; LLVM IR from Yinxiaoli/iros2015_folding :: src/folding_planner/src/distancefield.ll (Z8getPointR8SSDFGridii)

; 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.SSDFPoint = type { double, double }
%struct.SSDFGrid = type { ptr, i32, i32 }

@_ZL5EMPTY = external hidden constant %struct.SSDFPoint, align 8

; Function Attrs: mustprogress nounwind uwtable
define dso_local { double, double } @_Z8getPointR8SSDFGridii(ptr noundef nonnull align 8 dereferenceable(16) %0, i32 noundef %1, i32 noundef %2) #0 {
  %4 = alloca %struct.SSDFPoint, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store i32 %1, ptr %6, align 4, !tbaa !9
  store i32 %2, ptr %7, align 4, !tbaa !9
  %8 = load i32, ptr %6, align 4, !tbaa !9
  %9 = icmp sge i32 %8, 0
  br i1 %9, label %10, label %38

10:                                               ; preds = %3
  %11 = load i32, ptr %7, align 4, !tbaa !9
  %12 = icmp sge i32 %11, 0
  br i1 %12, label %13, label %38

13:                                               ; preds = %10
  %14 = load i32, ptr %6, align 4, !tbaa !9
  %15 = load ptr, ptr %5, align 8, !tbaa !5
  %16 = getelementptr inbounds %struct.SSDFGrid, ptr %15, i32 0, i32 1
  %17 = load i32, ptr %16, align 8, !tbaa !11
  %18 = icmp slt i32 %14, %17
  br i1 %18, label %19, label %38

19:                                               ; preds = %13
  %20 = load i32, ptr %7, align 4, !tbaa !9
  %21 = load ptr, ptr %5, align 8, !tbaa !5
  %22 = getelementptr inbounds %struct.SSDFGrid, ptr %21, i32 0, i32 2
  %23 = load i32, ptr %22, align 4, !tbaa !13
  %24 = icmp slt i32 %20, %23
  br i1 %24, label %25, label %38

25:                                               ; preds = %19
  %26 = load ptr, ptr %5, align 8, !tbaa !5
  %27 = getelementptr inbounds %struct.SSDFGrid, ptr %26, i32 0, i32 0
  %28 = load ptr, ptr %27, align 8, !tbaa !14
  %29 = load i32, ptr %7, align 4, !tbaa !9
  %30 = load ptr, ptr %5, align 8, !tbaa !5
  %31 = getelementptr inbounds %struct.SSDFGrid, ptr %30, i32 0, i32 1
  %32 = load i32, ptr %31, align 8, !tbaa !11
  %33 = mul nsw i32 %29, %32
  %34 = load i32, ptr %6, align 4, !tbaa !9
  %35 = add nsw i32 %33, %34
  %36 = sext i32 %35 to i64
  %37 = getelementptr inbounds %struct.SSDFPoint, ptr %28, i64 %36
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %4, ptr align 8 %37, i64 16, i1 false), !tbaa.struct !15
  br label %39

38:                                               ; preds = %19, %13, %10, %3
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %4, ptr align 8 @_ZL5EMPTY, i64 16, i1 false), !tbaa.struct !15
  br label %39

39:                                               ; preds = %38, %25
  %40 = load { double, double }, ptr %4, align 8
  ret { double, double } %40
}

; 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) #1

attributes #0 = { 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 #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 8}
!12 = !{!"_ZTS8SSDFGrid", !6, i64 0, !10, i64 8, !10, i64 12}
!13 = !{!12, !10, i64 12}
!14 = !{!12, !6, i64 0}
!15 = !{i64 0, i64 8, !16, i64 8, i64 8, !16}
!16 = !{!17, !17, i64 0}
!17 = !{!"double", !7, i64 0}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%struct.SSDFPoint = type { double, double }

@_ZL5EMPTY = external hidden local_unnamed_addr constant %struct.SSDFPoint, align 8

; Function Attrs: mustprogress nofree norecurse nosync nounwind willreturn memory(read, inaccessiblemem: none) uwtable
define dso_local { double, double } @_Z8getPointR8SSDFGridii(ptr nocapture noundef nonnull readonly align 8 dereferenceable(16) %0, i32 noundef %1, i32 noundef %2) local_unnamed_addr #0 {
  %4 = or i32 %2, %1
  %or.cond = icmp sgt i32 %4, -1
  br i1 %or.cond, label %5, label %18

5:                                                ; preds = %3
  %6 = getelementptr inbounds i8, ptr %0, i64 8
  %7 = load i32, ptr %6, align 8, !tbaa !5
  %8 = icmp sgt i32 %7, %1
  %9 = getelementptr inbounds i8, ptr %0, i64 12
  %10 = load i32, ptr %9, align 4
  %11 = icmp sgt i32 %10, %2
  %or.cond16 = select i1 %8, i1 %11, i1 false
  br i1 %or.cond16, label %12, label %18

12:                                               ; preds = %5
  %13 = load ptr, ptr %0, align 8, !tbaa !11
  %14 = mul nsw i32 %7, %2
  %15 = add nuw nsw i32 %14, %1
  %16 = zext nneg i32 %15 to i64
  %17 = getelementptr inbounds %struct.SSDFPoint, ptr %13, i64 %16
  %.sroa.3.0..sroa_idx = getelementptr inbounds i8, ptr %17, i64 8
  br label %18

18:                                               ; preds = %3, %5, %12
  %.sroa.0.0.in = phi ptr [ %17, %12 ], [ @_ZL5EMPTY, %5 ], [ @_ZL5EMPTY, %3 ]
  %.sroa.3.0.in = phi ptr [ %.sroa.3.0..sroa_idx, %12 ], [ getelementptr inbounds (i8, ptr @_ZL5EMPTY, i64 8), %5 ], [ getelementptr inbounds (i8, ptr @_ZL5EMPTY, i64 8), %3 ]
  %.sroa.3.0 = load double, ptr %.sroa.3.0.in, align 8, !tbaa !12
  %.sroa.0.0 = load double, ptr %.sroa.0.0.in, align 8, !tbaa !12
  %.fca.0.insert = insertvalue { double, double } poison, double %.sroa.0.0, 0
  %.fca.1.insert = insertvalue { double, double } %.fca.0.insert, double %.sroa.3.0, 1
  ret { double, double } %.fca.1.insert
}

attributes #0 = { mustprogress nofree norecurse nosync nounwind willreturn memory(read, inaccessiblemem: none) 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" }

!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, !10, i64 8}
!6 = !{!"_ZTS8SSDFGrid", !7, i64 0, !10, i64 8, !10, i64 12}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"int", !8, i64 0}
!11 = !{!6, !7, i64 0}
!12 = !{!13, !13, i64 0}
!13 = !{!"double", !8, i64 0}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,ReassociatePass,SROAPass,SimplifyCFGPass