From 760f86f3395750ef6d03ecfe6f82d2867fbf568b Mon Sep 17 00:00:00 2001 From: Dan Gohman Date: Thu, 22 Jan 2009 21:58:43 +0000 Subject: [PATCH] Don't create ISD::FNEG nodes after legalize if they aren't legal. Simplify x+0 to x in unsafe-fp-math mode. This avoids a bunch of redundant work in many cases, because in unsafe-fp-math mode, ISD::FADD with a constant is considered free to negate, so the DAGCombiner often negates x+0 to -0-x thinking it's free, when in reality the end result is -x, which is more expensive than x. Also, combine x*0 to 0. This fixes PR3374. git-svn-id: https://llvm.org/svn/llvm-project/llvm/trunk@62789 91177308-0d34-0410-b5e6-96231b3b80d8 --- lib/CodeGen/SelectionDAG/DAGCombiner.cpp | 23 +- lib/CodeGen/SelectionDAG/SelectionDAG.cpp | 15 +- test/CodeGen/X86/negate-add-zero.ll | 1145 +++++++++++++++++++++ 3 files changed, 1175 insertions(+), 8 deletions(-) create mode 100644 test/CodeGen/X86/negate-add-zero.ll diff --git a/lib/CodeGen/SelectionDAG/DAGCombiner.cpp b/lib/CodeGen/SelectionDAG/DAGCombiner.cpp index f7c1d061c6b..e494da3644d 100644 --- a/lib/CodeGen/SelectionDAG/DAGCombiner.cpp +++ b/lib/CodeGen/SelectionDAG/DAGCombiner.cpp @@ -3814,6 +3814,9 @@ SDValue DAGCombiner::visitFADD(SDNode *N) { // canonicalize constant to RHS if (N0CFP && !N1CFP) return DAG.getNode(ISD::FADD, VT, N1, N0); + // fold (A + 0) -> A + if (UnsafeFPMath && N1CFP && N1CFP->getValueAPF().isZero()) + return N0; // fold (A + (-B)) -> A-B if (isNegatibleForFree(N1, LegalOperations) == 2) return DAG.getNode(ISD::FSUB, VT, N0, @@ -3852,7 +3855,8 @@ SDValue DAGCombiner::visitFSUB(SDNode *N) { if (UnsafeFPMath && N0CFP && N0CFP->getValueAPF().isZero()) { if (isNegatibleForFree(N1, LegalOperations)) return GetNegatedExpression(N1, DAG, LegalOperations); - return DAG.getNode(ISD::FNEG, VT, N1); + if (!LegalOperations || TLI.isOperationLegal(ISD::FNEG, VT)) + return DAG.getNode(ISD::FNEG, VT, N1); } // fold (A-(-B)) -> A+B if (isNegatibleForFree(N1, LegalOperations)) @@ -3881,12 +3885,16 @@ SDValue DAGCombiner::visitFMUL(SDNode *N) { // canonicalize constant to RHS if (N0CFP && !N1CFP) return DAG.getNode(ISD::FMUL, VT, N1, N0); + // fold (A * 0) -> 0 + if (UnsafeFPMath && N1CFP && N1CFP->getValueAPF().isZero()) + return N1; // fold (fmul X, 2.0) -> (fadd X, X) if (N1CFP && N1CFP->isExactlyValue(+2.0)) return DAG.getNode(ISD::FADD, VT, N0, N0); // fold (fmul X, -1.0) -> (fneg X) if (N1CFP && N1CFP->isExactlyValue(-1.0)) - return DAG.getNode(ISD::FNEG, VT, N0); + if (!LegalOperations || TLI.isOperationLegal(ISD::FNEG, VT)) + return DAG.getNode(ISD::FNEG, VT, N0); // -X * -Y -> X*Y if (char LHSNeg = isNegatibleForFree(N0, LegalOperations)) { @@ -3970,10 +3978,13 @@ SDValue DAGCombiner::visitFCOPYSIGN(SDNode *N) { const APFloat& V = N1CFP->getValueAPF(); // copysign(x, c1) -> fabs(x) iff ispos(c1) // copysign(x, c1) -> fneg(fabs(x)) iff isneg(c1) - if (!V.isNegative()) - return DAG.getNode(ISD::FABS, VT, N0); - else - return DAG.getNode(ISD::FNEG, VT, DAG.getNode(ISD::FABS, VT, N0)); + if (!V.isNegative()) { + if (!LegalOperations || TLI.isOperationLegal(ISD::FABS, VT)) + return DAG.getNode(ISD::FABS, VT, N0); + } else { + if (!LegalOperations || TLI.isOperationLegal(ISD::FNEG, VT)) + return DAG.getNode(ISD::FNEG, VT, DAG.getNode(ISD::FABS, VT, N0)); + } } // copysign(fabs(x), y) -> copysign(x, y) diff --git a/lib/CodeGen/SelectionDAG/SelectionDAG.cpp b/lib/CodeGen/SelectionDAG/SelectionDAG.cpp index a08856022ab..29744862089 100644 --- a/lib/CodeGen/SelectionDAG/SelectionDAG.cpp +++ b/lib/CodeGen/SelectionDAG/SelectionDAG.cpp @@ -27,6 +27,7 @@ #include "llvm/Target/TargetRegisterInfo.h" #include "llvm/Target/TargetData.h" #include "llvm/Target/TargetLowering.h" +#include "llvm/Target/TargetOptions.h" #include "llvm/Target/TargetInstrInfo.h" #include "llvm/Target/TargetMachine.h" #include "llvm/Support/CommandLine.h" @@ -2391,16 +2392,26 @@ SDValue SelectionDAG::getNode(unsigned Opcode, MVT VT, case ISD::UREM: case ISD::MULHU: case ISD::MULHS: - assert(VT.isInteger() && "This operator does not apply to FP types!"); - // fall through case ISD::MUL: case ISD::SDIV: case ISD::SREM: + assert(VT.isInteger() && "This operator does not apply to FP types!"); + // fall through case ISD::FADD: case ISD::FSUB: case ISD::FMUL: case ISD::FDIV: case ISD::FREM: + if (UnsafeFPMath && Opcode == ISD::FADD) { + // 0+x --> x + if (ConstantFPSDNode *CFP = dyn_cast(N1)) + if (CFP->getValueAPF().isZero()) + return N2; + // x+0 --> x + if (ConstantFPSDNode *CFP = dyn_cast(N2)) + if (CFP->getValueAPF().isZero()) + return N1; + } assert(N1.getValueType() == N2.getValueType() && N1.getValueType() == VT && "Binary operator types must match!"); break; diff --git a/test/CodeGen/X86/negate-add-zero.ll b/test/CodeGen/X86/negate-add-zero.ll new file mode 100644 index 00000000000..59a2bd09c18 --- /dev/null +++ b/test/CodeGen/X86/negate-add-zero.ll @@ -0,0 +1,1145 @@ +; RUN: llvm-as < %s | llc -enable-unsafe-fp-math -march=x86 | not grep xor +; PR3374 + +target datalayout = "e-p:32:32:32-i1:8:8-i8:8:8-i16:16:16-i32:32:32-i64:32:64-f32:32:32-f64:32:64-v64:64:64-v128:128:128-a0:0:64-f80:128:128" +target triple = "i386-apple-darwin7" + %struct.AtomList = type { %"struct.CDSListRep"* } + %struct.AtomTree = type { %struct.IVM*, %"struct.CDSList >" } + %"struct.CDS::DefaultAlloc" = type <{ i8 }> + %"struct.CDS::SingularError" = type { %"struct.CDS::exception" } + %"struct.CDS::auto_ptr" = type { %struct.IVMAtom* } + %"struct.CDS::exception" = type { [300 x i8] } + %"struct.CDSList >" = type { %"struct.CDSListRep >"* } + %"struct.CDSList >" = type { %"struct.CDSListRep >"* } + %"struct.CDSList" = type { %"struct.CDSListRep"* } + %"struct.CDSList" = type { %"struct.CDSListRep"* } + %"struct.CDSList" = type { %"struct.CDSListRep"* } + %"struct.CDSList >" = type { %"struct.CDSListRep >"* } + %"struct.CDSList" = type { %"struct.CDSListRep"* } + %"struct.CDSListRep >" = type opaque + %"struct.CDSListRep >" = type opaque + %"struct.CDSListRep" = type { i32, i32, %struct.HingeNode**, i32 } + %"struct.CDSListRep" = type { i32, i32, %struct.IVMAtom**, i32 } + %"struct.CDSListRep" = type opaque + %"struct.CDSListRep" = type opaque + %"struct.CDSListRep >" = type opaque + %"struct.CDSListRep" = type { i32, i32, i32*, i32 } + %"struct.CDSMatrixBase" = type { %"struct.CDSMatrixRep"* } + %"struct.CDSMatrixRep" = type opaque + %"struct.CDSStringRep" = type { i8*, i32, i32, i32, i32 } + %"struct.CDSVector" = type { %"struct.CDSVectorBase" } + %"struct.CDSVector" = type { %"struct.CDSVectorBase" } + %"struct.CDSVectorBase" = type { %"struct.CDSVectorRep"* } + %"struct.CDSVectorBase" = type { %"struct.CDSVectorRep"* } + %"struct.CDSVectorRep" = type { i32, %"struct.CDS::DefaultAlloc", %struct.Vec3*, i32 } + %"struct.CDSVectorRep" = type { i32, %"struct.CDS::DefaultAlloc", double*, i32 } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrix" = type { %"struct.FixedMatrixBase" } + %"struct.FixedMatrixBase" = type { [1 x double] } + %"struct.FixedMatrixBase" = type { [3 x double] } + %"struct.FixedMatrixBase" = type { [6 x double] } + %"struct.FixedMatrixBase" = type { [4 x double] } + %"struct.FixedMatrixBase" = type { [12 x double] } + %"struct.FixedMatrixBase" = type { [9 x double] } + %"struct.FixedMatrixBase" = type { [18 x double] } + %"struct.FixedMatrixBase" = type { [25 x double] } + %"struct.FixedMatrixBase" = type { [30 x double] } + %"struct.FixedMatrixBase" = type { [36 x double] } + %"struct.FixedVector" = type { %"struct.FixedVectorBase" } + %"struct.FixedVector" = type { %"struct.FixedVectorBase" } + %"struct.FixedVectorBase" = type { [2 x double] } + %"struct.FixedVectorBase" = type { [5 x double] } + %struct.HNodeOrigin = type { %struct.HingeNode } + %struct.HNodeRotate2 = type { %"struct.HingeNodeSpec<2>", %struct.Vec3, %struct.Vec3, %struct.Vec3, %struct.Vec3, %struct.Vec3, %struct.Mat3, %struct.Mat3, %struct.Vec3, %"struct.CDS::auto_ptr", %"struct.CDSVector" } + %struct.HNodeRotate3 = type { %"struct.HingeNodeSpec<3>", %struct.Vec4, %struct.Vec4, %struct.Vec4, %struct.Vec3, %"struct.CDS::auto_ptr", %"struct.CDSVector", double, double, double, double, double, double, i8 } + %struct.HNodeTorsion = type { %"struct.HingeNodeSpec<1>", %struct.Vec3, %"struct.CDSVector", %struct.Vec3, %struct.Mat3 } + %struct.HNodeTranslate = type { %"struct.HingeNodeSpec<3>", %struct.IVMAtom*, %struct.Vec3, %"struct.CDSVector" } + %struct.HNodeTranslateRotate2 = type { %"struct.HingeNodeSpec<5>", %struct.Vec3, %struct.Vec3, %struct.Vec3, %struct.Vec3, %struct.Vec3, %struct.Mat3, %struct.Mat3, %struct.Vec3, %"struct.CDS::auto_ptr", %"struct.CDSVector" } + %struct.HNodeTranslateRotate3 = type { %"struct.HingeNodeSpec<6>", %struct.Vec4, %struct.Vec4, %struct.Vec4, %struct.Vec3, %"struct.CDS::auto_ptr", %"struct.CDSVector", double, double, double, double, double, double, i8 } + %struct.HingeNode = type { i32 (...)**, %struct.HingeNode*, %"struct.CDSList", i32, %struct.AtomList, %"struct.FixedMatrix", %"struct.FixedMatrix", %struct.PhiMatrix, %struct.Mat6, %struct.Mat6, %"struct.FixedMatrix", %struct.Mat6, %"struct.FixedMatrix", %struct.Mat3, %struct.Mat6, %struct.IVM*, %struct.IVMAtom* } + %"struct.HingeNodeSpec<1>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix" } + %"struct.HingeNodeSpec<2>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedVector", %"struct.FixedVector", %"struct.FixedVector", %"struct.FixedMatrix", %"struct.FixedVector", %"struct.FixedVector", %"struct.FixedVector", %"struct.FixedMatrix", %"struct.FixedMatrix" } + %"struct.HingeNodeSpec<3>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix" } + %"struct.HingeNodeSpec<5>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedVector", %"struct.FixedVector", %"struct.FixedVector", %"struct.FixedMatrix", %"struct.FixedVector", %"struct.FixedVector", %"struct.FixedVector", %"struct.FixedMatrix", %"struct.FixedMatrix" } + %"struct.HingeNodeSpec<6>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %struct.Mat6, %"struct.FixedMatrix", %"struct.FixedMatrix", %"struct.FixedMatrix", %struct.Mat6, %struct.Mat6 } + %struct.IVM = type { i32 (...)**, %struct.AtomTree*, %struct.Integrator*, %struct.LengthConstraints*, i32, i32, i32, i8, i8, i8, i8, double, double, double, double, double, double, double, double, double, i32, double, double, double, double, double, double, %"struct.CDSList", %"struct.CDSList >", %struct.AtomList, %"struct.CDSList >", %"struct.CDSList", %struct.String, %"struct.CDSList", i32 (%"struct.CDSVector"*)*, double (%"struct.CDSVector"*, %"struct.CDSVector"*)*, i32 (%"struct.CDSVector"*)*, double (%"struct.CDSVector"*, %"struct.CDSVector"*)* } + %struct.IVMAtom = type { i32, %struct.HingeNode*, %struct.AtomList, %struct.Vec3, %struct.Vec3, %struct.Vec3, double, double } + %struct.InertiaTensor = type { %struct.Mat3 } + %struct.Integrator = type { i32 (...)**, %"struct.CDSVector", %"struct.CDSVector", %struct.IVM* } + %"struct.InternalDynamics::HingeSpec" = type { %struct.String, i32, i32, %"struct.CDSList" } + %struct.LengthConstraints = type { double, i32, i32, %struct.IVM*, %struct.LengthConstraintsPrivates* } + %struct.LengthConstraintsPrivates = type opaque + %struct.Mat3 = type { %"struct.FixedMatrix" } + %struct.Mat6 = type { %"struct.FixedMatrixBase" } + %"struct.MatrixTools::InverseResults >" = type { %"struct.CDSVector", i32 } + %struct.PhiMatrix = type { %struct.Vec3 } + %struct.PhiMatrixTranspose = type { %struct.PhiMatrix* } + %struct.RMat = type { %"struct.CDSMatrixBase" } + %struct.String = type { %"struct.CDSStringRep"* } + %"struct.SubMatrix >" = type { %struct.Mat6*, i32, i32, i32, i32 } + %"struct.SubVector >" = type { %"struct.CDSVector"*, i32, i32 } + %"struct.SubVector >" = type { %"struct.FixedMatrix"*, i32, i32 } + %struct.Vec3 = type { %"struct.FixedMatrix" } + %struct.Vec4 = type { %"struct.FixedMatrix" } + %struct.__class_type_info_pseudo = type { %struct.__type_info_pseudo } + %struct.__si_class_type_info_pseudo = type { %struct.__type_info_pseudo, %"struct.std::type_info"* } + %struct.__type_info_pseudo = type { i8*, i8* } + %"struct.std::basic_ios >" = type { %"struct.std::ios_base", %"struct.std::basic_ostream >"*, i8, i8, %"struct.std::basic_streambuf >"*, %"struct.std::ctype"*, %"struct.std::num_get > >"*, %"struct.std::num_get > >"* } + %"struct.std::basic_ostream >" = type { i32 (...)**, %"struct.std::basic_ios >" } + %"struct.std::basic_streambuf >" = type { i32 (...)**, i8*, i8*, i8*, i8*, i8*, i8*, %"struct.std::locale" } + %"struct.std::ctype" = type { %"struct.std::locale::facet", i32*, i8, i32*, i32*, i32*, i8, [256 x i8], [256 x i8], i8 } + %"struct.std::ios_base" = type { i32 (...)**, i32, i32, i32, i32, i32, %"struct.std::ios_base::_Callback_list"*, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, %"struct.std::ios_base::_Words"*, %"struct.std::locale" } + %"struct.std::ios_base::_Callback_list" = type { %"struct.std::ios_base::_Callback_list"*, void (i32, %"struct.std::ios_base"*, i32)*, i32, i32 } + %"struct.std::ios_base::_Words" = type { i8*, i32 } + %"struct.std::locale" = type { %"struct.std::locale::_Impl"* } + %"struct.std::locale::_Impl" = type { i32, %"struct.std::locale::facet"**, i32, %"struct.std::locale::facet"**, i8** } + %"struct.std::locale::facet" = type { i32 (...)**, i32 } + %"struct.std::num_get > >" = type { %"struct.std::locale::facet" } + %"struct.std::type_info" = type { i32 (...)**, i8* } +@_ZN9HingeNode7DEG2RADE = external constant double, align 8 ; [#uses=0] +@"\01LC" = external constant [8 x i8] ; <[8 x i8]*> [#uses=0] +@"\01LC1" = external constant [7 x i8] ; <[7 x i8]*> [#uses=0] +@"\01LC2" = external constant [10 x i8] ; <[10 x i8]*> [#uses=0] +@"\01LC3" = external constant [5 x i8] ; <[5 x i8]*> [#uses=0] +@"\01LC4" = external constant [8 x i8] ; <[8 x i8]*> [#uses=0] +@"\01LC5" = external constant [8 x i8] ; <[8 x i8]*> [#uses=0] +@"\01LC6" = external constant [7 x i8] ; <[7 x i8]*> [#uses=0] +@"\01LC7" = external constant [8 x i8] ; <[8 x i8]*> [#uses=0] +@"\01LC8" = external constant [3 x i8] ; <[3 x i8]*> [#uses=0] +@"\01LC9" = external constant [3 x i8] ; <[3 x i8]*> [#uses=0] +@"\01LC10" = external constant [3 x i8] ; <[3 x i8]*> [#uses=0] +@_ZStL8__ioinit = external global %"struct.CDS::DefaultAlloc" ; <%"struct.CDS::DefaultAlloc"*> [#uses=0] +@__dso_handle = external global i8* ; [#uses=0] +@_ZTIN9HingeNode17VirtualBaseMethodE = external constant %struct.__class_type_info_pseudo ; <%struct.__class_type_info_pseudo*> [#uses=0] +@_ZTVN10__cxxabiv117__class_type_infoE = external constant [0 x i32 (...)*] ; <[0 x i32 (...)*]*> [#uses=0] +@_ZTSN9HingeNode17VirtualBaseMethodE = external constant [32 x i8], align 4 ; <[32 x i8]*> [#uses=0] +@_ZTV9HingeNode = external constant [31 x i32 (...)*], align 32 ; <[31 x i32 (...)*]*> [#uses=0] +@_ZTI9HingeNode = external constant %struct.__class_type_info_pseudo ; <%struct.__class_type_info_pseudo*> [#uses=0] +@_ZTS9HingeNode = external constant [11 x i8] ; <[11 x i8]*> [#uses=0] +@_ZTV11HNodeOrigin = external constant [31 x i32 (...)*], align 32 ; <[31 x i32 (...)*]*> [#uses=0] +@_ZTI11HNodeOrigin = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTVN10__cxxabiv120__si_class_type_infoE = external constant [0 x i32 (...)*] ; <[0 x i32 (...)*]*> [#uses=0] +@_ZTS11HNodeOrigin = external constant [14 x i8] ; <[14 x i8]*> [#uses=0] +@_ZTV13HingeNodeSpecILi1EE = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI13HingeNodeSpecILi1EE = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS13HingeNodeSpecILi1EE = external constant [22 x i8] ; <[22 x i8]*> [#uses=0] +@_ZTV13HingeNodeSpecILi3EE = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI13HingeNodeSpecILi3EE = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS13HingeNodeSpecILi3EE = external constant [22 x i8] ; <[22 x i8]*> [#uses=0] +@_ZTV13HingeNodeSpecILi2EE = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI13HingeNodeSpecILi2EE = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS13HingeNodeSpecILi2EE = external constant [22 x i8] ; <[22 x i8]*> [#uses=0] +@_ZTV13HingeNodeSpecILi6EE = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI13HingeNodeSpecILi6EE = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS13HingeNodeSpecILi6EE = external constant [22 x i8] ; <[22 x i8]*> [#uses=0] +@_ZTV13HingeNodeSpecILi5EE = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI13HingeNodeSpecILi5EE = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS13HingeNodeSpecILi5EE = external constant [22 x i8] ; <[22 x i8]*> [#uses=0] +@_ZSt4cout = external global %"struct.std::basic_ostream >" ; <%"struct.std::basic_ostream >"*> [#uses=0] +@"\01LC11" = external constant [10 x i8] ; <[10 x i8]*> [#uses=0] +@"\01LC12" = external constant [8 x i8] ; <[8 x i8]*> [#uses=0] +@"\01LC13" = external constant [10 x i8] ; <[10 x i8]*> [#uses=0] +@_ZSt4cerr = external global %"struct.std::basic_ostream >" ; <%"struct.std::basic_ostream >"*> [#uses=0] +@"\01LC14" = external constant [29 x i8] ; <[29 x i8]*> [#uses=0] +@"\01LC15" = external constant [11 x i8] ; <[11 x i8]*> [#uses=0] +@"\01LC16" = external constant [13 x i8] ; <[13 x i8]*> [#uses=0] +@"\01LC17" = external constant [21 x i8] ; <[21 x i8]*> [#uses=0] +@"\01LC18" = external constant [8 x i8] ; <[8 x i8]*> [#uses=0] +@"\01LC19" = external constant [4 x i8] ; <[4 x i8]*> [#uses=0] +@"\01LC20" = external constant [42 x i8] ; <[42 x i8]*> [#uses=0] +@_ZTIN16InternalDynamics9ExceptionE = external constant %struct.__class_type_info_pseudo ; <%struct.__class_type_info_pseudo*> [#uses=0] +@_ZTSN16InternalDynamics9ExceptionE = external constant [31 x i8], align 4 ; <[31 x i8]*> [#uses=0] +@_ZTIN3CDS13SingularErrorE = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTSN3CDS13SingularErrorE = external constant [22 x i8] ; <[22 x i8]*> [#uses=0] +@_ZTIN3CDS9exceptionE = external constant %struct.__class_type_info_pseudo ; <%struct.__class_type_info_pseudo*> [#uses=0] +@_ZTSN3CDS9exceptionE = external constant [17 x i8] ; <[17 x i8]*> [#uses=0] +@_ZTV12HNodeTorsion = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI12HNodeTorsion = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS12HNodeTorsion = external constant [15 x i8] ; <[15 x i8]*> [#uses=0] +@_ZTV12HNodeRotate3 = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI12HNodeRotate3 = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS12HNodeRotate3 = external constant [15 x i8] ; <[15 x i8]*> [#uses=0] +@_ZTV12HNodeRotate2 = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI12HNodeRotate2 = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS12HNodeRotate2 = external constant [15 x i8] ; <[15 x i8]*> [#uses=0] +@_ZTV21HNodeTranslateRotate3 = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI21HNodeTranslateRotate3 = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS21HNodeTranslateRotate3 = external constant [24 x i8] ; <[24 x i8]*> [#uses=0] +@_ZTV21HNodeTranslateRotate2 = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI21HNodeTranslateRotate2 = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS21HNodeTranslateRotate2 = external constant [24 x i8] ; <[24 x i8]*> [#uses=0] +@_ZTV14HNodeTranslate = external constant [33 x i32 (...)*], align 32 ; <[33 x i32 (...)*]*> [#uses=0] +@_ZTI14HNodeTranslate = external constant %struct.__si_class_type_info_pseudo ; <%struct.__si_class_type_info_pseudo*> [#uses=0] +@_ZTS14HNodeTranslate = external constant [17 x i8] ; <[17 x i8]*> [#uses=0] +@"\01LC21" = external constant [31 x i8] ; <[31 x i8]*> [#uses=0] +@"\01LC22" = external constant [6 x i8] ; <[6 x i8]*> [#uses=0] +@"\01LC23" = external constant [12 x i8] ; <[12 x i8]*> [#uses=0] +@"\01LC24" = external constant [5 x i8] ; <[5 x i8]*> [#uses=0] +@"\01LC25" = external constant [7 x i8] ; <[7 x i8]*> [#uses=0] +@"\01LC26" = external constant [7 x i8] ; <[7 x i8]*> [#uses=0] +@"\01LC27" = external constant [43 x i8] ; <[43 x i8]*> [#uses=0] +@"\01LC28" = external constant [15 x i8] ; <[15 x i8]*> [#uses=0] +@"\01LC29" = external constant [20 x i8] ; <[20 x i8]*> [#uses=0] +@"\01LC30" = external constant [41 x i8] ; <[41 x i8]*> [#uses=0] +@llvm.global_ctors = external global [1 x { i32, void ()* }] ; <[1 x { i32, void ()* }]*> [#uses=0] + +declare void @_GLOBAL__I__ZN9HingeNode7DEG2RADE() section "__TEXT,__StaticInit,regular,pure_instructions" + +declare void @_ZN9HingeNode16velFromCartesianEv(%struct.HingeNode*) nounwind + +declare i32 @_ZNK9HingeNode6offsetEv(%struct.HingeNode*) nounwind + +declare i32 @_ZNK9HingeNode6getDOFEv(%struct.HingeNode*) nounwind + +declare i32 @_ZNK9HingeNode6getDimEv(%struct.HingeNode*) nounwind + +declare double @_ZN9HingeNode8kineticEEv(%struct.HingeNode*) nounwind + +declare double @_ZN9HingeNode8approxKEEv(%struct.HingeNode*) nounwind + +declare i8* @_ZN9HingeNode4typeEv(%struct.HingeNode*) nounwind + +declare i8* @_ZN11HNodeOrigin4typeEv(%struct.HNodeOrigin*) nounwind + +declare void @_ZN11HNodeOrigin5calcPEv(%struct.HNodeOrigin*) nounwind + +declare void @_ZN11HNodeOrigin5calcZEv(%struct.HNodeOrigin*) nounwind + +declare void @_ZN11HNodeOrigin9calcPandZEv(%struct.HNodeOrigin*) nounwind + +declare void @_ZN11HNodeOrigin9calcAccelEv(%struct.HNodeOrigin*) nounwind + +declare void @_ZN11HNodeOrigin17calcInternalForceEv(%struct.HNodeOrigin*) nounwind + +declare void @_ZN11HNodeOrigin18prepareVelInternalEv(%struct.HNodeOrigin*) nounwind + +declare void @_ZN11HNodeOrigin13propagateSVelERK11FixedVectorIdLi6ELi0EE(%struct.HNodeOrigin*, %"struct.FixedMatrix"*) nounwind + +declare void @_ZN11HNodeOrigin9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeOrigin*, %"struct.CDSVector"*, %"struct.CDSVector"*) nounwind + +declare void @_ZN11HNodeOrigin6setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector"*) nounwind + +declare void @_ZN11HNodeOrigin14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%struct.HNodeOrigin*, %"struct.FixedMatrix"*) nounwind + +declare void @_ZN11HNodeOrigin18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES4_(%struct.HNodeOrigin*, %"struct.CDSVector"*, %"struct.CDSVector"*) nounwind + +declare void @_ZN11HNodeOrigin5printEi(%struct.HNodeOrigin*, i32) nounwind + +declare void @_ZN11HNodeOrigin6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector"*) nounwind + +declare void @_ZN11HNodeOrigin6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector"*) nounwind + +declare void @_ZN11HNodeOrigin8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector"*) nounwind + +declare void @_ZN11HNodeOrigin16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector"*) nounwind + +declare void @_ZN11HNodeOrigin5calcYEv(%struct.HNodeOrigin*) nounwind + +declare i8* @_ZN14HNodeTranslate4typeEv(%struct.HNodeTranslate*) nounwind + +declare i8* @_ZN21HNodeTranslateRotate34typeEv(%struct.HNodeTranslateRotate3*) nounwind + +declare i32 @_ZNK21HNodeTranslateRotate36getDimEv(%struct.HNodeTranslateRotate3*) nounwind + +declare i8* @_ZN12HNodeRotate34typeEv(%struct.HNodeRotate3*) nounwind + +declare i32 @_ZNK12HNodeRotate36getDimEv(%struct.HNodeRotate3*) nounwind + +declare i8* @_ZN12HNodeRotate24typeEv(%struct.HNodeRotate2*) nounwind + +declare i32 @_ZNK12HNodeRotate26getDimEv(%struct.HNodeRotate2*) nounwind + +declare i8* @_ZN21HNodeTranslateRotate24typeEv(%struct.HNodeTranslateRotate2*) nounwind + +declare i32 @_ZNK21HNodeTranslateRotate26getDimEv(%struct.HNodeTranslateRotate2*) nounwind + +declare i8* @_ZN12HNodeTorsion4typeEv(%struct.HNodeTorsion*) nounwind + +declare fastcc double @_ZL12sumMassToTipPK9HingeNode(%struct.HingeNode*) + +declare void @_ZN13InertiaTensor4calcERK4Vec3RK7CDSListIP7IVMAtomE(%struct.InertiaTensor*, %struct.Vec3*, %struct.AtomList*) nounwind + +declare fastcc double @_ZL15sumInertiaToTipPK9HingeNodeRK4Vec3S4_(%struct.HingeNode*, %struct.Vec3*, %struct.Vec3*) + +declare %"struct.std::basic_ostream >"* @_ZlsI11FixedVectorIdLi6ELi0EEERSoS2_RK9SubVectorIT_E(%"struct.std::basic_ostream >"*, %"struct.SubVector >"*) + +declare %"struct.std::basic_ostream >"* @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St5_Setw(%"struct.std::basic_ostream >"*, i32) + +declare %"struct.std::basic_ostream >"* @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(%"struct.std::basic_ostream >"*, i8*) + +declare %"struct.std::basic_ostream >"* @_ZNSolsEd(%"struct.std::basic_ostream >"*, double) + +declare void @_Z14orthoTransformIdLi3ELi3EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZN12HNodeRotate27calcRotEv(%struct.HNodeRotate2*) + +declare void @_ZN21HNodeTranslateRotate27calcRotEv(%struct.HNodeTranslateRotate2*) + +declare void @_ZmlIdLi6ELi6EE11FixedVectorIT_XT0_ELi0EERK11FixedMatrixIS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_ELi0EE(%"struct.FixedMatrix"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi6ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%struct.Mat6* noalias sret, %struct.Mat6*, %struct.Mat6*) + +declare void @_ZmlIdLi6ELi6ELi3EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi6ELi6ELi2EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi5ELi6EE11FixedVectorIT_XT0_ELi0EERK11FixedMatrixIS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_ELi0EE(%"struct.FixedVector"* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi6ELi6ELi5EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix"*) + +declare void @_ZN12HNodeRotate39setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeRotate3*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate29setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeRotate2*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate39setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeTranslateRotate3*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate29setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeTranslateRotate2*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare i32 @_ZNK13HingeNodeSpecILi1EE6offsetEv(%"struct.HingeNodeSpec<1>"*) nounwind + +declare %struct.Vec3* @_ZNK13HingeNodeSpecILi1EE5posCMEv(%"struct.HingeNodeSpec<1>"*) nounwind + +declare double* @_ZNK13HingeNodeSpecILi1EE4massEv(%"struct.HingeNodeSpec<1>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi1EE9calcPandZEv(%"struct.HingeNodeSpec<1>"*) + +declare i32 @_ZNK13HingeNodeSpecILi1EE6getDOFEv(%"struct.HingeNodeSpec<1>"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi1EE6getDimEv(%"struct.HingeNodeSpec<1>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi1EE18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%"struct.HingeNodeSpec<1>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi5EE6offsetEv(%"struct.HingeNodeSpec<5>"*) nounwind + +declare %struct.Vec3* @_ZNK13HingeNodeSpecILi5EE5posCMEv(%"struct.HingeNodeSpec<5>"*) nounwind + +declare double* @_ZNK13HingeNodeSpecILi5EE4massEv(%"struct.HingeNodeSpec<5>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi5EE9calcPandZEv(%"struct.HingeNodeSpec<5>"*) + +declare i32 @_ZNK13HingeNodeSpecILi5EE6getDOFEv(%"struct.HingeNodeSpec<5>"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi5EE6getDimEv(%"struct.HingeNodeSpec<5>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi5EE18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%"struct.HingeNodeSpec<5>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi2EE6offsetEv(%"struct.HingeNodeSpec<2>"*) nounwind + +declare %struct.Vec3* @_ZNK13HingeNodeSpecILi2EE5posCMEv(%"struct.HingeNodeSpec<2>"*) nounwind + +declare double* @_ZNK13HingeNodeSpecILi2EE4massEv(%"struct.HingeNodeSpec<2>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi2EE9calcPandZEv(%"struct.HingeNodeSpec<2>"*) + +declare i32 @_ZNK13HingeNodeSpecILi2EE6getDOFEv(%"struct.HingeNodeSpec<2>"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi2EE6getDimEv(%"struct.HingeNodeSpec<2>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi2EE18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%"struct.HingeNodeSpec<2>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi3EE6offsetEv(%"struct.HingeNodeSpec<3>"*) nounwind + +declare %struct.Vec3* @_ZNK13HingeNodeSpecILi3EE5posCMEv(%"struct.HingeNodeSpec<3>"*) nounwind + +declare double* @_ZNK13HingeNodeSpecILi3EE4massEv(%"struct.HingeNodeSpec<3>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi3EE9calcPandZEv(%"struct.HingeNodeSpec<3>"*) + +declare i32 @_ZNK13HingeNodeSpecILi3EE6getDOFEv(%"struct.HingeNodeSpec<3>"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi6EE6offsetEv(%"struct.HingeNodeSpec<6>"*) nounwind + +declare %struct.Vec3* @_ZNK13HingeNodeSpecILi6EE5posCMEv(%"struct.HingeNodeSpec<6>"*) nounwind + +declare double* @_ZNK13HingeNodeSpecILi6EE4massEv(%"struct.HingeNodeSpec<6>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi6EE9calcPandZEv(%"struct.HingeNodeSpec<6>"*) + +declare i32 @_ZNK13HingeNodeSpecILi6EE6getDOFEv(%"struct.HingeNodeSpec<6>"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi6EE6getDimEv(%"struct.HingeNodeSpec<6>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi6EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<6>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi6EE18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%"struct.HingeNodeSpec<6>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi3EE6getDimEv(%"struct.HingeNodeSpec<3>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi3EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi3EE18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) nounwind + +declare void @_Z14orthoTransformIdLi6ELi6EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%struct.Mat6* noalias sret, %struct.Mat6*, %struct.Mat6*) + +declare double @_ZN13HingeNodeSpecILi1EE8kineticEEv(%"struct.HingeNodeSpec<1>"*) + +declare double @_ZN13HingeNodeSpecILi3EE8kineticEEv(%"struct.HingeNodeSpec<3>"*) + +declare double @_ZN13HingeNodeSpecILi2EE8kineticEEv(%"struct.HingeNodeSpec<2>"*) + +declare double @_ZN13HingeNodeSpecILi6EE8kineticEEv(%"struct.HingeNodeSpec<6>"*) + +declare double @_ZN13HingeNodeSpecILi5EE8kineticEEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZmlIdLi6ELi5ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZN13HingeNodeSpecILi1EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<1>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi5EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<5>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi2EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<2>"*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_Z14orthoTransformIdLi3ELi6EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi6ELi1ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi6ELi5ELi5EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_Z14orthoTransformIdLi5ELi6EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_Z14orthoTransformIdLi2ELi6EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi1ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %struct.Mat6*) + +declare void @_ZmlIdLi5ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %struct.Mat6*) + +declare void @_Z14orthoTransformIdLi6ELi5EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi2ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %struct.Mat6*) + +declare void @_Z14orthoTransformIdLi6ELi2EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix"*) + +declare void @_ZmlIdLi3ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %struct.Mat6*) + +declare void @_Z14orthoTransformIdLi6ELi3EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix"*) + +declare void @_ZNSt8ios_base4InitC1Ev(%"struct.CDS::DefaultAlloc"*) + +declare i32 @__cxa_atexit(void (i8*)*, i8*, i8*) nounwind + +declare void @__tcf_0(i8* nocapture) + +declare void @_ZNSt8ios_base4InitD1Ev(%"struct.CDS::DefaultAlloc"*) + +declare %"struct.std::basic_ostream >"* @_ZlsRSoRK9HingeNode(%"struct.std::basic_ostream >"*, %struct.HingeNode*) + +declare %"struct.std::basic_ostream >"* @_ZlsRSoPK7IVMAtom(%"struct.std::basic_ostream >"*, %struct.IVMAtom*) + +declare void @_ZN9HingeNode8addChildEPS_(%struct.HingeNode*, %struct.HingeNode*) + +declare void @_ZN7CDSListIP9HingeNodeE6appendES1_(%"struct.CDSList"*, %struct.HingeNode*) + +declare void @_ZN9HingeNode4getHEv(%struct.RMat* noalias sret, %struct.HingeNode*) + +declare i8* @__cxa_allocate_exception(i32) nounwind + +declare void @__cxa_throw(i8*, i8*, void (i8*)*) noreturn + +declare void @_ZN9HingeNode16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HingeNode*, %"struct.CDSVector"*) + +declare void @_ZN9HingeNode9calcAccelEv(%struct.HingeNode*) + +declare void @_ZN9HingeNode8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HingeNode*, %"struct.CDSVector"*) + +declare void @_ZN9HingeNode6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HingeNode*, %"struct.CDSVector"*) + +declare void @_ZN9HingeNode6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HingeNode*, %"struct.CDSVector"*) + +declare void @_ZN9HingeNode5printEi(%struct.HingeNode*, i32) + +declare void @_ZN9HingeNode18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES4_(%struct.HingeNode*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN9HingeNode14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%struct.HingeNode*, %"struct.FixedMatrix"*) + +declare void @_ZN9HingeNode6setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HingeNode*, %"struct.CDSVector"*) + +declare void @_ZN9HingeNode9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HingeNode*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN9HingeNode13propagateSVelERK11FixedVectorIdLi6ELi0EE(%struct.HingeNode*, %"struct.FixedMatrix"*) + +declare void @_ZN9HingeNode18prepareVelInternalEv(%struct.HingeNode*) + +declare void @_ZN9HingeNode17calcInternalForceEv(%struct.HingeNode*) + +declare void @_ZN9HingeNode5calcYEv(%struct.HingeNode*) + +declare void @_ZN9HingeNode9calcPandZEv(%struct.HingeNode*) + +declare void @_ZN9HingeNode5calcZEv(%struct.HingeNode*) + +declare void @_ZN9HingeNode5calcPEv(%struct.HingeNode*) + +declare double* @_ZNK9HingeNode4massEv(%struct.HingeNode*) + +declare %struct.Vec3* @_ZNK9HingeNode5posCMEv(%struct.HingeNode*) + +declare i8* @_Znam(i32) + +declare void @_ZN7CDSListIP9HingeNodeEC1Eii(%"struct.CDSList"*, i32, i32) + +declare i8* @_Znwm(i32) + +declare i8* @llvm.eh.exception() nounwind + +declare i32 @llvm.eh.selector.i32(i8*, i8*, ...) nounwind + +declare i32 @llvm.eh.typeid.for.i32(i8*) nounwind + +declare void @_ZdlPv(i8*) nounwind + +declare i32 @__gxx_personality_v0(...) + +declare void @_Unwind_Resume_or_Rethrow(i8*) + +declare void @_ZN7CDSListIP7IVMAtomEC1Eii(%struct.AtomList*, i32, i32) + +declare void @_ZN13CDSVectorBaseIdN3CDS12DefaultAllocEE8splitRepEv(%"struct.CDSVectorBase"*) + +declare void @_ZN12HNodeTorsion16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTorsion*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi1EE8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<1>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi1EE6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<1>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi1EE6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<1>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi1EE16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<1>"*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate316getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate3*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi3EE16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi3EE8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi3EE6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi3EE6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate216getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate2*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate28getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate2*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate26getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate2*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate26getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate2*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate38getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate3*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate36getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate3*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate36getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate3*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi2EE16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<2>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi2EE8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<2>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi2EE6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<2>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi2EE6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<2>"*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate316getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate3*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate38getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate3*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate36getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate3*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate36getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate3*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi6EE16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<6>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi6EE8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<6>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi6EE6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<6>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi6EE6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<6>"*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate216getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate2*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate28getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate2*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate26getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate2*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate26getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate2*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi5EE16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<5>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi5EE8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<5>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi5EE6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<5>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi5EE6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<5>"*, %"struct.CDSVector"*) + +declare void @_ZN13CDSVectorBaseI4Vec3N3CDS12DefaultAllocEE8splitRepEv(%"struct.CDSVectorBase"*) + +declare void @_ZN7CDSListIP7IVMAtomE8splitRepEv(%struct.AtomList*) + +declare void @_ZN7CDSListIP9HingeNodeE8splitRepEv(%"struct.CDSList"*) + +declare void @_ZdaPv(i8*) nounwind + +declare void @_ZSt9terminatev() noreturn nounwind + +declare void @_ZN9HingeNodeC2EPK3IVMP7IVMAtomPKS3_PS_(%struct.HingeNode*, %struct.IVM*, %struct.IVMAtom*, %struct.IVMAtom*, %struct.HingeNode*) + +declare void @_ZN9HingeNodeD1Ev(%struct.HingeNode*) + +declare void @_ZN9HingeNodeD0Ev(%struct.HingeNode*) + +declare void @_ZN7CDSListIP7IVMAtomE6appendES1_(%struct.AtomList*, %struct.IVMAtom*) + +declare void @_ZN9HingeNodeC1EPK3IVMP7IVMAtomPKS3_PS_(%struct.HingeNode*, %struct.IVM*, %struct.IVMAtom*, %struct.IVMAtom*, %struct.HingeNode*) + +declare void @_ZN9HingeNodeD2Ev(%struct.HingeNode*) + +declare void @_ZN11HNodeOriginD0Ev(%struct.HNodeOrigin*) + +declare void @_ZN11HNodeOriginD1Ev(%struct.HNodeOrigin*) + +declare void @_ZN13HingeNodeSpecILi1EED0Ev(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EED1Ev(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EE5calcPEv(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EE5calcZEv(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EE5calcYEv(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EE17calcInternalForceEv(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EE18prepareVelInternalEv(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EE13propagateSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<1>"*, %"struct.FixedMatrix"*) + +declare double @_ZN13HingeNodeSpecILi1EE8approxKEEv(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EE6setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<1>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi1EE14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<1>"*, %"struct.FixedMatrix"*) + +declare void @_ZN13HingeNodeSpecILi1EE5printEi(%"struct.HingeNodeSpec<1>"*, i32) + +declare void @_ZN13HingeNodeSpecILi1EE9calcAccelEv(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi1EE4getHEv(%struct.RMat* noalias sret, %"struct.HingeNodeSpec<1>"*) + +declare void @__cxa_pure_virtual() nounwind + +declare void @_ZN13HingeNodeSpecILi3EED0Ev(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EED1Ev(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EE5calcPEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EE5calcZEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EE5calcYEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EE17calcInternalForceEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EE18prepareVelInternalEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EE13propagateSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<3>"*, %"struct.FixedMatrix"*) + +declare double @_ZN13HingeNodeSpecILi3EE8approxKEEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EE6setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi3EE14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<3>"*, %"struct.FixedMatrix"*) + +declare void @_ZN13HingeNodeSpecILi3EE5printEi(%"struct.HingeNodeSpec<3>"*, i32) + +declare void @_ZN13HingeNodeSpecILi3EE9calcAccelEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi3EE4getHEv(%struct.RMat* noalias sret, %"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi2EED0Ev(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EED1Ev(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EE5calcPEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EE5calcZEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EE5calcYEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EE17calcInternalForceEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EE18prepareVelInternalEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EE13propagateSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<2>"*, %"struct.FixedMatrix"*) + +declare double @_ZN13HingeNodeSpecILi2EE8approxKEEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EE6setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<2>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi2EE14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<2>"*, %"struct.FixedMatrix"*) + +declare void @_ZN13HingeNodeSpecILi2EE5printEi(%"struct.HingeNodeSpec<2>"*, i32) + +declare void @_ZN13HingeNodeSpecILi2EE9calcAccelEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi2EE4getHEv(%struct.RMat* noalias sret, %"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi6EED0Ev(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EED1Ev(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EE5calcPEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EE5calcZEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EE5calcYEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EE17calcInternalForceEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EE18prepareVelInternalEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EE13propagateSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<6>"*, %"struct.FixedMatrix"*) + +declare double @_ZN13HingeNodeSpecILi6EE8approxKEEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EE6setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<6>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi6EE14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<6>"*, %"struct.FixedMatrix"*) + +declare void @_ZN13HingeNodeSpecILi6EE5printEi(%"struct.HingeNodeSpec<6>"*, i32) + +declare void @_ZN13HingeNodeSpecILi6EE9calcAccelEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi6EE4getHEv(%struct.RMat* noalias sret, %"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi5EED0Ev(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EED1Ev(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EE5calcPEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EE5calcZEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EE5calcYEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EE17calcInternalForceEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EE18prepareVelInternalEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EE13propagateSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<5>"*, %"struct.FixedMatrix"*) + +declare double @_ZN13HingeNodeSpecILi5EE8approxKEEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EE6setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%"struct.HingeNodeSpec<5>"*, %"struct.CDSVector"*) + +declare void @_ZN13HingeNodeSpecILi5EE14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%"struct.HingeNodeSpec<5>"*, %"struct.FixedMatrix"*) + +declare void @_ZN13HingeNodeSpecILi5EE5printEi(%"struct.HingeNodeSpec<5>"*, i32) + +declare void @_ZN13HingeNodeSpecILi5EE9calcAccelEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN13HingeNodeSpecILi5EE4getHEv(%struct.RMat* noalias sret, %"struct.HingeNodeSpec<5>"*) + +declare void @_ZN12HNodeTorsion7calcRotEv(%struct.HNodeTorsion*) + +declare double @sin(double) nounwind readnone + +declare double @cos(double) nounwind readnone + +declare void @_ZN12HNodeRotate37calcRotEv(%struct.HNodeRotate3*) + +declare void @_ZN21HNodeTranslateRotate37calcRotEv(%struct.HNodeTranslateRotate3*) + +declare void @_ZN9HingeNodeC2ERKS_(%struct.HingeNode*, %struct.HingeNode*) + +declare void @_ZN7CDSListIP9HingeNodeEC1ERKS2_(%"struct.CDSList"*, %"struct.CDSList"*) + +declare void @_ZN7CDSListIP7IVMAtomEC1ERKS2_(%struct.AtomList*, %struct.AtomList*) + +declare void @_ZN11HNodeOriginC2EPK9HingeNode(%struct.HNodeOrigin*, %struct.HingeNode*) + +declare void @_ZN13HingeNodeSpecILi1EEC2EPK9HingeNodeRi(%"struct.HingeNodeSpec<1>"*, %struct.HingeNode*, i32*) + +declare void @_ZN13HingeNodeSpecILi3EEC2EPK9HingeNodeRi(%"struct.HingeNodeSpec<3>"*, %struct.HingeNode*, i32*) + +declare void @_ZN13HingeNodeSpecILi2EEC2EPK9HingeNodeRi(%"struct.HingeNodeSpec<2>"*, %struct.HingeNode*, i32*) + +declare void @_ZN13HingeNodeSpecILi6EEC2EPK9HingeNodeRi(%"struct.HingeNodeSpec<6>"*, %struct.HingeNode*, i32*) + +declare void @_ZN13HingeNodeSpecILi5EEC2EPK9HingeNodeRi(%"struct.HingeNodeSpec<5>"*, %struct.HingeNode*, i32*) + +declare void @_ZplI4Vec3K11FixedVectorIdLi6ELi0EEET_RK9SubVectorIT0_ERKS4_(%struct.Vec3* noalias sret, %"struct.SubVector >"*, %struct.Vec3*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi1ELi6ELi0ELi0EEEENT_13TransposeTypeERKS3_(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*) + +declare void @_ZN12HNodeRotate314setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%struct.HNodeRotate3*, %"struct.FixedMatrix"*) + +declare void @_ZN12HNodeRotate214setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%struct.HNodeRotate2*, %"struct.FixedMatrix"*) + +declare void @_ZN21HNodeTranslateRotate314setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%struct.HNodeTranslateRotate3*, %"struct.FixedMatrix"*) + +declare void @_ZN21HNodeTranslateRotate214setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%struct.HNodeTranslateRotate2*, %"struct.FixedMatrix"*) + +declare void @_ZN13HingeNodeSpecILi1EE9calcPropsEv(%"struct.HingeNodeSpec<1>"*) + +declare zeroext i8 @_ZNK3IVM12minimizationEv(%struct.IVM*) + +declare void @_Z8blockVecIdLi3ELi3EE11FixedVectorIT_XplT0_T1_ELi0EERKS0_IS1_XT0_ELi0EERKS0_IS1_XT1_ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZN12HNodeTorsion11toCartesianEv(%struct.HNodeTorsion*) + +declare void @_ZN13HingeNodeSpecILi1EE18calcCartesianForceEv(%"struct.HingeNodeSpec<1>"*) + +declare void @_ZN13HingeNodeSpecILi3EE18calcCartesianForceEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN13HingeNodeSpecILi2EE18calcCartesianForceEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN13HingeNodeSpecILi6EE18calcCartesianForceEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN13HingeNodeSpecILi5EE18calcCartesianForceEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN12HNodeTorsion5calcHEv(%struct.HNodeTorsion*) + +declare void @_Z10blockMat12IdLi1ELi3ELi3EE11FixedMatrixIT_XT0_EXplT1_T2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZN13CDSMatrixBaseIdEC2I11FixedMatrixIdLi1ELi6ELi0ELi0EEEERKT_(%"struct.CDSMatrixBase"*, %"struct.FixedMatrix"*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi6ELi1ELi0ELi0EEEENT_13TransposeTypeERKS3_(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*) + +declare %"struct.std::basic_ostream >"* @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St13_Setprecision(%"struct.std::basic_ostream >"*, i32) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi6EERSoS0_RK15FixedVectorBaseIT_XT0_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare %"struct.std::basic_ostream >"* @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_c(%"struct.std::basic_ostream >"*, i8 signext) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi3EERSoS0_RK15FixedVectorBaseIT_XT0_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi1EERSoS0_RK15FixedVectorBaseIT_XT0_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare void @_ZN11FixedVectorIdLi3ELi0EE6subColILi6ELi1ELi0ELi0EEES0_RK11FixedMatrixIdXT_EXT0_EXT1_EXT2_EEiii(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, i32, i32, i32) + +declare %"struct.FixedMatrixBase"* @_ZN15FixedMatrixBaseIdLi6ELi6EEpLERKS0_(%"struct.FixedMatrixBase"*, %"struct.FixedMatrixBase"*) + +declare void @_ZN13HingeNodeSpecILi6EE9calcPropsEv(%"struct.HingeNodeSpec<6>"*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi6ELi6ELi0ELi0EEEENT_13TransposeTypeERKS3_(%struct.Mat6* noalias sret, %struct.Mat6*) + +declare void @_ZN21HNodeTranslateRotate311toCartesianEv(%struct.HNodeTranslateRotate3*) + +define linkonce void @_ZN21HNodeTranslateRotate36setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate3* %this, %"struct.CDSVector"* %velv) { +entry: + %0 = add i32 0, -1 ; [#uses=1] + %1 = getelementptr double* null, i32 %0 ; [#uses=1] + %2 = load double* %1, align 8 ; [#uses=1] + %3 = load double* null, align 8 ; [#uses=2] + %4 = load double* null, align 8 ; [#uses=2] + %5 = load double* null, align 8 ; [#uses=3] + %6 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 2, i32 0, i32 0, i32 0, i32 0 ; [#uses=0] + %7 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 2, i32 0, i32 0, i32 0, i32 1 ; [#uses=0] + %8 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 2, i32 0, i32 0, i32 0, i32 2 ; [#uses=0] + %9 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 2, i32 0, i32 0, i32 0, i32 3 ; [#uses=0] + %10 = load double* null, align 8 ; [#uses=2] + %11 = sub double -0.000000e+00, %10 ; [#uses=1] + %12 = load double* null, align 8 ; [#uses=2] + %13 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 1, i32 0, i32 0, i32 0, i32 3 ; [#uses=1] + %14 = load double* %13, align 8 ; [#uses=2] + %15 = sub double -0.000000e+00, %14 ; [#uses=1] + %16 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 1, i32 0, i32 0, i32 0, i32 2 ; [#uses=1] + %17 = load double* %16, align 8 ; [#uses=2] + %18 = sub double -0.000000e+00, %17 ; [#uses=1] + %19 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 0 ; [#uses=0] + %20 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 3 ; [#uses=0] + %21 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 6 ; [#uses=0] + %22 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 9 ; [#uses=0] + %23 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 1 ; [#uses=0] + %24 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 4 ; [#uses=0] + %25 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 7 ; [#uses=0] + %26 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 10 ; [#uses=0] + %27 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 2 ; [#uses=0] + %28 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 5 ; [#uses=0] + %29 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 8 ; [#uses=0] + %30 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 11 ; [#uses=0] + %31 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 0 ; [#uses=0] + %32 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 1 ; [#uses=1] + %33 = getelementptr %"struct.FixedMatrix"* null, i32 0, i32 0, i32 0, i32 2 ; [#uses=1] + %34 = mul double %17, %5 ; [#uses=1] + %35 = add double 0.000000e+00, %34 ; [#uses=1] + %36 = add double 0.000000e+00, 0.000000e+00 ; [#uses=1] + %37 = mul double %14, %3 ; [#uses=1] + %38 = add double %36, %37 ; [#uses=1] + %39 = mul double %12, %4 ; [#uses=1] + %40 = add double %38, %39 ; [#uses=1] + %41 = mul double %5, %11 ; [#uses=1] + %42 = add double %40, %41 ; [#uses=2] + store double %42, double* %32, align 8 + %43 = mul double %2, %15 ; [#uses=1] + %44 = add double %43, 0.000000e+00 ; [#uses=1] + %45 = mul double %3, %18 ; [#uses=1] + %46 = add double %44, %45 ; [#uses=1] + %47 = mul double %10, %4 ; [#uses=1] + %48 = add double %46, %47 ; [#uses=1] + %49 = mul double %12, %5 ; [#uses=1] + %50 = add double %48, %49 ; [#uses=2] + store double %50, double* %33, align 8 + %51 = mul double %35, 2.000000e+00 ; [#uses=1] + %52 = mul double %42, 2.000000e+00 ; [#uses=1] + %53 = mul double %50, 2.000000e+00 ; [#uses=1] + %54 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 0, i32 10, i32 0, i32 0, i32 0 ; [#uses=1] + store double %51, double* %54, align 8 + %55 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 0, i32 10, i32 0, i32 0, i32 1 ; [#uses=1] + store double %52, double* %55, align 8 + %56 = getelementptr %struct.HNodeTranslateRotate3* %this, i32 0, i32 0, i32 10, i32 0, i32 0, i32 2 ; [#uses=1] + store double %53, double* %56, align 8 + %57 = add i32 0, 4 ; [#uses=1] + %58 = getelementptr %"struct.SubVector >"* null, i32 0, i32 0 ; <%"struct.CDSVector"**> [#uses=1] + store %"struct.CDSVector"* %velv, %"struct.CDSVector"** %58, align 8 + %59 = getelementptr %"struct.SubVector >"* null, i32 0, i32 1 ; [#uses=1] + store i32 %57, i32* %59, align 4 + %60 = getelementptr %"struct.SubVector >"* null, i32 0, i32 2 ; [#uses=1] + store i32 3, i32* %60, align 8 + unreachable +} + +declare void @_ZmlRK11FixedMatrixIdLi6ELi6ELi0ELi0EERK18PhiMatrixTranspose(%struct.Mat6* noalias sret, %struct.Mat6*, %struct.PhiMatrixTranspose*) + +declare void @_ZmlI4Mat3K11FixedMatrixIdLi6ELi6ELi0ELi0EEET_RK9SubMatrixIT0_ERKS4_(%struct.Mat3* noalias sret, %"struct.SubMatrix >"*, %struct.Mat3*) + +declare void @_ZmiI4Mat3K11FixedMatrixIdLi6ELi6ELi0ELi0EEET_RK9SubMatrixIT0_ERKS4_(%struct.Mat3* noalias sret, %"struct.SubMatrix >"*, %struct.Mat3*) + +declare %"struct.FixedMatrixBase"* @_ZN15FixedMatrixBaseIdLi3ELi3EEmIERKS0_(%"struct.FixedMatrixBase"*, %"struct.FixedMatrixBase"*) + +declare void @_ZplI4Mat311FixedMatrixIdLi6ELi6ELi0ELi0EEET_RKS3_RK9SubMatrixIT0_E(%struct.Mat3* noalias sret, %struct.Mat3*, %"struct.SubMatrix >"*) + +declare void @_ZN13CDSVectorBaseIdN3CDS12DefaultAllocEED2Ev(%"struct.CDSVectorBase"*) + +declare void @_ZN13HingeNodeSpecILi1EE7calcD_GERK11FixedMatrixIdLi6ELi6ELi0ELi0EE(%"struct.HingeNodeSpec<1>"*, %struct.Mat6*) + +declare void @_ZN11MatrixTools7inverseI11FixedMatrixIdLi1ELi1ELi0ELi0EEEET_RKS3_NS_14InverseResultsINS3_10MatrixTypeEEE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.MatrixTools::InverseResults >"*) + +declare i8* @__cxa_get_exception_ptr(i8*) nounwind + +declare i8* @__cxa_begin_catch(i8*) nounwind + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi1ELi1EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi1ELi6EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare %"struct.std::basic_ostream >"* @_ZNSolsEi(%"struct.std::basic_ostream >"*, i32) + +declare %"struct.std::basic_ostream >"* @_ZlsIcERSoS0_RK9CDSStringIT_E(%"struct.std::basic_ostream >"*, %struct.String*) + +declare %"struct.std::basic_ostream >"* @_ZNSolsEPFRSoS_E(%"struct.std::basic_ostream >"*, %"struct.std::basic_ostream >"* (%"struct.std::basic_ostream >"*)*) + +declare %"struct.std::basic_ostream >"* @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(%"struct.std::basic_ostream >"*) + +declare void @__cxa_end_catch() + +declare void @_ZmlI4Mat311FixedMatrixIdLi6ELi6ELi0ELi0EEET_RKS3_RK9SubMatrixIT0_E(%struct.Mat3* noalias sret, %struct.Mat3*, %"struct.SubMatrix >"*) + +declare void @_ZmlI4Mat311FixedMatrixIdLi6ELi6ELi0ELi0EEET_RK9SubMatrixIT0_ERKS3_(%struct.Mat3* noalias sret, %"struct.SubMatrix >"*, %struct.Mat3*) + +declare void @_ZmiI4Mat311FixedMatrixIdLi6ELi6ELi0ELi0EEET_RK9SubMatrixIT0_ERKS3_(%struct.Mat3* noalias sret, %"struct.SubMatrix >"*, %struct.Mat3*) + +declare %"struct.FixedMatrixBase"* @_ZN15FixedMatrixBaseIdLi6ELi6EEmIERKS0_(%"struct.FixedMatrixBase"*, %"struct.FixedMatrixBase"*) + +declare void @_ZN13CDSVectorBaseI4Vec3N3CDS12DefaultAllocEEC2EiS2_(%"struct.CDSVectorBase"*, i32, %"struct.CDS::DefaultAlloc"* byval align 4) + +declare void @_ZN13CDSVectorBaseI4Vec3N3CDS12DefaultAllocEED2Ev(%"struct.CDSVectorBase"*) + +declare void @_ZN12HNodeTorsionD0Ev(%struct.HNodeTorsion*) + +declare void @_ZN12HNodeTorsionD1Ev(%struct.HNodeTorsion*) + +declare void @_ZN12HNodeRotate3D0Ev(%struct.HNodeRotate3*) + +declare void @_ZN12HNodeRotate3D1Ev(%struct.HNodeRotate3*) + +declare void @_ZN12HNodeRotate36setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate3*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate318enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES4_(%struct.HNodeRotate3*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate35printEi(%struct.HNodeRotate3*, i32) + +declare void @_ZN12HNodeRotate35calcHEv(%struct.HNodeRotate3*) + +declare void @_ZN12HNodeRotate311toCartesianEv(%struct.HNodeRotate3*) + +declare void @_ZN12HNodeRotate2D0Ev(%struct.HNodeRotate2*) + +declare void @_ZN12HNodeRotate2D1Ev(%struct.HNodeRotate2*) + +declare void @_ZN12HNodeRotate26setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeRotate2*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate218enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES4_(%struct.HNodeRotate2*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN12HNodeRotate25printEi(%struct.HNodeRotate2*, i32) + +declare void @_ZN12HNodeRotate25calcHEv(%struct.HNodeRotate2*) + +declare void @_ZN12HNodeRotate211toCartesianEv(%struct.HNodeRotate2*) + +declare void @_ZN21HNodeTranslateRotate3D0Ev(%struct.HNodeTranslateRotate3*) + +declare void @_ZN21HNodeTranslateRotate3D1Ev(%struct.HNodeTranslateRotate3*) + +declare void @_ZN21HNodeTranslateRotate318enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES4_(%struct.HNodeTranslateRotate3*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate35printEi(%struct.HNodeTranslateRotate3*, i32) + +declare void @_ZN21HNodeTranslateRotate35calcHEv(%struct.HNodeTranslateRotate3*) + +declare void @_ZN21HNodeTranslateRotate2D0Ev(%struct.HNodeTranslateRotate2*) + +declare void @_ZN21HNodeTranslateRotate2D1Ev(%struct.HNodeTranslateRotate2*) + +declare void @_ZN21HNodeTranslateRotate26setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeTranslateRotate2*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate218enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES4_(%struct.HNodeTranslateRotate2*, %"struct.CDSVector"*, %"struct.CDSVector"*) + +declare void @_ZN21HNodeTranslateRotate25printEi(%struct.HNodeTranslateRotate2*, i32) + +declare void @_ZN21HNodeTranslateRotate25calcHEv(%struct.HNodeTranslateRotate2*) + +declare void @_ZN21HNodeTranslateRotate211toCartesianEv(%struct.HNodeTranslateRotate2*) + +declare void @_ZN14HNodeTranslateC2EPK9HingeNodeP7IVMAtomRi(%struct.HNodeTranslate*, %struct.HingeNode*, %struct.IVMAtom*, i32*) + +declare void @_ZN14HNodeTranslateD1Ev(%struct.HNodeTranslate*) + +declare void @_ZN14HNodeTranslateD0Ev(%struct.HNodeTranslate*) + +declare void @_ZN14HNodeTranslate5calcHEv(%struct.HNodeTranslate*) + +declare void @_ZN14HNodeTranslate11toCartesianEv(%struct.HNodeTranslate*) + +declare void @_ZN12HNodeRotate3C2EPK9HingeNodeP7IVMAtomRib(%struct.HNodeRotate3*, %struct.HingeNode*, %struct.IVMAtom*, i32*, i8 zeroext) + +declare void @_ZN8AtomTree6findCMEPK9HingeNode(%struct.Vec3* noalias sret, %struct.HingeNode*) + +declare %struct.IVMAtom** @_ZN7CDSListIP7IVMAtomE7prependERKS1_(%struct.AtomList*, %struct.IVMAtom**) + +declare %"struct.CDSVectorBase"* @_ZN13CDSVectorBaseI4Vec3N3CDS12DefaultAllocEE6resizeEi(%"struct.CDSVectorBase"*, i32) + +declare void @_ZN12HNodeRotate2C2EPK9HingeNodeRK4Vec3Ri(%struct.HNodeRotate2*, %struct.HingeNode*, %struct.Vec3*, i32*) + +declare void @_ZN21HNodeTranslateRotate3C2EPK9HingeNodeP7IVMAtomRib(%struct.HNodeTranslateRotate3*, %struct.HingeNode*, %struct.IVMAtom*, i32*, i8 zeroext) + +declare void @_ZN13HingeNodeSpecILi3EE9calcPropsEv(%"struct.HingeNodeSpec<3>"*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi3ELi6ELi0ELi0EEEENT_13TransposeTypeERKS3_(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*) + +declare void @_ZN11MatrixTools9transposeI4Mat3EENT_13TransposeTypeERKS2_(%struct.Mat3* noalias sret, %struct.Mat3*) + +declare void @_Z10blockMat12IdLi3ELi3ELi3EE11FixedMatrixIT_XT0_EXplT1_T2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZN13CDSMatrixBaseIdEC2I11FixedMatrixIdLi3ELi6ELi0ELi0EEEERKT_(%"struct.CDSMatrixBase"*, %"struct.FixedMatrix"*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi6ELi3ELi0ELi0EEEENT_13TransposeTypeERKS3_(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi4EERSoS0_RK15FixedVectorBaseIT_XT0_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare double @_Z4normIdLi4EET_RK11FixedVectorIS0_XT0_ELi0EE(%"struct.FixedMatrix"*) + +declare %"struct.FixedMatrixBase"* @_ZN15FixedVectorBaseIdLi4EEdVERKd(%"struct.FixedMatrixBase"*, double*) + +declare %"struct.FixedMatrixBase"* @_ZN15FixedVectorBaseIdLi4EEmIERKS0_(%"struct.FixedMatrixBase"*, %"struct.FixedMatrixBase"*) + +declare void @_ZN11FixedVectorIdLi3ELi0EE6subColILi6ELi3ELi0ELi0EEES0_RK11FixedMatrixIdXT_EXT0_EXT1_EXT2_EEiii(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, i32, i32, i32) + +declare void @_ZN13HingeNodeSpecILi3EE7calcD_GERK11FixedMatrixIdLi6ELi6ELi0ELi0EE(%"struct.HingeNodeSpec<3>"*, %struct.Mat6*) + +declare void @_ZN11MatrixTools7inverseI11FixedMatrixIdLi3ELi3ELi0ELi0EEEET_RKS3_NS_14InverseResultsINS3_10MatrixTypeEEE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.MatrixTools::InverseResults >"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi3ELi3EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi3ELi6EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare void @_Z7unitVecRK4Vec3(%struct.Vec3* noalias sret, %struct.Vec3*) + +declare double @_Z4normIdLi3EET_RK11FixedVectorIS0_XT0_ELi0EE(%"struct.FixedMatrix"*) + +declare void @_ZN12HNodeTorsionC2EPK9HingeNodeRK4Vec3Ri(%struct.HNodeTorsion*, %struct.HingeNode*, %struct.Vec3*, i32*) + +declare double @acos(double) nounwind readnone + +declare double @atan2(double, double) nounwind readnone + +declare void @_ZN21HNodeTranslateRotate2C2EPK9HingeNodeRi(%struct.HNodeTranslateRotate2*, %struct.HingeNode*, i32*) + +declare void @_ZN13HingeNodeSpecILi2EE9calcPropsEv(%"struct.HingeNodeSpec<2>"*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi2ELi6ELi0ELi0EEEENT_13TransposeTypeERKS3_(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*) + +declare void @_Z10blockMat21IdLi1ELi3ELi1EE11FixedMatrixIT_XplT0_T2_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT2_EXT1_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_Z10blockMat12IdLi2ELi3ELi3EE11FixedMatrixIT_XT0_EXplT1_T2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT2_ELi0ELi0EE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.FixedMatrix"*) + +declare void @_ZN13CDSMatrixBaseIdEC2I11FixedMatrixIdLi2ELi6ELi0ELi0EEEERKT_(%"struct.CDSMatrixBase"*, %"struct.FixedMatrix"*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi6ELi2ELi0ELi0EEEENT_13TransposeTypeERKS3_(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi2EERSoS0_RK15FixedVectorBaseIT_XT0_EE(%"struct.std::basic_ostream >"*, %"struct.FixedVectorBase"*) + +declare %"struct.FixedMatrixBase"* @_ZN15FixedVectorBaseIdLi3EEdVERKd(%"struct.FixedMatrixBase"*, double*) + +declare %"struct.FixedMatrixBase"* @_ZN15FixedVectorBaseIdLi3EEmIERKS0_(%"struct.FixedMatrixBase"*, %"struct.FixedMatrixBase"*) + +declare void @_ZN11FixedVectorIdLi3ELi0EE6subColILi6ELi2ELi0ELi0EEES0_RK11FixedMatrixIdXT_EXT0_EXT1_EXT2_EEiii(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, i32, i32, i32) + +declare void @_ZN13HingeNodeSpecILi2EE7calcD_GERK11FixedMatrixIdLi6ELi6ELi0ELi0EE(%"struct.HingeNodeSpec<2>"*, %struct.Mat6*) + +declare void @_ZN11MatrixTools7inverseI11FixedMatrixIdLi2ELi2ELi0ELi0EEEET_RKS3_NS_14InverseResultsINS3_10MatrixTypeEEE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.MatrixTools::InverseResults >"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi2ELi2EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi2ELi6EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare zeroext i8 @_ZNK9CDSStringIcE7matchesEPKcb(%struct.String*, i8*, i8 zeroext) + +declare %struct.HingeNode* @_Z9constructP9HingeNodeRKN16InternalDynamics9HingeSpecERi(%struct.HingeNode*, %"struct.InternalDynamics::HingeSpec"*, i32*) + +declare void @_ZN9CDSStringIcEC1ERKS0_(%struct.String*, %struct.String*) + +declare void @_ZN9CDSStringIcE8downcaseEv(%struct.String*) + +declare %struct.String* @_ZN9CDSStringIcEaSEPKc(%struct.String*, i8*) + +declare %"struct.std::basic_ostream >"* @_ZlsIP7IVMAtomERSoS2_RK7CDSListIT_E(%"struct.std::basic_ostream >"*, %struct.AtomList*) + +declare i32 @_ZNK7CDSListIP9HingeNodeE8getIndexERKS1_(%"struct.CDSList"*, %struct.HingeNode**) + +declare void @_ZN13CDSMatrixBaseIdEC2I11FixedMatrixIdLi6ELi6ELi0ELi0EEEERKT_(%"struct.CDSMatrixBase"*, %struct.Mat6*) + +declare void @_ZN11FixedVectorIdLi3ELi0EE6subColILi6ELi6ELi0ELi0EEES0_RK11FixedMatrixIdXT_EXT0_EXT1_EXT2_EEiii(%"struct.FixedMatrix"* noalias sret, %struct.Mat6*, i32, i32, i32) + +declare void @_ZN13HingeNodeSpecILi6EE7calcD_GERK11FixedMatrixIdLi6ELi6ELi0ELi0EE(%"struct.HingeNodeSpec<6>"*, %struct.Mat6*) + +declare void @_ZN11MatrixTools7inverseI11FixedMatrixIdLi6ELi6ELi0ELi0EEEET_RKS3_NS_14InverseResultsINS3_10MatrixTypeEEE(%struct.Mat6* noalias sret, %struct.Mat6*, %"struct.MatrixTools::InverseResults >"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi6ELi6EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare void @_ZN13HingeNodeSpecILi5EE9calcPropsEv(%"struct.HingeNodeSpec<5>"*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi5ELi6ELi0ELi0EEEENT_13TransposeTypeERKS3_(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*) + +declare void @_ZN13CDSMatrixBaseIdEC2I11FixedMatrixIdLi5ELi6ELi0ELi0EEEERKT_(%"struct.CDSMatrixBase"*, %"struct.FixedMatrix"*) + +declare void @_ZN11MatrixTools9transposeI11FixedMatrixIdLi6ELi5ELi0ELi0EEEENT_13TransposeTypeERKS3_(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi5EERSoS0_RK15FixedVectorBaseIT_XT0_EE(%"struct.std::basic_ostream >"*, %"struct.FixedVectorBase"*) + +declare void @_ZN11FixedVectorIdLi3ELi0EE6subColILi6ELi5ELi0ELi0EEES0_RK11FixedMatrixIdXT_EXT0_EXT1_EXT2_EEiii(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, i32, i32, i32) + +declare void @_ZN13HingeNodeSpecILi5EE7calcD_GERK11FixedMatrixIdLi6ELi6ELi0ELi0EE(%"struct.HingeNodeSpec<5>"*, %struct.Mat6*) + +declare void @_ZN11MatrixTools7inverseI11FixedMatrixIdLi5ELi5ELi0ELi0EEEET_RKS3_NS_14InverseResultsINS3_10MatrixTypeEEE(%"struct.FixedMatrix"* noalias sret, %"struct.FixedMatrix"*, %"struct.MatrixTools::InverseResults >"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi5ELi5EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare %"struct.std::basic_ostream >"* @_ZlsIdLi5ELi6EERSoS0_RK15FixedMatrixBaseIT_XT0_EXT1_EE(%"struct.std::basic_ostream >"*, %"struct.FixedMatrixBase"*) + +declare void @llvm.memset.i64(i8* nocapture, i8, i64, i32) nounwind -- 2.34.1