; LLVM IR from ClementineAccount/Albuquerque :: lib/bullet/include/Bullet3Dynamics/ConstraintSolver (b3Generic6DofConstraint)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%class.b3RotationalLimitMotor = type { float, float, float, float, float, float, float, float, float, float, float, i8, float, float, i32, float }
%class.b3Vector3 = type { %union.anon.0 }
%union.anon.0 = type { [4 x float] }
%class.b3Generic6DofConstraint = type { %class.b3TypedConstraint, %class.b3Transform, %class.b3Transform, %class.b3TranslationalLimitMotor, [3 x %class.b3RotationalLimitMotor], %class.b3Transform, %class.b3Transform, %class.b3Vector3, [3 x %class.b3Vector3], %class.b3Vector3, float, float, float, i8, %class.b3Vector3, i8, i8, i32, [8 x i8] }
%class.b3TypedConstraint = type { ptr, %struct.b3TypedObject, i32, %union.anon, float, i8, i8, i32, i32, i32, float, float, ptr }
%struct.b3TypedObject = type { i32 }
%union.anon = type { ptr }
%class.b3TranslationalLimitMotor = type { %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, float, float, float, [3 x i8], [3 x i32], [4 x i8] }
%class.b3Transform = type { %class.b3Matrix3x3, %class.b3Vector3 }
%class.b3Matrix3x3 = type { [3 x %class.b3Vector3] }
%"struct.b3TypedConstraint::b3ConstraintInfo2" = type { float, float, ptr, ptr, ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, i32, float }

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN22b3RotationalLimitMotorC2Ev(ptr noundef nonnull align 4 dereferenceable(64)) unnamed_addr #0 align 2

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZNK11b3Matrix3x39getColumnEi(ptr noundef nonnull align 16 dereferenceable(48), i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN25b3TranslationalLimitMotor14needApplyForceEi(ptr noundef nonnull align 16 dereferenceable(188), i32 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN23b3Generic6DofConstraint15setLinearLimitsEPN17b3TypedConstraint17b3ConstraintInfo2EiRK11b3TransformS5_RK9b3Vector3S8_S8_S8_(ptr noundef nonnull align 16 dereferenceable(824) %0, ptr noundef %1, i32 noundef %2, ptr noundef nonnull align 16 dereferenceable(64) %3, ptr noundef nonnull align 16 dereferenceable(64) %4, ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8) #4 align 2 {
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca %class.b3RotationalLimitMotor, align 4
  %20 = alloca i32, align 4
  %21 = alloca %class.b3Vector3, align 16
  %22 = alloca i32, align 4
  %23 = alloca i32, align 4
  %24 = alloca i32, align 4
  %25 = alloca i32, align 4
  store ptr %0, ptr %10, align 8, !tbaa !5
  store ptr %1, ptr %11, align 8, !tbaa !5
  store i32 %2, ptr %12, align 4, !tbaa !9
  store ptr %3, ptr %13, align 8, !tbaa !5
  store ptr %4, ptr %14, align 8, !tbaa !5
  store ptr %5, ptr %15, align 8, !tbaa !5
  store ptr %6, ptr %16, align 8, !tbaa !5
  store ptr %7, ptr %17, align 8, !tbaa !5
  store ptr %8, ptr %18, align 8, !tbaa !5
  %26 = load ptr, ptr %10, align 8
  call void @llvm.lifetime.start.p0(i64 64, ptr %19) #5
  call void @_ZN22b3RotationalLimitMotorC2Ev(ptr noundef nonnull align 4 dereferenceable(64) %19)
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #5
  store i32 0, ptr %20, align 4, !tbaa !9
  br label %27

27:                                               ; preds = %236, %9
  %28 = load i32, ptr %20, align 4, !tbaa !9
  %29 = icmp slt i32 %28, 3
  br i1 %29, label %31, label %30

30:                                               ; preds = %27
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #5
  br label %239

31:                                               ; preds = %27
  %32 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %33 = load i32, ptr %20, align 4, !tbaa !9
  %34 = call noundef zeroext i1 @_ZN25b3TranslationalLimitMotor14needApplyForceEi(ptr noundef nonnull align 16 dereferenceable(188) %32, i32 noundef %33)
  br i1 %34, label %35, label %235

35:                                               ; preds = %31
  %36 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 10
  store float 0.000000e+00, ptr %36, align 4, !tbaa !11
  %37 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %38 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %37, i32 0, i32 14
  %39 = load i32, ptr %20, align 4, !tbaa !9
  %40 = sext i32 %39 to i64
  %41 = getelementptr inbounds [3 x i32], ptr %38, i64 0, i64 %40
  %42 = load i32, ptr %41, align 4, !tbaa !9
  %43 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 14
  store i32 %42, ptr %43, align 4, !tbaa !15
  %44 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %45 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %44, i32 0, i32 9
  %46 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %45)
  %47 = load i32, ptr %20, align 4, !tbaa !9
  %48 = sext i32 %47 to i64
  %49 = getelementptr inbounds float, ptr %46, i64 %48
  %50 = load float, ptr %49, align 4, !tbaa !16
  %51 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 13
  store float %50, ptr %51, align 4, !tbaa !17
  %52 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %53 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %52, i32 0, i32 8
  %54 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %53)
  %55 = load i32, ptr %20, align 4, !tbaa !9
  %56 = sext i32 %55 to i64
  %57 = getelementptr inbounds float, ptr %54, i64 %56
  %58 = load float, ptr %57, align 4, !tbaa !16
  %59 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 12
  store float %58, ptr %59, align 4, !tbaa !18
  %60 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %61 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %60, i32 0, i32 11
  %62 = load float, ptr %61, align 4, !tbaa !19
  %63 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 5
  store float %62, ptr %63, align 4, !tbaa !27
  %64 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %65 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %64, i32 0, i32 13
  %66 = load i32, ptr %20, align 4, !tbaa !9
  %67 = sext i32 %66 to i64
  %68 = getelementptr inbounds [3 x i8], ptr %65, i64 0, i64 %67
  %69 = load i8, ptr %68, align 1, !tbaa !28, !range !29, !noundef !30
  %70 = trunc i8 %69 to i1
  %71 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 11
  %72 = zext i1 %70 to i8
  store i8 %72, ptr %71, align 4, !tbaa !31
  %73 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %74 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %73, i32 0, i32 1
  %75 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %74)
  %76 = load i32, ptr %20, align 4, !tbaa !9
  %77 = sext i32 %76 to i64
  %78 = getelementptr inbounds float, ptr %75, i64 %77
  %79 = load float, ptr %78, align 4, !tbaa !16
  %80 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 1
  store float %79, ptr %80, align 4, !tbaa !32
  %81 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %82 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %81, i32 0, i32 10
  %83 = load float, ptr %82, align 16, !tbaa !33
  %84 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 6
  store float %83, ptr %84, align 4, !tbaa !34
  %85 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %86 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %85, i32 0, i32 0
  %87 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %86)
  %88 = load i32, ptr %20, align 4, !tbaa !9
  %89 = sext i32 %88 to i64
  %90 = getelementptr inbounds float, ptr %87, i64 %89
  %91 = load float, ptr %90, align 4, !tbaa !16
  %92 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 0
  store float %91, ptr %92, align 4, !tbaa !35
  %93 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 4
  store float 0.000000e+00, ptr %93, align 4, !tbaa !36
  %94 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %95 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %94, i32 0, i32 7
  %96 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %95)
  %97 = load i32, ptr %20, align 4, !tbaa !9
  %98 = sext i32 %97 to i64
  %99 = getelementptr inbounds float, ptr %96, i64 %98
  %100 = load float, ptr %99, align 4, !tbaa !16
  %101 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 3
  store float %100, ptr %101, align 4, !tbaa !37
  %102 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %103 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %102, i32 0, i32 6
  %104 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %103)
  %105 = load i32, ptr %20, align 4, !tbaa !9
  %106 = sext i32 %105 to i64
  %107 = getelementptr inbounds float, ptr %104, i64 %106
  %108 = load float, ptr %107, align 4, !tbaa !16
  %109 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 2
  store float %108, ptr %109, align 4, !tbaa !38
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #5
  %110 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 5
  %111 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64) %110)
  %112 = load i32, ptr %20, align 4, !tbaa !9
  %113 = call { <2 x float>, <2 x float> } @_ZNK11b3Matrix3x39getColumnEi(ptr noundef nonnull align 16 dereferenceable(48) %111, i32 noundef %112)
  %114 = getelementptr inbounds %class.b3Vector3, ptr %21, i32 0, i32 0
  %115 = getelementptr inbounds %union.anon.0, ptr %114, i32 0, i32 0
  %116 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %115, i32 0, i32 0
  %117 = extractvalue { <2 x float>, <2 x float> } %113, 0
  store <2 x float> %117, ptr %116, align 16
  %118 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %115, i32 0, i32 1
  %119 = extractvalue { <2 x float>, <2 x float> } %113, 1
  store <2 x float> %119, ptr %118, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #5
  %120 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 17
  %121 = load i32, ptr %120, align 4, !tbaa !39
  %122 = load i32, ptr %20, align 4, !tbaa !9
  %123 = mul nsw i32 %122, 3
  %124 = ashr i32 %121, %123
  store i32 %124, ptr %22, align 4, !tbaa !9
  %125 = load i32, ptr %22, align 4, !tbaa !9
  %126 = and i32 %125, 1
  %127 = icmp ne i32 %126, 0
  br i1 %127, label %128, label %136

128:                                              ; preds = %35
  %129 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %130 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %129, i32 0, i32 3
  %131 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %130)
  %132 = load i32, ptr %20, align 4, !tbaa !9
  %133 = sext i32 %132 to i64
  %134 = getelementptr inbounds float, ptr %131, i64 %133
  %135 = load float, ptr %134, align 4, !tbaa !16
  br label %142

136:                                              ; preds = %35
  %137 = load ptr, ptr %11, align 8, !tbaa !5
  %138 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %137, i32 0, i32 8
  %139 = load ptr, ptr %138, align 8, !tbaa !40
  %140 = getelementptr inbounds float, ptr %139, i64 0
  %141 = load float, ptr %140, align 4, !tbaa !16
  br label %142

142:                                              ; preds = %136, %128
  %143 = phi float [ %135, %128 ], [ %141, %136 ]
  %144 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 7
  store float %143, ptr %144, align 4, !tbaa !42
  %145 = load i32, ptr %22, align 4, !tbaa !9
  %146 = and i32 %145, 2
  %147 = icmp ne i32 %146, 0
  br i1 %147, label %148, label %156

148:                                              ; preds = %142
  %149 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %150 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %149, i32 0, i32 5
  %151 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %150)
  %152 = load i32, ptr %20, align 4, !tbaa !9
  %153 = sext i32 %152 to i64
  %154 = getelementptr inbounds float, ptr %151, i64 %153
  %155 = load float, ptr %154, align 4, !tbaa !16
  br label %162

156:                                              ; preds = %142
  %157 = load ptr, ptr %11, align 8, !tbaa !5
  %158 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %157, i32 0, i32 8
  %159 = load ptr, ptr %158, align 8, !tbaa !40
  %160 = getelementptr inbounds float, ptr %159, i64 0
  %161 = load float, ptr %160, align 4, !tbaa !16
  br label %162

162:                                              ; preds = %156, %148
  %163 = phi float [ %155, %148 ], [ %161, %156 ]
  %164 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 9
  store float %163, ptr %164, align 4, !tbaa !43
  %165 = load i32, ptr %22, align 4, !tbaa !9
  %166 = and i32 %165, 4
  %167 = icmp ne i32 %166, 0
  br i1 %167, label %168, label %176

168:                                              ; preds = %162
  %169 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 3
  %170 = getelementptr inbounds %class.b3TranslationalLimitMotor, ptr %169, i32 0, i32 4
  %171 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %170)
  %172 = load i32, ptr %20, align 4, !tbaa !9
  %173 = sext i32 %172 to i64
  %174 = getelementptr inbounds float, ptr %171, i64 %173
  %175 = load float, ptr %174, align 4, !tbaa !16
  br label %180

176:                                              ; preds = %162
  %177 = load ptr, ptr %11, align 8, !tbaa !5
  %178 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %177, i32 0, i32 1
  %179 = load float, ptr %178, align 4, !tbaa !44
  br label %180

180:                                              ; preds = %176, %168
  %181 = phi float [ %175, %168 ], [ %179, %176 ]
  %182 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %19, i32 0, i32 8
  store float %181, ptr %182, align 4, !tbaa !45
  %183 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 16
  %184 = load i8, ptr %183, align 1, !tbaa !46, !range !29, !noundef !30
  %185 = trunc i8 %184 to i1
  br i1 %185, label %186, label %222

186:                                              ; preds = %180
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #5
  %187 = load i32, ptr %20, align 4, !tbaa !9
  %188 = add nsw i32 %187, 1
  %189 = srem i32 %188, 3
  store i32 %189, ptr %23, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #5
  %190 = load i32, ptr %20, align 4, !tbaa !9
  %191 = add nsw i32 %190, 2
  %192 = srem i32 %191, 3
  store i32 %192, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #5
  store i32 1, ptr %25, align 4, !tbaa !9
  %193 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 4
  %194 = load i32, ptr %23, align 4, !tbaa !9
  %195 = sext i32 %194 to i64
  %196 = getelementptr inbounds [3 x %class.b3RotationalLimitMotor], ptr %193, i64 0, i64 %195
  %197 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %196, i32 0, i32 14
  %198 = load i32, ptr %197, align 8, !tbaa !15
  %199 = icmp ne i32 %198, 0
  br i1 %199, label %200, label %209

200:                                              ; preds = %186
  %201 = getelementptr inbounds %class.b3Generic6DofConstraint, ptr %26, i32 0, i32 4
  %202 = load i32, ptr %24, align 4, !tbaa !9
  %203 = sext i32 %202 to i64
  %204 = getelementptr inbounds [3 x %class.b3RotationalLimitMotor], ptr %201, i64 0, i64 %203
  %205 = getelementptr inbounds %class.b3RotationalLimitMotor, ptr %204, i32 0, i32 14
  %206 = load i32, ptr %205, align 8, !tbaa !15
  %207 = icmp ne i32 %206, 0
  br i1 %207, label %208, label %209

208:                                              ; preds = %200
  store i32 0, ptr %25, align 4, !tbaa !9
  br label %209

209:                                              ; preds = %208, %200, %186
  %210 = load ptr, ptr %13, align 8, !tbaa !5
  %211 = load ptr, ptr %14, align 8, !tbaa !5
  %212 = load ptr, ptr %15, align 8, !tbaa !5
  %213 = load ptr, ptr %16, align 8, !tbaa !5
  %214 = load ptr, ptr %17, align 8, !tbaa !5
  %215 = load ptr, ptr %18, align 8, !tbaa !5
  %216 = load ptr, ptr %11, align 8, !tbaa !5
  %217 = load i32, ptr %12, align 4, !tbaa !9
  %218 = load i32, ptr %25, align 4, !tbaa !9
  %219 = call noundef i32 @_ZN23b3Generic6DofConstraint21get_limit_motor_info2EP22b3RotationalLimitMotorRK11b3TransformS4_RK9b3Vector3S7_S7_S7_PN17b3TypedConstraint17b3ConstraintInfo2EiRS5_ii(ptr noundef nonnull align 16 dereferenceable(824) %26, ptr noundef %19, ptr noundef nonnull align 16 dereferenceable(64) %210, ptr noundef nonnull align 16 dereferenceable(64) %211, ptr noundef nonnull align 16 dereferenceable(16) %212, ptr noundef nonnull align 16 dereferenceable(16) %213, ptr noundef nonnull align 16 dereferenceable(16) %214, ptr noundef nonnull align 16 dereferenceable(16) %215, ptr noundef %216, i32 noundef %217, ptr noundef nonnull align 16 dereferenceable(16) %21, i32 noundef 0, i32 noundef %218)
  %220 = load i32, ptr %12, align 4, !tbaa !9
  %221 = add nsw i32 %220, %219
  store i32 %221, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #5
  br label %234

222:                                              ; preds = %180
  %223 = load ptr, ptr %13, align 8, !tbaa !5
  %224 = load ptr, ptr %14, align 8, !tbaa !5
  %225 = load ptr, ptr %15, align 8, !tbaa !5
  %226 = load ptr, ptr %16, align 8, !tbaa !5
  %227 = load ptr, ptr %17, align 8, !tbaa !5
  %228 = load ptr, ptr %18, align 8, !tbaa !5
  %229 = load ptr, ptr %11, align 8, !tbaa !5
  %230 = load i32, ptr %12, align 4, !tbaa !9
  %231 = call noundef i32 @_ZN23b3Generic6DofConstraint21get_limit_motor_info2EP22b3RotationalLimitMotorRK11b3TransformS4_RK9b3Vector3S7_S7_S7_PN17b3TypedConstraint17b3ConstraintInfo2EiRS5_ii(ptr noundef nonnull align 16 dereferenceable(824) %26, ptr noundef %19, ptr noundef nonnull align 16 dereferenceable(64) %223, ptr noundef nonnull align 16 dereferenceable(64) %224, ptr noundef nonnull align 16 dereferenceable(16) %225, ptr noundef nonnull align 16 dereferenceable(16) %226, ptr noundef nonnull align 16 dereferenceable(16) %227, ptr noundef nonnull align 16 dereferenceable(16) %228, ptr noundef %229, i32 noundef %230, ptr noundef nonnull align 16 dereferenceable(16) %21, i32 noundef 0, i32 noundef 0)
  %232 = load i32, ptr %12, align 4, !tbaa !9
  %233 = add nsw i32 %232, %231
  store i32 %233, ptr %12, align 4, !tbaa !9
  br label %234

234:                                              ; preds = %222, %209
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #5
  br label %235

235:                                              ; preds = %234, %31
  br label %236

236:                                              ; preds = %235
  %237 = load i32, ptr %20, align 4, !tbaa !9
  %238 = add nsw i32 %237, 1
  store i32 %238, ptr %20, align 4, !tbaa !9
  br label %27, !llvm.loop !47

239:                                              ; preds = %30
  %240 = load i32, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 64, ptr %19) #5
  ret i32 %240
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN23b3Generic6DofConstraint21get_limit_motor_info2EP22b3RotationalLimitMotorRK11b3TransformS4_RK9b3Vector3S7_S7_S7_PN17b3TypedConstraint17b3ConstraintInfo2EiRS5_ii(ptr noundef nonnull align 16 dereferenceable(824), ptr noundef, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(16), i32 noundef, i32 noundef) #4 align 2

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 nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !13, i64 40}
!12 = !{!"_ZTS22b3RotationalLimitMotor", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28, !13, i64 32, !13, i64 36, !13, i64 40, !14, i64 44, !13, i64 48, !13, i64 52, !10, i64 56, !13, i64 60}
!13 = !{!"float", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!12, !10, i64 56}
!16 = !{!13, !13, i64 0}
!17 = !{!12, !13, i64 52}
!18 = !{!12, !13, i64 48}
!19 = !{!20, !13, i64 356}
!20 = !{!"_ZTS23b3Generic6DofConstraint", !21, i64 0, !23, i64 64, !23, i64 128, !26, i64 192, !7, i64 384, !23, i64 576, !23, i64 640, !25, i64 704, !7, i64 720, !25, i64 768, !13, i64 784, !13, i64 788, !13, i64 792, !14, i64 796, !25, i64 800, !14, i64 816, !14, i64 817, !10, i64 820}
!21 = !{!"_ZTS17b3TypedConstraint", !22, i64 8, !10, i64 12, !7, i64 16, !13, i64 24, !14, i64 28, !14, i64 29, !10, i64 32, !10, i64 36, !10, i64 40, !13, i64 44, !13, i64 48, !6, i64 56}
!22 = !{!"_ZTS13b3TypedObject", !10, i64 0}
!23 = !{!"_ZTS11b3Transform", !24, i64 0, !25, i64 48}
!24 = !{!"_ZTS11b3Matrix3x3", !7, i64 0}
!25 = !{!"_ZTS9b3Vector3", !7, i64 0}
!26 = !{!"_ZTS25b3TranslationalLimitMotor", !25, i64 0, !25, i64 16, !25, i64 32, !25, i64 48, !25, i64 64, !25, i64 80, !25, i64 96, !25, i64 112, !25, i64 128, !25, i64 144, !13, i64 160, !13, i64 164, !13, i64 168, !7, i64 172, !7, i64 176}
!27 = !{!12, !13, i64 20}
!28 = !{!14, !14, i64 0}
!29 = !{i8 0, i8 2}
!30 = !{}
!31 = !{!12, !14, i64 44}
!32 = !{!12, !13, i64 4}
!33 = !{!20, !13, i64 352}
!34 = !{!12, !13, i64 24}
!35 = !{!12, !13, i64 0}
!36 = !{!12, !13, i64 16}
!37 = !{!12, !13, i64 12}
!38 = !{!12, !13, i64 8}
!39 = !{!20, !10, i64 820}
!40 = !{!41, !6, i64 56}
!41 = !{!"_ZTSN17b3TypedConstraint17b3ConstraintInfo2E", !13, i64 0, !13, i64 4, !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !10, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !6, i64 72, !6, i64 80, !10, i64 88, !13, i64 92}
!42 = !{!12, !13, i64 28}
!43 = !{!12, !13, i64 36}
!44 = !{!41, !13, i64 4}
!45 = !{!12, !13, i64 32}
!46 = !{!20, !14, i64 817}
!47 = distinct !{!47, !48}
!48 = !{!"llvm.loop.mustprogress"}


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

%class.b3RotationalLimitMotor = type { float, float, float, float, float, float, float, float, float, float, float, i8, float, float, i32, float }
%class.b3Vector3 = type { %union.anon.0 }
%union.anon.0 = type { [4 x float] }

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN22b3RotationalLimitMotorC2Ev(ptr noundef nonnull align 4 dereferenceable(64)) unnamed_addr #0 align 2

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZN11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZNK11b3Matrix3x39getColumnEi(ptr noundef nonnull align 16 dereferenceable(48), i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN25b3TranslationalLimitMotor14needApplyForceEi(ptr noundef nonnull align 16 dereferenceable(188), i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN23b3Generic6DofConstraint15setLinearLimitsEPN17b3TypedConstraint17b3ConstraintInfo2EiRK11b3TransformS5_RK9b3Vector3S8_S8_S8_(ptr noundef nonnull align 16 dereferenceable(824) %0, ptr noundef %1, i32 noundef %2, ptr noundef nonnull align 16 dereferenceable(64) %3, ptr noundef nonnull align 16 dereferenceable(64) %4, ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8) local_unnamed_addr #4 align 2 {
.peel.begin:
  %9 = alloca %class.b3RotationalLimitMotor, align 4
  %10 = alloca %class.b3Vector3, align 16
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %9) #5
  call void @_ZN22b3RotationalLimitMotorC2Ev(ptr noundef nonnull align 4 dereferenceable(64) %9)
  %11 = getelementptr inbounds i8, ptr %0, i64 192
  %12 = getelementptr inbounds i8, ptr %9, i64 40
  %13 = getelementptr inbounds i8, ptr %9, i64 56
  %14 = getelementptr inbounds i8, ptr %0, i64 336
  %15 = getelementptr inbounds i8, ptr %9, i64 52
  %16 = getelementptr inbounds i8, ptr %0, i64 320
  %17 = getelementptr inbounds i8, ptr %9, i64 48
  %18 = getelementptr inbounds i8, ptr %0, i64 356
  %19 = getelementptr inbounds i8, ptr %9, i64 20
  %20 = getelementptr inbounds i8, ptr %9, i64 44
  %21 = getelementptr inbounds i8, ptr %0, i64 208
  %22 = getelementptr inbounds i8, ptr %9, i64 4
  %23 = getelementptr inbounds i8, ptr %0, i64 352
  %24 = getelementptr inbounds i8, ptr %9, i64 24
  %25 = getelementptr inbounds i8, ptr %9, i64 16
  %26 = getelementptr inbounds i8, ptr %0, i64 304
  %27 = getelementptr inbounds i8, ptr %9, i64 12
  %28 = getelementptr inbounds i8, ptr %0, i64 288
  %29 = getelementptr inbounds i8, ptr %9, i64 8
  %30 = getelementptr inbounds i8, ptr %0, i64 576
  %31 = getelementptr inbounds i8, ptr %10, i64 8
  %32 = getelementptr inbounds i8, ptr %0, i64 820
  %33 = getelementptr inbounds i8, ptr %0, i64 240
  %34 = getelementptr inbounds i8, ptr %1, i64 56
  %35 = getelementptr inbounds i8, ptr %9, i64 28
  %36 = getelementptr inbounds i8, ptr %0, i64 272
  %37 = getelementptr inbounds i8, ptr %9, i64 36
  %38 = getelementptr inbounds i8, ptr %0, i64 256
  %39 = getelementptr inbounds i8, ptr %1, i64 4
  %40 = getelementptr inbounds i8, ptr %9, i64 32
  %41 = getelementptr inbounds i8, ptr %0, i64 817
  %42 = call noundef zeroext i1 @_ZN25b3TranslationalLimitMotor14needApplyForceEi(ptr noundef nonnull align 16 dereferenceable(188) %11, i32 noundef 0)
  br i1 %42, label %43, label %.peel.next

43:                                               ; preds = %.peel.begin
  %44 = getelementptr inbounds i8, ptr %0, i64 364
  %45 = getelementptr inbounds i8, ptr %0, i64 368
  store float 0.000000e+00, ptr %12, align 4, !tbaa !5
  %46 = load i32, ptr %45, align 16, !tbaa !12
  store i32 %46, ptr %13, align 4, !tbaa !13
  %47 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %14)
  %48 = load float, ptr %47, align 4, !tbaa !14
  store float %48, ptr %15, align 4, !tbaa !15
  %49 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %16)
  %50 = load float, ptr %49, align 4, !tbaa !14
  store float %50, ptr %17, align 4, !tbaa !16
  %51 = load float, ptr %18, align 4, !tbaa !17
  store float %51, ptr %19, align 4, !tbaa !26
  %52 = load i8, ptr %44, align 4, !tbaa !27, !range !28, !noundef !29
  store i8 %52, ptr %20, align 4, !tbaa !30
  %53 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %21)
  %54 = load float, ptr %53, align 4, !tbaa !14
  store float %54, ptr %22, align 4, !tbaa !31
  %55 = load float, ptr %23, align 16, !tbaa !32
  store float %55, ptr %24, align 4, !tbaa !33
  %56 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %11)
  %57 = load float, ptr %56, align 4, !tbaa !14
  store float %57, ptr %9, align 4, !tbaa !34
  store float 0.000000e+00, ptr %25, align 4, !tbaa !35
  %58 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %26)
  %59 = load float, ptr %58, align 4, !tbaa !14
  store float %59, ptr %27, align 4, !tbaa !36
  %60 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %28)
  %61 = load float, ptr %60, align 4, !tbaa !14
  store float %61, ptr %29, align 4, !tbaa !37
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #5
  %62 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64) %30)
  %63 = call { <2 x float>, <2 x float> } @_ZNK11b3Matrix3x39getColumnEi(ptr noundef nonnull align 16 dereferenceable(48) %62, i32 noundef 0)
  %64 = extractvalue { <2 x float>, <2 x float> } %63, 0
  store <2 x float> %64, ptr %10, align 16
  %65 = extractvalue { <2 x float>, <2 x float> } %63, 1
  store <2 x float> %65, ptr %31, align 8
  %66 = load i32, ptr %32, align 4, !tbaa !38
  %67 = and i32 %66, 1
  %.not.peel = icmp eq i32 %67, 0
  br i1 %.not.peel, label %70, label %68

68:                                               ; preds = %43
  %69 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %33)
  br label %72

70:                                               ; preds = %43
  %71 = load ptr, ptr %34, align 8, !tbaa !39
  br label %72

72:                                               ; preds = %70, %68
  %.in.peel = phi ptr [ %69, %68 ], [ %71, %70 ]
  %73 = load float, ptr %.in.peel, align 4, !tbaa !14
  store float %73, ptr %35, align 4, !tbaa !41
  %74 = and i32 %66, 2
  %.not48.peel = icmp eq i32 %74, 0
  br i1 %.not48.peel, label %77, label %75

75:                                               ; preds = %72
  %76 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %36)
  br label %79

77:                                               ; preds = %72
  %78 = load ptr, ptr %34, align 8, !tbaa !39
  br label %79

79:                                               ; preds = %77, %75
  %.in49.peel = phi ptr [ %76, %75 ], [ %78, %77 ]
  %80 = load float, ptr %.in49.peel, align 4, !tbaa !14
  store float %80, ptr %37, align 4, !tbaa !42
  %81 = and i32 %66, 4
  %.not50.peel = icmp eq i32 %81, 0
  br i1 %.not50.peel, label %84, label %82

82:                                               ; preds = %79
  %83 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %38)
  br label %84

84:                                               ; preds = %82, %79
  %.in51.peel = phi ptr [ %83, %82 ], [ %39, %79 ]
  %85 = load float, ptr %.in51.peel, align 4, !tbaa !14
  store float %85, ptr %40, align 4, !tbaa !43
  %86 = load i8, ptr %41, align 1, !tbaa !44, !range !28, !noundef !29
  %87 = trunc nuw i8 %86 to i1
  br i1 %87, label %88, label %93

88:                                               ; preds = %84
  %89 = getelementptr inbounds i8, ptr %0, i64 504
  %90 = load i32, ptr %89, align 8, !tbaa !13
  %.not52.peel = icmp eq i32 %90, 0
  %91 = getelementptr inbounds i8, ptr %0, i64 568
  %92 = load i32, ptr %91, align 8
  %.not53.peel = icmp eq i32 %92, 0
  %narrow = select i1 %.not52.peel, i1 true, i1 %.not53.peel
  %.0.peel = zext i1 %narrow to i32
  br label %93

93:                                               ; preds = %84, %88
  %.0.peel.sink = phi i32 [ %.0.peel, %88 ], [ 0, %84 ]
  %94 = call noundef i32 @_ZN23b3Generic6DofConstraint21get_limit_motor_info2EP22b3RotationalLimitMotorRK11b3TransformS4_RK9b3Vector3S7_S7_S7_PN17b3TypedConstraint17b3ConstraintInfo2EiRS5_ii(ptr noundef nonnull align 16 dereferenceable(824) %0, ptr noundef nonnull %9, ptr noundef nonnull align 16 dereferenceable(64) %3, ptr noundef nonnull align 16 dereferenceable(64) %4, ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef %1, i32 noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %10, i32 noundef 0, i32 noundef %.0.peel.sink)
  %.1.peel = add nsw i32 %94, %2
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #5
  br label %.peel.next

.peel.next:                                       ; preds = %93, %.peel.begin
  %.04660.ph = phi i32 [ %.1.peel, %93 ], [ %2, %.peel.begin ]
  %95 = call noundef zeroext i1 @_ZN25b3TranslationalLimitMotor14needApplyForceEi(ptr noundef nonnull align 16 dereferenceable(188) %11, i32 noundef 1)
  br i1 %95, label %96, label %.peel.next.1

96:                                               ; preds = %.peel.next
  store float 0.000000e+00, ptr %12, align 4, !tbaa !5
  %97 = getelementptr inbounds i8, ptr %0, i64 372
  %98 = load i32, ptr %97, align 4, !tbaa !12
  store i32 %98, ptr %13, align 4, !tbaa !13
  %99 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %14)
  %100 = getelementptr inbounds i8, ptr %99, i64 4
  %101 = load float, ptr %100, align 4, !tbaa !14
  store float %101, ptr %15, align 4, !tbaa !15
  %102 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %16)
  %103 = getelementptr inbounds i8, ptr %102, i64 4
  %104 = load float, ptr %103, align 4, !tbaa !14
  store float %104, ptr %17, align 4, !tbaa !16
  %105 = load float, ptr %18, align 4, !tbaa !17
  store float %105, ptr %19, align 4, !tbaa !26
  %106 = getelementptr inbounds i8, ptr %0, i64 365
  %107 = load i8, ptr %106, align 1, !tbaa !27, !range !28, !noundef !29
  store i8 %107, ptr %20, align 4, !tbaa !30
  %108 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %21)
  %109 = getelementptr inbounds i8, ptr %108, i64 4
  %110 = load float, ptr %109, align 4, !tbaa !14
  store float %110, ptr %22, align 4, !tbaa !31
  %111 = load float, ptr %23, align 16, !tbaa !32
  store float %111, ptr %24, align 4, !tbaa !33
  %112 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %11)
  %113 = getelementptr inbounds i8, ptr %112, i64 4
  %114 = load float, ptr %113, align 4, !tbaa !14
  store float %114, ptr %9, align 4, !tbaa !34
  store float 0.000000e+00, ptr %25, align 4, !tbaa !35
  %115 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %26)
  %116 = getelementptr inbounds i8, ptr %115, i64 4
  %117 = load float, ptr %116, align 4, !tbaa !14
  store float %117, ptr %27, align 4, !tbaa !36
  %118 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %28)
  %119 = getelementptr inbounds i8, ptr %118, i64 4
  %120 = load float, ptr %119, align 4, !tbaa !14
  store float %120, ptr %29, align 4, !tbaa !37
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #5
  %121 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64) %30)
  %122 = call { <2 x float>, <2 x float> } @_ZNK11b3Matrix3x39getColumnEi(ptr noundef nonnull align 16 dereferenceable(48) %121, i32 noundef 1)
  %123 = extractvalue { <2 x float>, <2 x float> } %122, 0
  store <2 x float> %123, ptr %10, align 16
  %124 = extractvalue { <2 x float>, <2 x float> } %122, 1
  store <2 x float> %124, ptr %31, align 8
  %125 = load i32, ptr %32, align 4, !tbaa !38
  %126 = and i32 %125, 8
  %.not = icmp eq i32 %126, 0
  br i1 %.not, label %130, label %127

127:                                              ; preds = %96
  %128 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %33)
  %129 = getelementptr inbounds i8, ptr %128, i64 4
  br label %132

130:                                              ; preds = %96
  %131 = load ptr, ptr %34, align 8, !tbaa !39
  br label %132

132:                                              ; preds = %130, %127
  %.in = phi ptr [ %129, %127 ], [ %131, %130 ]
  %133 = load float, ptr %.in, align 4, !tbaa !14
  store float %133, ptr %35, align 4, !tbaa !41
  %134 = and i32 %125, 16
  %.not48 = icmp eq i32 %134, 0
  br i1 %.not48, label %138, label %135

135:                                              ; preds = %132
  %136 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %36)
  %137 = getelementptr inbounds i8, ptr %136, i64 4
  br label %140

138:                                              ; preds = %132
  %139 = load ptr, ptr %34, align 8, !tbaa !39
  br label %140

140:                                              ; preds = %138, %135
  %.in49 = phi ptr [ %137, %135 ], [ %139, %138 ]
  %141 = load float, ptr %.in49, align 4, !tbaa !14
  store float %141, ptr %37, align 4, !tbaa !42
  %142 = and i32 %125, 32
  %.not50 = icmp eq i32 %142, 0
  br i1 %.not50, label %146, label %143

143:                                              ; preds = %140
  %144 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %38)
  %145 = getelementptr inbounds i8, ptr %144, i64 4
  br label %146

146:                                              ; preds = %140, %143
  %.in51 = phi ptr [ %145, %143 ], [ %39, %140 ]
  %147 = load float, ptr %.in51, align 4, !tbaa !14
  store float %147, ptr %40, align 4, !tbaa !43
  %148 = load i8, ptr %41, align 1, !tbaa !44, !range !28, !noundef !29
  %149 = trunc nuw i8 %148 to i1
  br i1 %149, label %150, label %156

150:                                              ; preds = %146
  %151 = getelementptr inbounds i8, ptr %0, i64 568
  %152 = load i32, ptr %151, align 8, !tbaa !13
  %.not52 = icmp eq i32 %152, 0
  br i1 %.not52, label %156, label %153

153:                                              ; preds = %150
  %154 = getelementptr inbounds i8, ptr %0, i64 440
  %155 = load i32, ptr %154, align 8, !tbaa !13
  %.not53 = icmp eq i32 %155, 0
  %spec.select = zext i1 %.not53 to i32
  br label %156

156:                                              ; preds = %146, %150, %153
  %.sink = phi i32 [ 1, %150 ], [ %spec.select, %153 ], [ 0, %146 ]
  %157 = call noundef i32 @_ZN23b3Generic6DofConstraint21get_limit_motor_info2EP22b3RotationalLimitMotorRK11b3TransformS4_RK9b3Vector3S7_S7_S7_PN17b3TypedConstraint17b3ConstraintInfo2EiRS5_ii(ptr noundef nonnull align 16 dereferenceable(824) %0, ptr noundef nonnull %9, ptr noundef nonnull align 16 dereferenceable(64) %3, ptr noundef nonnull align 16 dereferenceable(64) %4, ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef %1, i32 noundef %.04660.ph, ptr noundef nonnull align 16 dereferenceable(16) %10, i32 noundef 0, i32 noundef %.sink)
  %.1 = add nsw i32 %157, %.04660.ph
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #5
  br label %.peel.next.1

.peel.next.1:                                     ; preds = %.peel.next, %156
  %.2 = phi i32 [ %.1, %156 ], [ %.04660.ph, %.peel.next ]
  %158 = call noundef zeroext i1 @_ZN25b3TranslationalLimitMotor14needApplyForceEi(ptr noundef nonnull align 16 dereferenceable(188) %11, i32 noundef 2)
  br i1 %158, label %159, label %.loopexit

159:                                              ; preds = %.peel.next.1
  store float 0.000000e+00, ptr %12, align 4, !tbaa !5
  %160 = getelementptr inbounds i8, ptr %0, i64 376
  %161 = load i32, ptr %160, align 8, !tbaa !12
  store i32 %161, ptr %13, align 4, !tbaa !13
  %162 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %14)
  %163 = getelementptr inbounds i8, ptr %162, i64 8
  %164 = load float, ptr %163, align 4, !tbaa !14
  store float %164, ptr %15, align 4, !tbaa !15
  %165 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %16)
  %166 = getelementptr inbounds i8, ptr %165, i64 8
  %167 = load float, ptr %166, align 4, !tbaa !14
  store float %167, ptr %17, align 4, !tbaa !16
  %168 = load float, ptr %18, align 4, !tbaa !17
  store float %168, ptr %19, align 4, !tbaa !26
  %169 = getelementptr inbounds i8, ptr %0, i64 366
  %170 = load i8, ptr %169, align 2, !tbaa !27, !range !28, !noundef !29
  store i8 %170, ptr %20, align 4, !tbaa !30
  %171 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %21)
  %172 = getelementptr inbounds i8, ptr %171, i64 8
  %173 = load float, ptr %172, align 4, !tbaa !14
  store float %173, ptr %22, align 4, !tbaa !31
  %174 = load float, ptr %23, align 16, !tbaa !32
  store float %174, ptr %24, align 4, !tbaa !33
  %175 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %11)
  %176 = getelementptr inbounds i8, ptr %175, i64 8
  %177 = load float, ptr %176, align 4, !tbaa !14
  store float %177, ptr %9, align 4, !tbaa !34
  store float 0.000000e+00, ptr %25, align 4, !tbaa !35
  %178 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %26)
  %179 = getelementptr inbounds i8, ptr %178, i64 8
  %180 = load float, ptr %179, align 4, !tbaa !14
  store float %180, ptr %27, align 4, !tbaa !36
  %181 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %28)
  %182 = getelementptr inbounds i8, ptr %181, i64 8
  %183 = load float, ptr %182, align 4, !tbaa !14
  store float %183, ptr %29, align 4, !tbaa !37
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #5
  %184 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZN11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64) %30)
  %185 = call { <2 x float>, <2 x float> } @_ZNK11b3Matrix3x39getColumnEi(ptr noundef nonnull align 16 dereferenceable(48) %184, i32 noundef 2)
  %186 = extractvalue { <2 x float>, <2 x float> } %185, 0
  store <2 x float> %186, ptr %10, align 16
  %187 = extractvalue { <2 x float>, <2 x float> } %185, 1
  store <2 x float> %187, ptr %31, align 8
  %188 = load i32, ptr %32, align 4, !tbaa !38
  %189 = and i32 %188, 64
  %.not.1 = icmp eq i32 %189, 0
  br i1 %.not.1, label %193, label %190

190:                                              ; preds = %159
  %191 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %33)
  %192 = getelementptr inbounds i8, ptr %191, i64 8
  br label %195

193:                                              ; preds = %159
  %194 = load ptr, ptr %34, align 8, !tbaa !39
  br label %195

195:                                              ; preds = %193, %190
  %.in.1 = phi ptr [ %192, %190 ], [ %194, %193 ]
  %196 = load float, ptr %.in.1, align 4, !tbaa !14
  store float %196, ptr %35, align 4, !tbaa !41
  %197 = and i32 %188, 128
  %.not48.1 = icmp eq i32 %197, 0
  br i1 %.not48.1, label %201, label %198

198:                                              ; preds = %195
  %199 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %36)
  %200 = getelementptr inbounds i8, ptr %199, i64 8
  br label %203

201:                                              ; preds = %195
  %202 = load ptr, ptr %34, align 8, !tbaa !39
  br label %203

203:                                              ; preds = %201, %198
  %.in49.1 = phi ptr [ %200, %198 ], [ %202, %201 ]
  %204 = load float, ptr %.in49.1, align 4, !tbaa !14
  store float %204, ptr %37, align 4, !tbaa !42
  %205 = and i32 %188, 256
  %.not50.1 = icmp eq i32 %205, 0
  br i1 %.not50.1, label %209, label %206

206:                                              ; preds = %203
  %207 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %38)
  %208 = getelementptr inbounds i8, ptr %207, i64 8
  br label %209

209:                                              ; preds = %206, %203
  %.in51.1 = phi ptr [ %208, %206 ], [ %39, %203 ]
  %210 = load float, ptr %.in51.1, align 4, !tbaa !14
  store float %210, ptr %40, align 4, !tbaa !43
  %211 = load i8, ptr %41, align 1, !tbaa !44, !range !28, !noundef !29
  %212 = trunc nuw i8 %211 to i1
  br i1 %212, label %213, label %219

213:                                              ; preds = %209
  %214 = getelementptr inbounds i8, ptr %0, i64 440
  %215 = load i32, ptr %214, align 8, !tbaa !13
  %.not52.1 = icmp eq i32 %215, 0
  br i1 %.not52.1, label %219, label %216

216:                                              ; preds = %213
  %217 = getelementptr inbounds i8, ptr %0, i64 504
  %218 = load i32, ptr %217, align 8, !tbaa !13
  %.not53.1 = icmp eq i32 %218, 0
  %spec.select.1 = zext i1 %.not53.1 to i32
  br label %219

219:                                              ; preds = %216, %213, %209
  %.sink.1 = phi i32 [ 1, %213 ], [ %spec.select.1, %216 ], [ 0, %209 ]
  %220 = call noundef i32 @_ZN23b3Generic6DofConstraint21get_limit_motor_info2EP22b3RotationalLimitMotorRK11b3TransformS4_RK9b3Vector3S7_S7_S7_PN17b3TypedConstraint17b3ConstraintInfo2EiRS5_ii(ptr noundef nonnull align 16 dereferenceable(824) %0, ptr noundef nonnull %9, ptr noundef nonnull align 16 dereferenceable(64) %3, ptr noundef nonnull align 16 dereferenceable(64) %4, ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef %1, i32 noundef %.2, ptr noundef nonnull align 16 dereferenceable(16) %10, i32 noundef 0, i32 noundef %.sink.1)
  %.1.1 = add nsw i32 %220, %.2
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #5
  br label %.loopexit

.loopexit:                                        ; preds = %219, %.peel.next.1
  %.2.1 = phi i32 [ %.1.1, %219 ], [ %.2, %.peel.next.1 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %9) #5
  ret i32 %.2.1
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN23b3Generic6DofConstraint21get_limit_motor_info2EP22b3RotationalLimitMotorRK11b3TransformS4_RK9b3Vector3S7_S7_S7_PN17b3TypedConstraint17b3ConstraintInfo2EiRS5_ii(ptr noundef nonnull align 16 dereferenceable(824), ptr noundef, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(16), i32 noundef, i32 noundef) local_unnamed_addr #4 align 2

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 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 40}
!6 = !{!"_ZTS22b3RotationalLimitMotor", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40, !10, i64 44, !7, i64 48, !7, i64 52, !11, i64 56, !7, i64 60}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"bool", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!11, !11, i64 0}
!13 = !{!6, !11, i64 56}
!14 = !{!7, !7, i64 0}
!15 = !{!6, !7, i64 52}
!16 = !{!6, !7, i64 48}
!17 = !{!18, !7, i64 356}
!18 = !{!"_ZTS23b3Generic6DofConstraint", !19, i64 0, !22, i64 64, !22, i64 128, !25, i64 192, !8, i64 384, !22, i64 576, !22, i64 640, !24, i64 704, !8, i64 720, !24, i64 768, !7, i64 784, !7, i64 788, !7, i64 792, !10, i64 796, !24, i64 800, !10, i64 816, !10, i64 817, !11, i64 820}
!19 = !{!"_ZTS17b3TypedConstraint", !20, i64 8, !11, i64 12, !8, i64 16, !7, i64 24, !10, i64 28, !10, i64 29, !11, i64 32, !11, i64 36, !11, i64 40, !7, i64 44, !7, i64 48, !21, i64 56}
!20 = !{!"_ZTS13b3TypedObject", !11, i64 0}
!21 = !{!"any pointer", !8, i64 0}
!22 = !{!"_ZTS11b3Transform", !23, i64 0, !24, i64 48}
!23 = !{!"_ZTS11b3Matrix3x3", !8, i64 0}
!24 = !{!"_ZTS9b3Vector3", !8, i64 0}
!25 = !{!"_ZTS25b3TranslationalLimitMotor", !24, i64 0, !24, i64 16, !24, i64 32, !24, i64 48, !24, i64 64, !24, i64 80, !24, i64 96, !24, i64 112, !24, i64 128, !24, i64 144, !7, i64 160, !7, i64 164, !7, i64 168, !8, i64 172, !8, i64 176}
!26 = !{!6, !7, i64 20}
!27 = !{!10, !10, i64 0}
!28 = !{i8 0, i8 2}
!29 = !{}
!30 = !{!6, !10, i64 44}
!31 = !{!6, !7, i64 4}
!32 = !{!18, !7, i64 352}
!33 = !{!6, !7, i64 24}
!34 = !{!6, !7, i64 0}
!35 = !{!6, !7, i64 16}
!36 = !{!6, !7, i64 12}
!37 = !{!6, !7, i64 8}
!38 = !{!18, !11, i64 820}
!39 = !{!40, !21, i64 56}
!40 = !{!"_ZTSN17b3TypedConstraint17b3ConstraintInfo2E", !7, i64 0, !7, i64 4, !21, i64 8, !21, i64 16, !21, i64 24, !21, i64 32, !11, i64 40, !21, i64 48, !21, i64 56, !21, i64 64, !21, i64 72, !21, i64 80, !11, i64 88, !7, i64 92}
!41 = !{!6, !7, i64 28}
!42 = !{!6, !7, i64 36}
!43 = !{!6, !7, i64 32}
!44 = !{!18, !10, i64 817}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LCSSAPass,LICMPass,LoopFullUnrollPass,LoopRotatePass,LoopUnrollPass,ReassociatePass,SCCPPass,SROAPass,SimplifyCFGPass