 0, i32 0
  call void @llvm.lifetime.start.p0(i64 24, ptr %32) #6
  %178 = getelementptr inbounds %struct.SupportPoint, ptr %27, i32 0, i32 2
  %179 = load i64, ptr %30, align 8, !tbaa !21
  %180 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %179) #6
  %181 = load i64, ptr %180, align 8, !tbaa !21
  %182 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %9, i64 noundef %181) #6
  %183 = getelementptr inbounds %struct.SupportPoint, ptr %182, i32 0, i32 2
  invoke void @_ZNK5Vec3DmiERKS_(ptr dead_on_unwind writable sret(%class.Vec3D) align 8 %32, ptr noundef nonnull align 8 dereferenceable(24) %178, ptr noundef nonnull align 8 dereferenceable(24) %183)
          to label %184 unwind label %237

184:                                              ; preds = %174
  %185 = invoke noundef double @_ZNK5Vec3D3dotERKS_(ptr noundef nonnull align 8 dereferenceable(24) %177, ptr noundef nonnull align 8 dereferenceable(24) %32)
          to label %186 unwind label %237

186:                                              ; preds = %184
  %187 = fcmp ogt double %185, 0.000000e+00
  call void @llvm.lifetime.end.p0(i64 24, ptr %32) #6
  br i1 %187, label %188, label %265

188:                                              ; preds = %186
  call void @llvm.lifetime.start.p0(i64 24, ptr %33) #6
  %189 = load i64, ptr %30, align 8, !tbaa !21
  %190 = add nsw i64 %189, 0
  %191 = load i64, ptr %30, align 8, !tbaa !21
  %192 = add nsw i64 %191, 1
  invoke void @_ZN11RigidObject15addIfUniqueEdgeERKSt6vectorISt4pairImmESaIS2_EERKS0_ImSaImEEmm(ptr dead_on_unwind writable sret(%"class.std::vector.38") align 8 %33, ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %190, i64 noundef %192)
          to label %193 unwind label %241

193:                                              ; preds = %188
  %194 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorISt4pairImmESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(24) %33) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %34) #6
  %195 = load i64, ptr %30, align 8, !tbaa !21
  %196 = add nsw i64 %195, 1
  %197 = load i64, ptr %30, align 8, !tbaa !21
  %198 = add nsw i64 %197, 2
  invoke void @_ZN11RigidObject15addIfUniqueEdgeERKSt6vectorISt4pairImmESaIS2_EERKS0_ImSaImEEmm(ptr dead_on_unwind writable sret(%"class.std::vector.38") align 8 %34, ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %196, i64 noundef %198)
          to label %199 unwind label %245

199:                                              ; preds = %193
  %200 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorISt4pairImmESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(24) %34) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %34) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %35) #6
  %201 = load i64, ptr %30, align 8, !tbaa !21
  %202 = add nsw i64 %201, 2
  %203 = load i64, ptr %30, align 8, !tbaa !21
  %204 = add nsw i64 %203, 0
  invoke void @_ZN11RigidObject15addIfUniqueEdgeERKSt6vectorISt4pairImmESaIS2_EERKS0_ImSaImEEmm(ptr dead_on_unwind writable sret(%"class.std::vector.38") align 8 %35, ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %202, i64 noundef %204)
          to label %205 unwind label %249

205:                                              ; preds = %199
  %206 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorISt4pairImmESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(24) %35) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %35) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #6
  %207 = call ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %15) #6
  %208 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %38, i32 0, i32 0
  store ptr %207, ptr %208, align 8
  %209 = load i64, ptr %30, align 8, !tbaa !21
  %210 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %38, i64 noundef %209) #6
  %211 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %37, i32 0, i32 0
  store ptr %210, ptr %211, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 8 dereferenceable(8) %37) #6
  %212 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.44", ptr %36, i32 0, i32 0
  %213 = load ptr, ptr %212, align 8
  %214 = invoke ptr @_ZNSt6vectorImSaImEE5eraseEN9__gnu_cxx17__normal_iteratorIPKmS1_EE(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr %213)
          to label %215 unwind label %253

215:                                              ; preds = %205
  %216 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %39, i32 0, i32 0
  store ptr %214, ptr %216, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #6
  %217 = call ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %15) #6
  %218 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %42, i32 0, i32 0
  store ptr %217, ptr %218, align 8
  %219 = load i64, ptr %30, align 8, !tbaa !21
  %220 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %42, i64 noundef %219) #6
  %221 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %41, i32 0, i32 0
  store ptr %220, ptr %221, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %40, ptr noundef nonnull align 8 dereferenceable(8) %41) #6
  %222 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.44", ptr %40, i32 0, i32 0
  %223 = load ptr, ptr %222, align 8
  %224 = invoke ptr @_ZNSt6vectorImSaImEE5eraseEN9__gnu_cxx17__normal_iteratorIPKmS1_EE(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr %223)
          to label %225 unwind label %257

225:                                              ; preds = %215
  %226 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %43, i32 0, i32 0
  store ptr %224, ptr %226, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #6
  %227 = call ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %15) #6
  %228 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %46, i32 0, i32 0
  store ptr %227, ptr %228, align 8
  %229 = load i64, ptr %30, align 8, !tbaa !21
  %230 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %46, i64 noundef %229) #6
  %231 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %45, i32 0, i32 0
  store ptr %230, ptr %231, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %44, ptr noundef nonnull align 8 dereferenceable(8) %45) #6
  %232 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.44", ptr %44, i32 0, i32 0
  %233 = load ptr, ptr %232, align 8
  %234 = invoke ptr @_ZNSt6vectorImSaImEE5eraseEN9__gnu_cxx17__normal_iteratorIPKmS1_EE(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr %233)
          to label %235 unwind label %261

235:                                              ; preds = %225
  %236 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %47, i32 0, i32 0
  store ptr %234, ptr %236, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #6
  br label %268

237:                                              ; preds = %184, %174
  %238 = landingpad { ptr, i32 }
          cleanup
  %239 = extractvalue { ptr, i32 } %238, 0
  store ptr %239, ptr %13, align 8
  %240 = extractvalue { ptr, i32 } %238, 1
  store i32 %240, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %32) #6
  br label %272

241:                                              ; preds = %188
  %242 = landingpad { ptr, i32 }
          cleanup
  %243 = extractvalue { ptr, i32 } %242, 0
  store ptr %243, ptr %13, align 8
  %244 = extractvalue { ptr, i32 } %242, 1
  store i32 %244, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #6
  br label %272

245:                                              ; preds = %193
  %246 = landingpad { ptr, i32 }
          cleanup
  %247 = extractvalue { ptr, i32 } %246, 0
  store ptr %247, ptr %13, align 8
  %248 = extractvalue { ptr, i32 } %246, 1
  store i32 %248, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %34) #6
  br label %272

249:                                              ; preds = %199
  %250 = landingpad { ptr, i32 }
          cleanup
  %251 = extractvalue { ptr, i32 } %250, 0
  store ptr %251, ptr %13, align 8
  %252 = extractvalue { ptr, i32 } %250, 1
  store i32 %252, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %35) #6
  br label %272

253:                                              ; preds = %205
  %254 = landingpad { ptr, i32 }
          cleanup
  %255 = extractvalue { ptr, i32 } %254, 0
  store ptr %255, ptr %13, align 8
  %256 = extractvalue { ptr, i32 } %254, 1
  store i32 %256, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #6
  br label %272

257:                                              ; preds = %215
  %258 = landingpad { ptr, i32 }
          cleanup
  %259 = extractvalue { ptr, i32 } %258, 0
  store ptr %259, ptr %13, align 8
  %260 = extractvalue { ptr, i32 } %258, 1
  store i32 %260, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #6
  br label %272

261:                                              ; preds = %225
  %262 = landingpad { ptr, i32 }
          cleanup
  %263 = extractvalue { ptr, i32 } %262, 0
  store ptr %263, ptr %13, align 8
  %264 = extractvalue { ptr, i32 } %262, 1
  store i32 %264, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #6
  br label %272

265:                                              ; preds = %186
  %266 = load i64, ptr %30, align 8, !tbaa !21
  %267 = add nsw i64 %266, 3
  store i64 %267, ptr %30, align 8, !tbaa !21
  br label %268

268:                                              ; preds = %265, %235
  br label %269

269:                                              ; preds = %268
  %270 = load i64, ptr %31, align 8, !tbaa !21
  %271 = add i64 %270, 1
  store i64 %271, ptr %31, align 8, !tbaa !21
  br label %132, !llvm.loop !29

272:                                              ; preds = %261, %257, %253, %249, %245, %241, %237
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #6
  br label %342

273:                                              ; preds = %136
  call void @llvm.lifetime.start.p0(i64 24, ptr %48) #6
  call void @_ZNSt6vectorImSaImEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %48) #6
  %274 = call noundef i64 @_ZNKSt6vectorISt4pairImmESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  %275 = mul i64 %274, 3
  invoke void @_ZNSt6vectorImSaImEE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %48, i64 noundef %275)
          to label %276 unwind label %286

276:                                              ; preds = %273
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #6
  store ptr %29, ptr %49, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #6
  %277 = load ptr, ptr %49, align 8, !tbaa !5
  %278 = call ptr @_ZNSt6vectorISt4pairImmESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %277) #6
  %279 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.45", ptr %50, i32 0, i32 0
  store ptr %278, ptr %279, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #6
  %280 = load ptr, ptr %49, align 8, !tbaa !5
  %281 = call ptr @_ZNSt6vectorISt4pairImmESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %280) #6
  %282 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.45", ptr %51, i32 0, i32 0
  store ptr %281, ptr %282, align 8
  br label %283

283:                                              ; preds = %300, %276
  %284 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairImmESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull align 8 dereferenceable(8) %51) #6
  br i1 %284, label %290, label %285

285:                                              ; preds = %283
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #6
  br label %311

286:                                              ; preds = %311, %273
  %287 = landingpad { ptr, i32 }
          cleanup
  %288 = extractvalue { ptr, i32 } %287, 0
  store ptr %288, ptr %13, align 8
  %289 = extractvalue { ptr, i32 } %287, 1
  store i32 %289, ptr %14, align 4
  br label %341

290:                                              ; preds = %283
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #6
  %291 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt4pairImmESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %50) #6
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %52, ptr align 8 %291, i64 16, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #6
  %292 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm0EmmEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 8 dereferenceable(16) %52) #6
  store ptr %292, ptr %53, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #6
  %293 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm1EmmEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 8 dereferenceable(16) %52) #6
  store ptr %293, ptr %54, align 8, !tbaa !5
  %294 = load ptr, ptr %53, align 8, !tbaa !5
  invoke void @_ZNSt6vectorImSaImEE9push_backERKm(ptr noundef nonnull align 8 dereferenceable(24) %48, ptr noundef nonnull align 8 dereferenceable(8) %294)
          to label %295 unwind label %302

295:                                              ; preds = %290
  %296 = load ptr, ptr %54, align 8, !tbaa !5
  invoke void @_ZNSt6vectorImSaImEE9push_backERKm(ptr noundef nonnull align 8 dereferenceable(24) %48, ptr noundef nonnull align 8 dereferenceable(8) %296)
          to label %297 unwind label %302

297:                                              ; preds = %295
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #6
  %298 = call noundef i64 @_ZNKSt6vectorI12SupportPointSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  store i64 %298, ptr %55, align 8, !tbaa !21
  invoke void @_ZNSt6vectorImSaImEE9push_backEOm(ptr noundef nonnull align 8 dereferenceable(24) %48, ptr noundef nonnull align 8 dereferenceable(8) %55)
          to label %299 unwind label %306

299:                                              ; preds = %297
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #6
  br label %300

300:                                              ; preds = %299
  %301 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt4pairImmESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %50) #6
  br label %283

302:                                              ; preds = %295, %290
  %303 = landingpad { ptr, i32 }
          cleanup
  %304 = extractvalue { ptr, i32 } %303, 0
  store ptr %304, ptr %13, align 8
  %305 = extractvalue { ptr, i32 } %303, 1
  store i32 %305, ptr %14, align 4
  br label %310

306:                                              ; preds = %297
  %307 = landingpad { ptr, i32 }
          cleanup
  %308 = extractvalue { ptr, i32 } %307, 0
  store ptr %308, ptr %13, align 8
  %309 = extractvalue { ptr, i32 } %307, 1
  store i32 %309, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #6
  br label %310

310:                                              ; preds = %306, %302
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #6
  br label %341

311:                                              ; preds = %285
  invoke void @_ZNSt6vectorI12SupportPointSaIS0_EE9push_backERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(72) %27)
          to label %312 unwind label %286

312:                                              ; preds = %311
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #6
  %313 = call ptr @_ZNSt6vectorImSaImEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %15) #6
  %314 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %57, i32 0, i32 0
  store ptr %313, ptr %314, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %56, ptr noundef nonnull align 8 dereferenceable(8) %57) #6
  %315 = call ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %48) #6
  %316 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %58, i32 0, i32 0
  store ptr %315, ptr %316, align 8
  %317 = call ptr @_ZNSt6vectorImSaImEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %48) #6
  %318 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %59, i32 0, i32 0
  store ptr %317, ptr %318, align 8
  %319 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.44", ptr %56, i32 0, i32 0
  %320 = load ptr, ptr %319, align 8
  %321 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %58, i32 0, i32 0
  %322 = load ptr, ptr %321, align 8
  %323 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %59, i32 0, i32 0
  %324 = load ptr, ptr %323, align 8
  %325 = invoke ptr @_ZNSt6vectorImSaImEE6insertIN9__gnu_cxx17__normal_iteratorIPmS1_EEvEES6_NS4_IPKmS1_EET_SA_(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr %320, ptr %322, ptr %324)
          to label %326 unwind label %333

326:                                              ; preds = %312
  %327 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.43", ptr %60, i32 0, i32 0
  store ptr %325, ptr %327, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr %61) #6
  invoke void @_ZN11RigidObject14getFaceNormalsERKSt6vectorI12SupportPointSaIS1_EERKS0_ImSaImEE(ptr dead_on_unwind writable sret(%"struct.std::pair.31") align 8 %61, ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(24) %15)
          to label %328 unwind label %337

328:                                              ; preds = %326
  %329 = getelementptr inbounds %"struct.std::pair.31", ptr %61, i32 0, i32 0
  %330 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEaSEOS2_(ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(24) %329) #6
  %331 = getelementptr inbounds %"struct.std::pair.31", ptr %61, i32 0, i32 1
  %332 = load i64, ptr %331, align 8, !tbaa !15
  store i64 %332, ptr %21, align 8, !tbaa !21
  call void @_ZNSt4pairISt6vectorI10FaceNormalSaIS1_EEmED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %61) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %61) #6
  call void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %48) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %48) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %29) #6
  br label %343

333:                                              ; preds = %312
  %334 = landingpad { ptr, i32 }
          cleanup
  %335 = extractvalue { ptr, i32 } %334, 0
  store ptr %335, ptr %13, align 8
  %336 = extractvalue { ptr, i32 } %334, 1
  store i32 %336, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #6
  br label %341

337:                                              ; preds = %326
  %338 = landingpad { ptr, i32 }
          cleanup
  %339 = extractvalue { ptr, i32 } %338, 0
  store ptr %339, ptr %13, align 8
  %340 = extractvalue { ptr, i32 } %338, 1
  store i32 %340, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 32, ptr %61) #6
  br label %341

341:                                              ; preds = %337, %333, %310, %286
  call void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %48) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %48) #6
  br label %342

342:                                              ; preds = %341, %272
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %29) #6
  br label %344

343:                                              ; preds = %328, %128
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 72, ptr %27) #6
  br label %93, !llvm.loop !31

344:                                              ; preds = %342, %170
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #6
  br label %345

345:                                              ; preds = %344, %166
  call void @llvm.lifetime.end.p0(i64 72, ptr %27) #6
  br label %416

346:                                              ; preds = %110
  %347 = getelementptr inbounds %class.RigidObject, ptr %64, i32 0, i32 15
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %347, ptr align 8 %22, i64 24, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 8, ptr %62) #6
  %348 = load double, ptr %23, align 8, !tbaa !22
  %349 = fadd double %348, 1.000000e-04
  store double %349, ptr %62, align 8, !tbaa !22
  %350 = load double, ptr %23, align 8, !tbaa !22
  %351 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  %352 = fsub double %350, %351
  %353 = invoke noundef double @_ZSt3absd(double noundef %352)
          to label %354 unwind label %357

354:                                              ; preds = %346
  %355 = fcmp olt double %353, 0x3DA5FD7FE1796495
  br i1 %355, label %356, label %361

356:                                              ; preds = %354
  store double 0.000000e+00, ptr %62, align 8, !tbaa !22
  br label %361

357:                                              ; preds = %346
  %358 = landingpad { ptr, i32 }
          cleanup
  %359 = extractvalue { ptr, i32 } %358, 0
  store ptr %359, ptr %13, align 8
  %360 = extractvalue { ptr, i32 } %358, 1
  store i32 %360, ptr %14, align 4
  br label %415

361:                                              ; preds = %356, %354
  call void @llvm.lifetime.start.p0(i64 24, ptr %63) #6
  %362 = load i64, ptr %21, align 8, !tbaa !21
  %363 = mul i64 %362, 3
  %364 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %363) #6
  %365 = load i64, ptr %364, align 8, !tbaa !21
  %366 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %9, i64 noundef %365) #6
  %367 = load i64, ptr %21, align 8, !tbaa !21
  %368 = mul i64 %367, 3
  %369 = add i64 %368, 1
  %370 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %369) #6
  %371 = load i64, ptr %370, align 8, !tbaa !21
  %372 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %9, i64 noundef %371) #6
  %373 = load i64, ptr %21, align 8, !tbaa !21
  %374 = mul i64 %373, 3
  %375 = add i64 %374, 2
  %376 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %375) #6
  %377 = load i64, ptr %376, align 8, !tbaa !21
  %378 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %9, i64 noundef %377) #6
  invoke void @_ZN11RigidObject23calculateCollisionPointERK12SupportPointS2_S2_RK5Vec3D(ptr dead_on_unwind writable sret(%class.Vec3D) align 8 %63, ptr noundef nonnull align 8 dereferenceable(72) %366, ptr noundef nonnull align 8 dereferenceable(72) %372, ptr noundef nonnull align 8 dereferenceable(72) %378, ptr noundef nonnull align 8 dereferenceable(24) %22)
          to label %379 unwind label %411

379:                                              ; preds = %361
  %380 = getelementptr inbounds %struct.CollisionPoint, ptr %0, i32 0, i32 0
  invoke void @_ZN5Vec3DC2ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %380, ptr noundef nonnull align 8 dereferenceable(24) %63)
          to label %381 unwind label %411

381:                                              ; preds = %379
  %382 = getelementptr inbounds %struct.CollisionPoint, ptr %0, i32 0, i32 1
  invoke void @_ZN5Vec3DC2ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %382, ptr noundef nonnull align 8 dereferenceable(24) %22)
          to label %383 unwind label %411

383:                                              ; preds = %381
  %384 = getelementptr inbounds %struct.CollisionPoint, ptr %0, i32 0, i32 2
  %385 = load double, ptr %62, align 8, !tbaa !22
  store double %385, ptr %384, align 8, !tbaa !32
  %386 = getelementptr inbounds %struct.CollisionPoint, ptr %0, i32 0, i32 3
  %387 = load i64, ptr %21, align 8, !tbaa !21
  %388 = mul i64 %387, 3
  %389 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %388) #6
  %390 = load i64, ptr %389, align 8, !tbaa !21
  %391 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %9, i64 noundef %390) #6
  invoke void @_ZN12SupportPointC2ERKS_(ptr noundef nonnull align 8 dereferenceable(72) %386, ptr noundef nonnull align 8 dereferenceable(72) %391)
          to label %392 unwind label %411

392:                                              ; preds = %383
  %393 = getelementptr inbounds %struct.CollisionPoint, ptr %0, i32 0, i32 4
  %394 = load i64, ptr %21, align 8, !tbaa !21
  %395 = mul i64 %394, 3
  %396 = add i64 %395, 1
  %397 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %396) #6
  %398 = load i64, ptr %397, align 8, !tbaa !21
  %399 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %9, i64 noundef %398) #6
  invoke void @_ZN12SupportPointC2ERKS_(ptr noundef nonnull align 8 dereferenceable(72) %393, ptr noundef nonnull align 8 dereferenceable(72) %399)
          to label %400 unwind label %411

400:                                              ; preds = %392
  %401 = getelementptr inbounds %struct.CollisionPoint, ptr %0, i32 0, i32 5
  %402 = load i64, ptr %21, align 8, !tbaa !21
  %403 = mul i64 %402, 3
  %404 = add i64 %403, 2
  %405 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %15, i64 noundef %404) #6
  %406 = load i64, ptr %405, align 8, !tbaa !21
  %407 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %9, i64 noundef %406) #6
  invoke void @_ZN12SupportPointC2ERKS_(ptr noundef nonnull align 8 dereferenceable(72) %401, ptr noundef nonnull align 8 dereferenceable(72) %407)
          to label %408 unwind label %411

408:                                              ; preds = %400
  %409 = getelementptr inbounds %struct.CollisionPoint, ptr %0, i32 0, i32 6
  invoke void @_ZNSt6vectorI12SupportPointSaIS0_EEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %409, ptr noundef nonnull align 8 dereferenceable(24) %9)
          to label %410 unwind label %411

410:                                              ; preds = %408
  call void @llvm.lifetime.end.p0(i64 24, ptr %63) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %62) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  call void @_ZNSt6vectorI10FaceNormalSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #6
  call void @_ZNSt4pairISt6vectorI10FaceNormalSaIS1_EEmED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #6
  call void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #6
  call void @_ZNSt6vectorI12SupportPointSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #6
  ret void

411:                                              ; preds = %408, %400, %392, %383, %381, %379, %361
  %412 = landingpad { ptr, i32 }
          cleanup
  %413 = extractvalue { ptr, i32 } %412, 0
  store ptr %413, ptr %13, align 8
  %414 = extractvalue { ptr, i32 } %412, 1
  store i32 %414, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %63) #6
  br label %415

415:                                              ; preds = %411, %357
  call void @llvm.lifetime.end.p0(i64 8, ptr %62) #6
  br label %416

416:                                              ; preds = %415, %345, %165
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  br label %417

417:                                              ; preds = %416, %153
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  call void @_ZNSt6vectorI10FaceNormalSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  br label %418

418:                                              ; preds = %417, %149
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #6
  call void @_ZNSt4pairISt6vectorI10FaceNormalSaIS1_EEmED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #6
  br label %419

419:                                              ; preds = %418, %145
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #6
  call void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #6
  br label %420

420:                                              ; preds = %419, %141
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #6
  call void @_ZNSt6vectorI12SupportPointSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  br label %421

421:                                              ; preds = %420, %137
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #6
  br label %422

422:                                              ; preds = %421
  %423 = load ptr, ptr %13, align 8
  %424 = load i32, ptr %14, align 4
  %425 = insertvalue { ptr, i32 } poison, ptr %423, 0
  %426 = insertvalue { ptr, i32 } %425, i32 %424, 1
  resume { ptr, i32 } %426
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK7Simplex5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK7Simplex3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaI12SupportPointEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI12SupportPointSaIS0_EEC2ISt20_List_const_iteratorIS0_EvEET_S6_RKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr, ptr, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaImEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorImSaImEEC2ESt16initializer_listImERKS0_(ptr noundef nonnull align 8 dereferenceable(24), ptr, i64, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11RigidObject14getFaceNormalsERKSt6vectorI12SupportPointSaIS1_EERKS0_ImSaImEE(ptr dead_on_unwind noalias writable sret(%"struct.std::pair.31") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI10FaceNormalSaIS0_EEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZSt3absd(double noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorISt4pairImmESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI10FaceNormalSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11RigidObject15addIfUniqueEdgeERKSt6vectorISt4pairImmESaIS2_EERKS0_ImSaImEEmm(ptr dead_on_unwind noalias writable sret(%"class.std::vector.38") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, i64 noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorISt4pairImmESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorImSaImEE5eraseEN9__gnu_cxx17__normal_iteratorIPKmS1_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEplEl(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorImSaImEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorImSaImEE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorISt4pairImmESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt4pairImmESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt4pairImmESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairImmESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt4pairImmESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm0EmmEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 8 dereferenceable(16)) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm1EmmEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 8 dereferenceable(16)) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorImSaImEE9push_backERKm(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorImSaImEE9push_backEOm(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI12SupportPointSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt4pairImmESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI12SupportPointSaIS0_EE9push_backERKS0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(72)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorImSaImEE6insertIN9__gnu_cxx17__normal_iteratorIPmS1_EEvEES6_NS4_IPKmS1_EET_SA_(ptr noundef nonnull align 8 dereferenceable(24), ptr, ptr, ptr) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorImSaImEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEaSEOS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairISt6vectorI10FaceNormalSaIS1_EEmED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11RigidObject23calculateCollisionPointERK12SupportPointS2_S2_RK5Vec3D(ptr dead_on_unwind noalias writable sret(%class.Vec3D) align 8, ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN12SupportPointC2ERKS_(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI12SupportPointSaIS0_EEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI10FaceNormalSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI12SupportPointSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorI12SupportPointED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorImED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 = { 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 #3 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 #5 = { 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 #6 = { 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 = !{i64 0, i64 96, !10}
!10 = !{!7, !7, i64 0}
!11 = !{!12, !6, i64 0}
!12 = !{!"_ZTSSt16initializer_listImE", !6, i64 0, !13, i64 8}
!13 = !{!"long", !7, i64 0}
!14 = !{!12, !13, i64 8}
!15 = !{!16, !13, i64 24}
!16 = !{!"_ZTSSt4pairISt6vectorI10FaceNormalSaIS1_EEmE", !17, i64 0, !13, i64 24}
!17 = !{!"_ZTSSt6vectorI10FaceNormalSaIS0_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseI10FaceNormalSaIS0_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseI10FaceNormalSaIS0_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseI10FaceNormalSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!13, !13, i64 0}
!22 = !{!23, !23, i64 0}
!23 = !{!"double", !7, i64 0}
!24 = !{i64 0, i64 24, !10}
!25 = !{!26, !23, i64 24}
!26 = !{!"_ZTS10FaceNormal", !27, i64 0, !23, i64 24}
!27 = !{!"_ZTS5Vec3D", !28, i64 0}
!28 = !{!"_ZTSSt5arrayIdLm3EE", !7, i64 0}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = distinct !{!31, !30}
!32 = !{!33, !23, i64 48}
!33 = !{!"_ZTS14CollisionPoint", !27, i64 0, !27, i64 24, !23, i64 48, !34, i64 56, !34, i64 128, !34, i64 200, !35, i64 272}
!34 = !{!"_ZTS12SupportPoint", !27, i64 0, !27, i64 24, !27, i64 48}
!35 = !{!"_ZTSSt6vectorI12SupportPointSaIS0_EE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseI12SupportPointSaIS0_EE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseI12SupportPointSaIS0_EE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseI12SupportPointSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}


; 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.SupportPoint = type { %class.Vec3D, %class.Vec3D, %class.Vec3D }
%class.Vec3D = type { %"struct.std::array.3" }
%"struct.std::array.3" = type { [3 x double] }
%struct.CollisionPoint = type { %class.Vec3D, %class.Vec3D, double, %struct.SupportPoint, %struct.SupportPoint, %struct.SupportPoint, %"class.std::vector.20" }
%"class.std::vector.20" = type { %"struct.std::_Vector_base.21" }
%"struct.std::_Vector_base.21" = type { %"struct.std::_Vector_base<SupportPoint, std::allocator<SupportPoint>>::_Vector_impl" }
%"struct.std::_Vector_base<SupportPoint, std::allocator<SupportPoint>>::_Vector_impl" = type { %"struct.std::_Vector_base<SupportPoint, std::allocator<SupportPoint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SupportPoint, std::allocator<SupportPoint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator.22" = type { i8 }
%"class.std::vector.25" = type { %"struct.std::_Vector_base.26" }
%"struct.std::_Vector_base.26" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator.27" = type { i8 }
%"struct.std::pair.31" = type { %"class.std::vector.33", i64 }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = type { %"struct.std::_Vector_base<FaceNormal, std::allocator<FaceNormal>>::_Vector_impl" }
%"struct.std::_Vector_base<FaceNormal, std::allocator<FaceNormal>>::_Vector_impl" = type { %"struct.std::_Vector_base<FaceNormal, std::allocator<FaceNormal>>::_Vector_impl_data" }
%"struct.std::_Vector_base<FaceNormal, std::allocator<FaceNormal>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = type { %"struct.std::_Vector_base<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator.44" = type { ptr }
%"class.__gnu_cxx::__normal_iterator.43" = type { ptr }
%"class.__gnu_cxx::__normal_iterator.45" = type { ptr }
%"struct.std::pair.46" = type { i64, i64 }

@constinit = external hidden local_unnamed_addr constant [12 x i64], align 8

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef double @_ZNSt14numeric_limitsIdE3maxEv() local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZNK5Vec3D3dotERKS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11RigidObject7supportERKSt10shared_ptrIS_ERK5Vec3D(ptr dead_on_unwind noalias writable sret(%struct.SupportPoint) align 8, ptr noundef nonnull align 8 dereferenceable(368), ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNKSt19__shared_ptr_accessI11RigidObjectLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Vec3DC2ERKS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Vec3DmiERKS_(ptr dead_on_unwind noalias writable sret(%class.Vec3D) align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3minImERKT_S2_S2_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK11RigidObject10hitBoxSizeEv(ptr noundef nonnull align 8 dereferenceable(368)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN11RigidObject3EPAERK7SimplexSt10shared_ptrIS_E(ptr dead_on_unwind noalias writable sret(%struct.CollisionPoint) align 8 %0, ptr noundef nonnull align 8 dereferenceable(368) %1, ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef %3) local_unnamed_addr #4 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.std::vector.20", align 8
  %6 = alloca %"class.std::allocator.22", align 1
  %7 = alloca %"class.std::vector.25", align 8
  %8 = alloca [12 x i64], align 8
  %9 = alloca %"class.std::allocator.27", align 1
  %10 = alloca %"struct.std::pair.31", align 8
  %11 = alloca %"class.std::vector.33", align 8
  %12 = alloca %class.Vec3D, align 8
  %13 = alloca i64, align 8
  %14 = alloca i64, align 8
  %15 = alloca %struct.SupportPoint, align 8
  %16 = alloca %"class.std::vector.38", align 8
  %17 = alloca %class.Vec3D, align 8
  %18 = alloca %"class.std::vector.38", align 8
  %19 = alloca %"class.std::vector.38", align 8
  %20 = alloca %"class.std::vector.38", align 8
  %21 = alloca %"class.__gnu_cxx::__normal_iterator.44", align 8
  %22 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %23 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %24 = alloca %"class.__gnu_cxx::__normal_iterator.44", align 8
  %25 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %26 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %27 = alloca %"class.__gnu_cxx::__normal_iterator.44", align 8
  %28 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %29 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %30 = alloca %"class.std::vector.25", align 8
  %31 = alloca %"class.__gnu_cxx::__normal_iterator.45", align 8
  %32 = alloca %"class.__gnu_cxx::__normal_iterator.45", align 8
  %33 = alloca %"struct.std::pair.46", align 8
  %34 = alloca i64, align 8
  %35 = alloca %"class.__gnu_cxx::__normal_iterator.44", align 8
  %36 = alloca %"class.__gnu_cxx::__normal_iterator.43", align 8
  %37 = alloca %"struct.std::pair.31", align 8
  %38 = alloca %class.Vec3D, align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #6
  %39 = tail call ptr @_ZNK7Simplex5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %2)
  %40 = tail call ptr @_ZNK7Simplex3endEv(ptr noundef nonnull align 8 dereferenceable(24) %2)
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %6) #6
  call void @_ZNSaI12SupportPointEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  invoke void @_ZNSt6vectorI12SupportPointSaIS0_EEC2ISt20_List_const_iteratorIS0_EvEET_S6_RKS1_(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr %39, ptr %40, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %41 unwind label %81

41:                                               ; preds = %4
  call void @_ZNSt15__new_allocatorI12SupportPointED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #6
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %8) #6
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(96) %8, ptr noundef nonnull align 8 dereferenceable(96) @constinit, i64 96, i1 false), !tbaa.struct !5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %9) #6
  call void @_ZNSaImEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  invoke void @_ZNSt6vectorImSaImEEC2ESt16initializer_listImERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr nonnull %8, i64 12, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %42 unwind label %83

42:                                               ; preds = %41
  call void @_ZNSt15__new_allocatorImED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %8) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #6
  invoke void @_ZN11RigidObject14getFaceNormalsERKSt6vectorI12SupportPointSaIS1_EERKS0_ImSaImEE(ptr dead_on_unwind nonnull writable sret(%"struct.std::pair.31") align 8 %10, ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %43 unwind label %85

43:                                               ; preds = %42
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #6
  invoke void @_ZNSt6vectorI10FaceNormalSaIS0_EEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(24) %10)
          to label %44 unwind label %87

44:                                               ; preds = %43
  %45 = getelementptr inbounds i8, ptr %10, i64 24
  %46 = load i64, ptr %45, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #6
  %47 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %46) #6
  invoke void @_ZN5Vec3DC2ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef nonnull align 8 dereferenceable(24) %47)
          to label %48 unwind label %89

48:                                               ; preds = %44
  %49 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  %50 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  %51 = fcmp oeq double %49, %50
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #6
  br i1 %51, label %.lr.ph123, label %.critedge

.lr.ph123:                                        ; preds = %48
  %52 = getelementptr inbounds i8, ptr %15, i64 48
  %53 = getelementptr inbounds i8, ptr %37, i64 24
  br label %54

54:                                               ; preds = %.lr.ph123, %186
  %.059121 = phi i64 [ %46, %.lr.ph123 ], [ %.160, %186 ]
  %.061120 = phi double [ %49, %.lr.ph123 ], [ %.162, %186 ]
  %.063119 = phi i64 [ 0, %.lr.ph123 ], [ %55, %186 ]
  %55 = add i64 %.063119, 1
  %56 = invoke noundef i64 @_ZNK11RigidObject10hitBoxSizeEv(ptr noundef nonnull align 8 dereferenceable(368) %1)
          to label %57 unwind label %91

57:                                               ; preds = %54
  %58 = call noundef ptr @_ZNKSt19__shared_ptr_accessI11RigidObjectLN9__gnu_cxx12_Lock_policyE2ELb0ELb0EEptEv(ptr noundef nonnull align 1 dereferenceable(1) %3) #6
  %59 = invoke noundef i64 @_ZNK11RigidObject10hitBoxSizeEv(ptr noundef nonnull align 8 dereferenceable(368) %58)
          to label %60 unwind label %91

60:                                               ; preds = %57
  %61 = add i64 %59, %56
  store i64 %61, ptr %13, align 8, !tbaa !17
  store i64 30, ptr %14, align 8, !tbaa !17
  %62 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3minImERKT_S2_S2_(ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull align 8 dereferenceable(8) %14)
  %63 = load i64, ptr %62, align 8, !tbaa !17
  %64 = icmp ult i64 %.063119, %63
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #6
  br i1 %64, label %65, label %.loopexit

65:                                               ; preds = %60
  %66 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %.059121) #6
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef nonnull align 8 dereferenceable(24) %66, i64 24, i1 false), !tbaa.struct !18
  %67 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %.059121) #6
  %68 = getelementptr inbounds i8, ptr %67, i64 24
  %69 = load double, ptr %68, align 8, !tbaa !19
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %15) #6
  invoke void @_ZN11RigidObject7supportERKSt10shared_ptrIS_ERK5Vec3D(ptr dead_on_unwind nonnull writable sret(%struct.SupportPoint) align 8 %15, ptr noundef nonnull align 8 dereferenceable(368) %1, ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(24) %12)
          to label %70 unwind label %93

70:                                               ; preds = %65
  %71 = invoke noundef double @_ZNK5Vec3D3dotERKS_(ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef nonnull align 8 dereferenceable(24) %52)
          to label %72 unwind label %95

72:                                               ; preds = %70
  %73 = fsub double %71, %69
  %74 = call noundef double @_ZSt3absd(double noundef %73)
  %75 = fcmp ogt double %74, 0x3DA5FD7FE1796495
  br i1 %75, label %76, label %186

76:                                               ; preds = %72
  %77 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #6
  %78 = call noundef i64 @_ZNKSt6vectorI10FaceNormalSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #6
  %.not = icmp eq i64 %78, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %146, %76
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %30) #6
  call void @_ZNSt6vectorImSaImEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %30) #6
  %79 = call noundef i64 @_ZNKSt6vectorISt4pairImmESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %16) #6
  %80 = mul i64 %79, 3
  invoke void @_ZNSt6vectorImSaImEE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %30, i64 noundef %80)
          to label %150 unwind label %154

81:                                               ; preds = %4
  %82 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorI12SupportPointED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %6) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %6) #6
  br label %236

83:                                               ; preds = %41
  %84 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorImED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %9) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %8) #6
  br label %235

85:                                               ; preds = %42
  %86 = landingpad { ptr, i32 }
          cleanup
  br label %234

87:                                               ; preds = %43
  %88 = landingpad { ptr, i32 }
          cleanup
  br label %233

89:                                               ; preds = %44
  %90 = landingpad { ptr, i32 }
          cleanup
  br label %232

91:                                               ; preds = %57, %54
  %92 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #6
  br label %232

93:                                               ; preds = %65
  %94 = landingpad { ptr, i32 }
          cleanup
  br label %189

95:                                               ; preds = %70
  %96 = landingpad { ptr, i32 }
          cleanup
  br label %189

.lr.ph:                                           ; preds = %76, %146
  %.064115 = phi i64 [ %.165, %146 ], [ 0, %76 ]
  %.066114 = phi i64 [ %147, %146 ], [ 0, %76 ]
  %97 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef %.066114) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %17) #6
  %98 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %.064115) #6
  %99 = load i64, ptr %98, align 8, !tbaa !17
  %100 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %99) #6
  %101 = getelementptr inbounds i8, ptr %100, i64 48
  invoke void @_ZNK5Vec3DmiERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vec3D) align 8 %17, ptr noundef nonnull align 8 dereferenceable(24) %52, ptr noundef nonnull align 8 dereferenceable(24) %101)
          to label %102 unwind label %130

102:                                              ; preds = %.lr.ph
  %103 = invoke noundef double @_ZNK5Vec3D3dotERKS_(ptr noundef nonnull align 8 dereferenceable(24) %97, ptr noundef nonnull align 8 dereferenceable(24) %17)
          to label %104 unwind label %130

104:                                              ; preds = %102
  %105 = fcmp ogt double %103, 0.000000e+00
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #6
  br i1 %105, label %106, label %144

106:                                              ; preds = %104
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %18) #6
  %107 = add nsw i64 %.064115, 1
  invoke void @_ZN11RigidObject15addIfUniqueEdgeERKSt6vectorISt4pairImmESaIS2_EERKS0_ImSaImEEmm(ptr dead_on_unwind nonnull writable sret(%"class.std::vector.38") align 8 %18, ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %.064115, i64 noundef %107)
          to label %108 unwind label %132

108:                                              ; preds = %106
  %109 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorISt4pairImmESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(24) %18) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %19) #6
  %110 = add nsw i64 %.064115, 2
  invoke void @_ZN11RigidObject15addIfUniqueEdgeERKSt6vectorISt4pairImmESaIS2_EERKS0_ImSaImEEmm(ptr dead_on_unwind nonnull writable sret(%"class.std::vector.38") align 8 %19, ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %107, i64 noundef %110)
          to label %111 unwind label %134

111:                                              ; preds = %108
  %112 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorISt4pairImmESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(24) %19) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %20) #6
  invoke void @_ZN11RigidObject15addIfUniqueEdgeERKSt6vectorISt4pairImmESaIS2_EERKS0_ImSaImEEmm(ptr dead_on_unwind nonnull writable sret(%"class.std::vector.38") align 8 %20, ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %110, i64 noundef %.064115)
          to label %113 unwind label %136

113:                                              ; preds = %111
  %114 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorISt4pairImmESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #6
  %115 = call ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  store ptr %115, ptr %23, align 8
  %116 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %23, i64 noundef %.064115) #6
  store ptr %116, ptr %22, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %21, ptr noundef nonnull align 8 dereferenceable(8) %22) #6
  %117 = load ptr, ptr %21, align 8
  %118 = invoke ptr @_ZNSt6vectorImSaImEE5eraseEN9__gnu_cxx17__normal_iteratorIPKmS1_EE(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr %117)
          to label %119 unwind label %138

119:                                              ; preds = %113
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #6
  %120 = call ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  store ptr %120, ptr %26, align 8
  %121 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %26, i64 noundef %.064115) #6
  store ptr %121, ptr %25, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull align 8 dereferenceable(8) %25) #6
  %122 = load ptr, ptr %24, align 8
  %123 = invoke ptr @_ZNSt6vectorImSaImEE5eraseEN9__gnu_cxx17__normal_iteratorIPKmS1_EE(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr %122)
          to label %124 unwind label %140

124:                                              ; preds = %119
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #6
  %125 = call ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  store ptr %125, ptr %29, align 8
  %126 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %29, i64 noundef %.064115) #6
  store ptr %126, ptr %28, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef nonnull align 8 dereferenceable(8) %28) #6
  %127 = load ptr, ptr %27, align 8
  %128 = invoke ptr @_ZNSt6vectorImSaImEE5eraseEN9__gnu_cxx17__normal_iteratorIPKmS1_EE(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr %127)
          to label %129 unwind label %142

129:                                              ; preds = %124
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  br label %146

130:                                              ; preds = %102, %.lr.ph
  %131 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #6
  br label %185

132:                                              ; preds = %106
  %133 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #6
  br label %185

134:                                              ; preds = %108
  %135 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #6
  br label %185

136:                                              ; preds = %111
  %137 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #6
  br label %185

138:                                              ; preds = %113
  %139 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #6
  br label %185

140:                                              ; preds = %119
  %141 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #6
  br label %185

142:                                              ; preds = %124
  %143 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  br label %185

144:                                              ; preds = %104
  %145 = add nsw i64 %.064115, 3
  br label %146

146:                                              ; preds = %129, %144
  %.165 = phi i64 [ %.064115, %129 ], [ %145, %144 ]
  %147 = add nuw i64 %.066114, 1
  %148 = call noundef i64 @_ZNKSt6vectorI10FaceNormalSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #6
  %149 = icmp ult i64 %147, %148
  br i1 %149, label %.lr.ph, label %._crit_edge, !llvm.loop !24

150:                                              ; preds = %._crit_edge
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #6
  %151 = call ptr @_ZNSt6vectorISt4pairImmESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %16) #6
  store ptr %151, ptr %31, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %32) #6
  %152 = call ptr @_ZNSt6vectorISt4pairImmESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %16) #6
  store ptr %152, ptr %32, align 8
  %153 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairImmESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %31, ptr noundef nonnull align 8 dereferenceable(8) %32) #6
  br i1 %153, label %.lr.ph117, label %._crit_edge118

._crit_edge118:                                   ; preds = %162, %150
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #6
  invoke void @_ZNSt6vectorI12SupportPointSaIS0_EE9push_backERKS0_(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 8 dereferenceable(72) %15)
          to label %170 unwind label %154

154:                                              ; preds = %._crit_edge118, %._crit_edge
  %155 = landingpad { ptr, i32 }
          cleanup
  br label %184

.lr.ph117:                                        ; preds = %150, %162
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %33) #6
  %156 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt4pairImmESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(16) %33, ptr noundef nonnull align 8 dereferenceable(16) %156, i64 16, i1 false)
  %157 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm0EmmEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 8 dereferenceable(16) %33) #6
  %158 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm1EmmEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 8 dereferenceable(16) %33) #6
  invoke void @_ZNSt6vectorImSaImEE9push_backERKm(ptr noundef nonnull align 8 dereferenceable(24) %30, ptr noundef nonnull align 8 dereferenceable(8) %157)
          to label %159 unwind label %165

159:                                              ; preds = %.lr.ph117
  invoke void @_ZNSt6vectorImSaImEE9push_backERKm(ptr noundef nonnull align 8 dereferenceable(24) %30, ptr noundef nonnull align 8 dereferenceable(8) %158)
          to label %160 unwind label %165

160:                                              ; preds = %159
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %34) #6
  %161 = call noundef i64 @_ZNKSt6vectorI12SupportPointSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #6
  store i64 %161, ptr %34, align 8, !tbaa !17
  invoke void @_ZNSt6vectorImSaImEE9push_backEOm(ptr noundef nonnull align 8 dereferenceable(24) %30, ptr noundef nonnull align 8 dereferenceable(8) %34)
          to label %162 unwind label %167

162:                                              ; preds = %160
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %33) #6
  %163 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt4pairImmESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  %164 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairImmESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8) %31, ptr noundef nonnull align 8 dereferenceable(8) %32) #6
  br i1 %164, label %.lr.ph117, label %._crit_edge118

165:                                              ; preds = %159, %.lr.ph117
  %166 = landingpad { ptr, i32 }
          cleanup
  br label %169

167:                                              ; preds = %160
  %168 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #6
  br label %169

169:                                              ; preds = %167, %165
  %.pn = phi { ptr, i32 } [ %168, %167 ], [ %166, %165 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %33) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #6
  br label %184

170:                                              ; preds = %._crit_edge118
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %36) #6
  %171 = call ptr @_ZNSt6vectorImSaImEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  store ptr %171, ptr %36, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %35, ptr noundef nonnull align 8 dereferenceable(8) %36) #6
  %172 = call ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #6
  %173 = call ptr @_ZNSt6vectorImSaImEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #6
  %174 = load ptr, ptr %35, align 8
  %175 = invoke ptr @_ZNSt6vectorImSaImEE6insertIN9__gnu_cxx17__normal_iteratorIPmS1_EEvEES6_NS4_IPKmS1_EET_SA_(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr %174, ptr %172, ptr %173)
          to label %176 unwind label %180

176:                                              ; preds = %170
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %37) #6
  invoke void @_ZN11RigidObject14getFaceNormalsERKSt6vectorI12SupportPointSaIS1_EERKS0_ImSaImEE(ptr dead_on_unwind nonnull writable sret(%"struct.std::pair.31") align 8 %37, ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %177 unwind label %182

177:                                              ; preds = %176
  %178 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEaSEOS2_(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(24) %37) #6
  %179 = load i64, ptr %53, align 8, !tbaa !9
  call void @_ZNSt4pairISt6vectorI10FaceNormalSaIS1_EEmED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %37) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %37) #6
  call void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %30) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %30) #6
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #6
  br label %186

180:                                              ; preds = %170
  %181 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #6
  br label %184

182:                                              ; preds = %176
  %183 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %37) #6
  br label %184

184:                                              ; preds = %182, %180, %169, %154
  %.pn.pn = phi { ptr, i32 } [ %.pn, %169 ], [ %183, %182 ], [ %181, %180 ], [ %155, %154 ]
  call void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %30) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %30) #6
  br label %185

185:                                              ; preds = %130, %132, %134, %136, %138, %140, %142, %184
  %.pn69.pn = phi { ptr, i32 } [ %.pn.pn, %184 ], [ %143, %142 ], [ %141, %140 ], [ %139, %138 ], [ %137, %136 ], [ %135, %134 ], [ %133, %132 ], [ %131, %130 ]
  call void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #6
  br label %189

186:                                              ; preds = %177, %72
  %.162 = phi double [ %77, %177 ], [ %69, %72 ]
  %.160 = phi i64 [ %179, %177 ], [ %.059121, %72 ]
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %15) #6
  %187 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  %188 = fcmp oeq double %.162, %187
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #6
  br i1 %188, label %54, label %.critedge, !llvm.loop !26

189:                                              ; preds = %95, %185, %93
  %.pn69.pn.pn.pn = phi { ptr, i32 } [ %94, %93 ], [ %.pn69.pn, %185 ], [ %96, %95 ]
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %15) #6
  br label %232

.critedge:                                        ; preds = %186, %48
  %.061.lcssa = phi double [ %49, %48 ], [ %.162, %186 ]
  %.059.lcssa = phi i64 [ %46, %48 ], [ %.160, %186 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #6
  br label %.loopexit

.loopexit:                                        ; preds = %60, %.critedge
  %.061113 = phi double [ %.061.lcssa, %.critedge ], [ %.061120, %60 ]
  %.05996 = phi i64 [ %.059.lcssa, %.critedge ], [ %.059121, %60 ]
  %190 = getelementptr inbounds i8, ptr %1, i64 312
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %190, ptr noundef nonnull align 8 dereferenceable(24) %12, i64 24, i1 false), !tbaa.struct !18
  %191 = fadd double %.061113, 1.000000e-04
  %192 = call noundef double @_ZNSt14numeric_limitsIdE3maxEv() #6
  %193 = fsub double %.061113, %192
  %194 = call noundef double @_ZSt3absd(double noundef %193)
  %195 = fcmp olt double %194, 0x3DA5FD7FE1796495
  %.0 = select i1 %195, double 0.000000e+00, double %191
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %38) #6
  %196 = mul i64 %.05996, 3
  %197 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %196) #6
  %198 = load i64, ptr %197, align 8, !tbaa !17
  %199 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %198) #6
  %200 = add i64 %196, 1
  %201 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %200) #6
  %202 = load i64, ptr %201, align 8, !tbaa !17
  %203 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %202) #6
  %204 = add i64 %196, 2
  %205 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %204) #6
  %206 = load i64, ptr %205, align 8, !tbaa !17
  %207 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %206) #6
  invoke void @_ZN11RigidObject23calculateCollisionPointERK12SupportPointS2_S2_RK5Vec3D(ptr dead_on_unwind nonnull writable sret(%class.Vec3D) align 8 %38, ptr noundef nonnull align 8 dereferenceable(72) %199, ptr noundef nonnull align 8 dereferenceable(72) %203, ptr noundef nonnull align 8 dereferenceable(72) %207, ptr noundef nonnull align 8 dereferenceable(24) %12)
          to label %208 unwind label %230

208:                                              ; preds = %.loopexit
  invoke void @_ZN5Vec3DC2ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(24) %38)
          to label %209 unwind label %230

209:                                              ; preds = %208
  %210 = getelementptr inbounds i8, ptr %0, i64 24
  invoke void @_ZN5Vec3DC2ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %210, ptr noundef nonnull align 8 dereferenceable(24) %12)
          to label %211 unwind label %230

211:                                              ; preds = %209
  %212 = getelementptr inbounds i8, ptr %0, i64 48
  store double %.0, ptr %212, align 8, !tbaa !27
  %213 = getelementptr inbounds i8, ptr %0, i64 56
  %214 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %196) #6
  %215 = load i64, ptr %214, align 8, !tbaa !17
  %216 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %215) #6
  invoke void @_ZN12SupportPointC2ERKS_(ptr noundef nonnull align 8 dereferenceable(72) %213, ptr noundef nonnull align 8 dereferenceable(72) %216)
          to label %217 unwind label %230

217:                                              ; preds = %211
  %218 = getelementptr inbounds i8, ptr %0, i64 128
  %219 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %200) #6
  %220 = load i64, ptr %219, align 8, !tbaa !17
  %221 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %220) #6
  invoke void @_ZN12SupportPointC2ERKS_(ptr noundef nonnull align 8 dereferenceable(72) %218, ptr noundef nonnull align 8 dereferenceable(72) %221)
          to label %222 unwind label %230

222:                                              ; preds = %217
  %223 = getelementptr inbounds i8, ptr %0, i64 200
  %224 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %7, i64 noundef %204) #6
  %225 = load i64, ptr %224, align 8, !tbaa !17
  %226 = call noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %225) #6
  invoke void @_ZN12SupportPointC2ERKS_(ptr noundef nonnull align 8 dereferenceable(72) %223, ptr noundef nonnull align 8 dereferenceable(72) %226)
          to label %227 unwind label %230

227:                                              ; preds = %222
  %228 = getelementptr inbounds i8, ptr %0, i64 272
  invoke void @_ZNSt6vectorI12SupportPointSaIS0_EEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %228, ptr noundef nonnull align 8 dereferenceable(24) %5)
          to label %229 unwind label %230

229:                                              ; preds = %227
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %38) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #6
  call void @_ZNSt6vectorI10FaceNormalSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #6
  call void @_ZNSt4pairISt6vectorI10FaceNormalSaIS1_EEmED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  call void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #6
  call void @_ZNSt6vectorI12SupportPointSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #6
  ret void

230:                                              ; preds = %227, %222, %217, %211, %209, %208, %.loopexit
  %231 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %38) #6
  br label %232

232:                                              ; preds = %91, %189, %230, %89
  %.pn69.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %90, %89 ], [ %.pn69.pn.pn.pn, %189 ], [ %231, %230 ], [ %92, %91 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #6
  call void @_ZNSt6vectorI10FaceNormalSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #6
  br label %233

233:                                              ; preds = %232, %87
  %.pn69.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn69.pn.pn.pn.pn.pn, %232 ], [ %88, %87 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #6
  call void @_ZNSt4pairISt6vectorI10FaceNormalSaIS1_EEmED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #6
  br label %234

234:                                              ; preds = %233, %85
  %.pn69.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn69.pn.pn.pn.pn.pn.pn, %233 ], [ %86, %85 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #6
  call void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  br label %235

235:                                              ; preds = %234, %83
  %.pn69.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn69.pn.pn.pn.pn.pn.pn.pn, %234 ], [ %84, %83 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #6
  call void @_ZNSt6vectorI12SupportPointSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #6
  br label %236

236:                                              ; preds = %235, %81
  %.pn69.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn69.pn.pn.pn.pn.pn.pn.pn.pn, %235 ], [ %82, %81 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #6
  resume { ptr, i32 } %.pn69.pn.pn.pn.pn.pn.pn.pn.pn.pn
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK7Simplex5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK7Simplex3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaI12SupportPointEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI12SupportPointSaIS0_EEC2ISt20_List_const_iteratorIS0_EvEET_S6_RKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr, ptr, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaImEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorImSaImEEC2ESt16initializer_listImERKS0_(ptr noundef nonnull align 8 dereferenceable(24), ptr, i64, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11RigidObject14getFaceNormalsERKSt6vectorI12SupportPointSaIS1_EERKS0_ImSaImEE(ptr dead_on_unwind noalias writable sret(%"struct.std::pair.31") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI10FaceNormalSaIS0_EEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZSt3absd(double noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorISt4pairImmESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI10FaceNormalSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(72) ptr @_ZNSt6vectorI12SupportPointSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorImSaImEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11RigidObject15addIfUniqueEdgeERKSt6vectorISt4pairImmESaIS2_EERKS0_ImSaImEEmm(ptr dead_on_unwind noalias writable sret(%"class.std::vector.38") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorISt4pairImmESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorISt4pairImmESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorImSaImEE5eraseEN9__gnu_cxx17__normal_iteratorIPKmS1_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorImSaImEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEplEl(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPKmSt6vectorImSaImEEEC2IPmvEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorImSaImEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorImSaImEE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorISt4pairImmESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt4pairImmESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorISt4pairImmESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPSt4pairImmESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESC_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPSt4pairImmESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm0EmmEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm1EmmEONSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOS4_(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorImSaImEE9push_backERKm(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorImSaImEE9push_backEOm(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI12SupportPointSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPSt4pairImmESt6vectorIS2_SaIS2_EEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI12SupportPointSaIS0_EE9push_backERKS0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(72)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorImSaImEE6insertIN9__gnu_cxx17__normal_iteratorIPmS1_EEvEES6_NS4_IPKmS1_EET_SA_(ptr noundef nonnull align 8 dereferenceable(24), ptr, ptr, ptr) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorImSaImEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI10FaceNormalSaIS0_EEaSEOS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt4pairISt6vectorI10FaceNormalSaIS1_EEmED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorImSaImEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11RigidObject23calculateCollisionPointERK12SupportPointS2_S2_RK5Vec3D(ptr dead_on_unwind noalias writable sret(%class.Vec3D) align 8, ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN12SupportPointC2ERKS_(ptr noundef nonnull align 8 dereferenceable(72), ptr noundef nonnull align 8 dereferenceable(72)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI12SupportPointSaIS0_EEC2ERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI10FaceNormalSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorI12SupportPointSaIS0_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorI12SupportPointED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorImED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 = { 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 #3 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 #5 = { 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 #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{i64 0, i64 96, !6}
!6 = !{!7, !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !16, i64 24}
!10 = !{!"_ZTSSt4pairISt6vectorI10FaceNormalSaIS1_EEmE", !11, i64 0, !16, i64 24}
!11 = !{!"_ZTSSt6vectorI10FaceNormalSaIS0_EE", !12, i64 0}
!12 = !{!"_ZTSSt12_Vector_baseI10FaceNormalSaIS0_EE", !13, i64 0}
!13 = !{!"_ZTSNSt12_Vector_baseI10FaceNormalSaIS0_EE12_Vector_implE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseI10FaceNormalSaIS0_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!15 = !{!"any pointer", !7, i64 0}
!16 = !{!"long", !7, i64 0}
!17 = !{!16, !16, i64 0}
!18 = !{i64 0, i64 24, !6}
!19 = !{!20, !23, i64 24}
!20 = !{!"_ZTS10FaceNormal", !21, i64 0, !23, i64 24}
!21 = !{!"_ZTS5Vec3D", !22, i64 0}
!22 = !{!"_ZTSSt5arrayIdLm3EE", !7, i64 0}
!23 = !{!"double", !7, i64 0}
!24 = distinct !{!24, !25}
!25 = !{!"llvm.loop.mustprogress"}
!26 = distinct !{!26, !25}
!27 = !{!28, !23, i64 48}
!28 = !{!"_ZTS14CollisionPoint", !21, i64 0, !21, i64 24, !23, i64 48, !29, i64 56, !29, i64 128, !29, i64 200, !30, i64 272}
!29 = !{!"_ZTS12SupportPoint", !21, i64 0, !21, i64 24, !21, i64 48}
!30 = !{!"_ZTSSt6vectorI12SupportPointSaIS0_EE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseI12SupportPointSaIS0_EE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseI12SupportPointSaIS0_EE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseI12SupportPointSaIS0_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}


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