diff options
| -rw-r--r-- | lib/CodeGen/SelectionDAG/DAGCombiner.cpp | 23 | ||||
| -rw-r--r-- | lib/CodeGen/SelectionDAG/SelectionDAG.cpp | 15 | ||||
| -rw-r--r-- | test/CodeGen/X86/negate-add-zero.ll | 1145 |
3 files changed, 1175 insertions, 8 deletions
diff --git a/lib/CodeGen/SelectionDAG/DAGCombiner.cpp b/lib/CodeGen/SelectionDAG/DAGCombiner.cpp index f7c1d061c6..e494da3644 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 a08856022a..2974486208 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<ConstantFPSDNode>(N1)) + if (CFP->getValueAPF().isZero()) + return N2; + // x+0 --> x + if (ConstantFPSDNode *CFP = dyn_cast<ConstantFPSDNode>(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 0000000000..59a2bd09c1 --- /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<IVMAtom*>"* } + %struct.AtomTree = type { %struct.IVM*, %"struct.CDSList<CDSList<HingeNode*> >" } + %"struct.CDS::DefaultAlloc" = type <{ i8 }> + %"struct.CDS::SingularError" = type { %"struct.CDS::exception" } + %"struct.CDS::auto_ptr<IVMAtom>" = type { %struct.IVMAtom* } + %"struct.CDS::exception" = type { [300 x i8] } + %"struct.CDSList<CDSList<HingeNode*> >" = type { %"struct.CDSListRep<CDSList<HingeNode*> >"* } + %"struct.CDSList<CDSList<int> >" = type { %"struct.CDSListRep<CDSList<int> >"* } + %"struct.CDSList<HingeNode*>" = type { %"struct.CDSListRep<HingeNode*>"* } + %"struct.CDSList<InternalDynamics::HingeSpec>" = type { %"struct.CDSListRep<InternalDynamics::HingeSpec>"* } + %"struct.CDSList<Loop>" = type { %"struct.CDSListRep<Loop>"* } + %"struct.CDSList<Pair<int, int> >" = type { %"struct.CDSListRep<Pair<int, int> >"* } + %"struct.CDSList<int>" = type { %"struct.CDSListRep<int>"* } + %"struct.CDSListRep<CDSList<HingeNode*> >" = type opaque + %"struct.CDSListRep<CDSList<int> >" = type opaque + %"struct.CDSListRep<HingeNode*>" = type { i32, i32, %struct.HingeNode**, i32 } + %"struct.CDSListRep<IVMAtom*>" = type { i32, i32, %struct.IVMAtom**, i32 } + %"struct.CDSListRep<InternalDynamics::HingeSpec>" = type opaque + %"struct.CDSListRep<Loop>" = type opaque + %"struct.CDSListRep<Pair<int, int> >" = type opaque + %"struct.CDSListRep<int>" = type { i32, i32, i32*, i32 } + %"struct.CDSMatrixBase<double>" = type { %"struct.CDSMatrixRep<double>"* } + %"struct.CDSMatrixRep<double>" = type opaque + %"struct.CDSStringRep<char>" = type { i8*, i32, i32, i32, i32 } + %"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>" = type { %"struct.CDSVectorBase<Vec3,CDS::DefaultAlloc>" } + %"struct.CDSVector<double,0,CDS::DefaultAlloc>" = type { %"struct.CDSVectorBase<double,CDS::DefaultAlloc>" } + %"struct.CDSVectorBase<Vec3,CDS::DefaultAlloc>" = type { %"struct.CDSVectorRep<Vec3,CDS::DefaultAlloc>"* } + %"struct.CDSVectorBase<double,CDS::DefaultAlloc>" = type { %"struct.CDSVectorRep<double,CDS::DefaultAlloc>"* } + %"struct.CDSVectorRep<Vec3,CDS::DefaultAlloc>" = type { i32, %"struct.CDS::DefaultAlloc", %struct.Vec3*, i32 } + %"struct.CDSVectorRep<double,CDS::DefaultAlloc>" = type { i32, %"struct.CDS::DefaultAlloc", double*, i32 } + %"struct.FixedMatrix<double,1,1,0,0>" = type { %"struct.FixedMatrixBase<double,1,1>" } + %"struct.FixedMatrix<double,1,3,0,0>" = type { %"struct.FixedMatrixBase<double,1,3>" } + %"struct.FixedMatrix<double,1,6,0,0>" = type { %"struct.FixedMatrixBase<double,1,6>" } + %"struct.FixedMatrix<double,2,2,0,0>" = type { %"struct.FixedMatrixBase<double,2,2>" } + %"struct.FixedMatrix<double,2,6,0,0>" = type { %"struct.FixedMatrixBase<double,2,6>" } + %"struct.FixedMatrix<double,3,3,0,0>" = type { %"struct.FixedMatrixBase<double,3,3>" } + %"struct.FixedMatrix<double,3,6,0,0>" = type { %"struct.FixedMatrixBase<double,3,6>" } + %"struct.FixedMatrix<double,5,5,0,0>" = type { %"struct.FixedMatrixBase<double,5,5>" } + %"struct.FixedMatrix<double,5,6,0,0>" = type { %"struct.FixedMatrixBase<double,5,6>" } + %"struct.FixedMatrixBase<double,1,1>" = type { [1 x double] } + %"struct.FixedMatrixBase<double,1,3>" = type { [3 x double] } + %"struct.FixedMatrixBase<double,1,6>" = type { [6 x double] } + %"struct.FixedMatrixBase<double,2,2>" = type { [4 x double] } + %"struct.FixedMatrixBase<double,2,6>" = type { [12 x double] } + %"struct.FixedMatrixBase<double,3,3>" = type { [9 x double] } + %"struct.FixedMatrixBase<double,3,6>" = type { [18 x double] } + %"struct.FixedMatrixBase<double,5,5>" = type { [25 x double] } + %"struct.FixedMatrixBase<double,5,6>" = type { [30 x double] } + %"struct.FixedMatrixBase<double,6,6>" = type { [36 x double] } + %"struct.FixedVector<double,2,0>" = type { %"struct.FixedVectorBase<double,2>" } + %"struct.FixedVector<double,5,0>" = type { %"struct.FixedVectorBase<double,5>" } + %"struct.FixedVectorBase<double,2>" = type { [2 x double] } + %"struct.FixedVectorBase<double,5>" = 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<IVMAtom>", %"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>" } + %struct.HNodeRotate3 = type { %"struct.HingeNodeSpec<3>", %struct.Vec4, %struct.Vec4, %struct.Vec4, %struct.Vec3, %"struct.CDS::auto_ptr<IVMAtom>", %"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>", double, double, double, double, double, double, i8 } + %struct.HNodeTorsion = type { %"struct.HingeNodeSpec<1>", %struct.Vec3, %"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>", %struct.Vec3, %struct.Mat3 } + %struct.HNodeTranslate = type { %"struct.HingeNodeSpec<3>", %struct.IVMAtom*, %struct.Vec3, %"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>" } + %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<IVMAtom>", %"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>" } + %struct.HNodeTranslateRotate3 = type { %"struct.HingeNodeSpec<6>", %struct.Vec4, %struct.Vec4, %struct.Vec4, %struct.Vec3, %"struct.CDS::auto_ptr<IVMAtom>", %"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>", double, double, double, double, double, double, i8 } + %struct.HingeNode = type { i32 (...)**, %struct.HingeNode*, %"struct.CDSList<HingeNode*>", i32, %struct.AtomList, %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %struct.PhiMatrix, %struct.Mat6, %struct.Mat6, %"struct.FixedMatrix<double,1,6,0,0>", %struct.Mat6, %"struct.FixedMatrix<double,1,6,0,0>", %struct.Mat3, %struct.Mat6, %struct.IVM*, %struct.IVMAtom* } + %"struct.HingeNodeSpec<1>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,1,0,0>", %"struct.FixedMatrix<double,1,1,0,0>", %"struct.FixedMatrix<double,1,1,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,1,0,0>", %"struct.FixedMatrix<double,1,1,0,0>", %"struct.FixedMatrix<double,1,1,0,0>", %"struct.FixedMatrix<double,1,1,0,0>", %"struct.FixedMatrix<double,1,6,0,0>" } + %"struct.HingeNodeSpec<2>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedVector<double,2,0>", %"struct.FixedVector<double,2,0>", %"struct.FixedVector<double,2,0>", %"struct.FixedMatrix<double,2,6,0,0>", %"struct.FixedVector<double,2,0>", %"struct.FixedVector<double,2,0>", %"struct.FixedVector<double,2,0>", %"struct.FixedMatrix<double,2,2,0,0>", %"struct.FixedMatrix<double,2,6,0,0>" } + %"struct.HingeNodeSpec<3>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,3,0,0>", %"struct.FixedMatrix<double,1,3,0,0>", %"struct.FixedMatrix<double,1,3,0,0>", %"struct.FixedMatrix<double,3,6,0,0>", %"struct.FixedMatrix<double,1,3,0,0>", %"struct.FixedMatrix<double,1,3,0,0>", %"struct.FixedMatrix<double,1,3,0,0>", %"struct.FixedMatrix<double,3,3,0,0>", %"struct.FixedMatrix<double,3,6,0,0>" } + %"struct.HingeNodeSpec<5>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedVector<double,5,0>", %"struct.FixedVector<double,5,0>", %"struct.FixedVector<double,5,0>", %"struct.FixedMatrix<double,5,6,0,0>", %"struct.FixedVector<double,5,0>", %"struct.FixedVector<double,5,0>", %"struct.FixedVector<double,5,0>", %"struct.FixedMatrix<double,5,5,0,0>", %"struct.FixedMatrix<double,5,6,0,0>" } + %"struct.HingeNodeSpec<6>" = type { %struct.HingeNode, i32, double, %struct.InertiaTensor, %struct.Mat6, %struct.Vec3, %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %struct.Mat6, %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %"struct.FixedMatrix<double,1,6,0,0>", %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<Loop>", %"struct.CDSList<Pair<int, int> >", %struct.AtomList, %"struct.CDSList<CDSList<int> >", %"struct.CDSList<InternalDynamics::HingeSpec>", %struct.String, %"struct.CDSList<int>", i32 (%"struct.CDSVector<double,0,CDS::DefaultAlloc>"*)*, double (%"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*)*, i32 (%"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>"*)*, double (%"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<Vec3,0,CDS::DefaultAlloc>"*)* } + %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<double,0,CDS::DefaultAlloc>", %"struct.CDSVector<double,0,CDS::DefaultAlloc>", %struct.IVM* } + %"struct.InternalDynamics::HingeSpec" = type { %struct.String, i32, i32, %"struct.CDSList<int>" } + %struct.LengthConstraints = type { double, i32, i32, %struct.IVM*, %struct.LengthConstraintsPrivates* } + %struct.LengthConstraintsPrivates = type opaque + %struct.Mat3 = type { %"struct.FixedMatrix<double,3,3,0,0>" } + %struct.Mat6 = type { %"struct.FixedMatrixBase<double,6,6>" } + %"struct.MatrixTools::InverseResults<FullMatrix<double> >" = type { %"struct.CDSVector<double,0,CDS::DefaultAlloc>", i32 } + %struct.PhiMatrix = type { %struct.Vec3 } + %struct.PhiMatrixTranspose = type { %struct.PhiMatrix* } + %struct.RMat = type { %"struct.CDSMatrixBase<double>" } + %struct.String = type { %"struct.CDSStringRep<char>"* } + %"struct.SubMatrix<FixedMatrix<double, 6, 6, 0, 0> >" = type { %struct.Mat6*, i32, i32, i32, i32 } + %"struct.SubVector<CDSVector<double, 1, CDS::DefaultAlloc> >" = type { %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, i32, i32 } + %"struct.SubVector<FixedVector<double, 6, 0> >" = type { %"struct.FixedMatrix<double,1,6,0,0>"*, i32, i32 } + %struct.Vec3 = type { %"struct.FixedMatrix<double,1,3,0,0>" } + %struct.Vec4 = type { %"struct.FixedMatrix<double,2,2,0,0>" } + %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<char,std::char_traits<char> >" = type { %"struct.std::ios_base", %"struct.std::basic_ostream<char,std::char_traits<char> >"*, i8, i8, %"struct.std::basic_streambuf<char,std::char_traits<char> >"*, %"struct.std::ctype<char>"*, %"struct.std::num_get<char,std::istreambuf_iterator<char, std::char_traits<char> > >"*, %"struct.std::num_get<char,std::istreambuf_iterator<char, std::char_traits<char> > >"* } + %"struct.std::basic_ostream<char,std::char_traits<char> >" = type { i32 (...)**, %"struct.std::basic_ios<char,std::char_traits<char> >" } + %"struct.std::basic_streambuf<char,std::char_traits<char> >" = type { i32 (...)**, i8*, i8*, i8*, i8*, i8*, i8*, %"struct.std::locale" } + %"struct.std::ctype<char>" = 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<char,std::istreambuf_iterator<char, std::char_traits<char> > >" = type { %"struct.std::locale::facet" } + %"struct.std::type_info" = type { i32 (...)**, i8* } +@_ZN9HingeNode7DEG2RADE = external constant double, align 8 ; <double*> [#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* ; <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<char,std::char_traits<char> >" ; <%"struct.std::basic_ostream<char,std::char_traits<char> >"*> [#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<char,std::char_traits<char> >" ; <%"struct.std::basic_ostream<char,std::char_traits<char> >"*> [#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<double,1,6,0,0>"*) nounwind + +declare void @_ZN11HNodeOrigin9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeOrigin*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) nounwind + +declare void @_ZN11HNodeOrigin6setVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) nounwind + +declare void @_ZN11HNodeOrigin14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%struct.HNodeOrigin*, %"struct.FixedMatrix<double,1,6,0,0>"*) nounwind + +declare void @_ZN11HNodeOrigin18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES4_(%struct.HNodeOrigin*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) nounwind + +declare void @_ZN11HNodeOrigin5printEi(%struct.HNodeOrigin*, i32) nounwind + +declare void @_ZN11HNodeOrigin6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) nounwind + +declare void @_ZN11HNodeOrigin6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) nounwind + +declare void @_ZN11HNodeOrigin8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) nounwind + +declare void @_ZN11HNodeOrigin16getInternalForceER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HNodeOrigin*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) 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<char,std::char_traits<char> >"* @_ZlsI11FixedVectorIdLi6ELi0EEERSoS2_RK9SubVectorIT_E(%"struct.std::basic_ostream<char,std::char_traits<char> >"*, %"struct.SubVector<FixedVector<double, 6, 0> >"*) + +declare %"struct.std::basic_ostream<char,std::char_traits<char> >"* @_ZStlsIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_St5_Setw(%"struct.std::basic_ostream<char,std::char_traits<char> >"*, i32) + +declare %"struct.std::basic_ostream<char,std::char_traits<char> >"* @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(%"struct.std::basic_ostream<char,std::char_traits<char> >"*, i8*) + +declare %"struct.std::basic_ostream<char,std::char_traits<char> >"* @_ZNSolsEd(%"struct.std::basic_ostream<char,std::char_traits<char> >"*, double) + +declare void @_Z14orthoTransformIdLi3ELi3EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%"struct.FixedMatrix<double,3,3,0,0>"* noalias sret, %"struct.FixedMatrix<double,3,3,0,0>"*, %"struct.FixedMatrix<double,3,3,0,0>"*) + +declare void @_ZN12HNodeRotate27calcRotEv(%struct.HNodeRotate2*) + +declare void @_ZN21HNodeTranslateRotate27calcRotEv(%struct.HNodeTranslateRotate2*) + +declare void @_ZmlIdLi6ELi6EE11FixedVectorIT_XT0_ELi0EERK11FixedMatrixIS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_ELi0EE(%"struct.FixedMatrix<double,1,6,0,0>"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix<double,1,6,0,0>"*) + +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<double,3,6,0,0>"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix<double,3,6,0,0>"*) + +declare void @_ZmlIdLi6ELi6ELi2EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix<double,2,6,0,0>"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix<double,2,6,0,0>"*) + +declare void @_ZmlIdLi5ELi6EE11FixedVectorIT_XT0_ELi0EERK11FixedMatrixIS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_ELi0EE(%"struct.FixedVector<double,5,0>"* noalias sret, %"struct.FixedMatrix<double,5,6,0,0>"*, %"struct.FixedMatrix<double,1,6,0,0>"*) + +declare void @_ZmlIdLi6ELi6ELi5EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix<double,5,6,0,0>"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix<double,5,6,0,0>"*) + +declare void @_ZN12HNodeRotate39setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeRotate3*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN12HNodeRotate29setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeRotate2*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN21HNodeTranslateRotate39setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeTranslateRotate3*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN21HNodeTranslateRotate29setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%struct.HNodeTranslateRotate2*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +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<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) 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<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) 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<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) 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<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN13HingeNodeSpecILi6EE18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%"struct.HingeNodeSpec<6>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) nounwind + +declare i32 @_ZNK13HingeNodeSpecILi3EE6getDimEv(%"struct.HingeNodeSpec<3>"*) nounwind + +declare void @_ZN13HingeNodeSpecILi3EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN13HingeNodeSpecILi3EE18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES5_(%"struct.HingeNodeSpec<3>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) 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<double,5,6,0,0>"*, %"struct.FixedMatrix<double,5,6,0,0>"*) + +declare void @_ZN13HingeNodeSpecILi1EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<1>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN13HingeNodeSpecILi5EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<5>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN13HingeNodeSpecILi2EE9setPosVelERK9CDSVectorIdLi1EN3CDS12DefaultAllocEES6_(%"struct.HingeNodeSpec<2>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_Z14orthoTransformIdLi3ELi6EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix<double,3,3,0,0>"*, %"struct.FixedMatrix<double,3,6,0,0>"*) + +declare void @_ZmlIdLi6ELi1ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix<double,1,6,0,0>"*, %"struct.FixedMatrix<double,1,6,0,0>"*) + +declare void @_ZmlIdLi6ELi5ELi5EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix<double,5,6,0,0>"* noalias sret, %"struct.FixedMatrix<double,5,6,0,0>"*, %"struct.FixedMatrix<double,5,5,0,0>"*) + +declare void @_Z14orthoTransformIdLi5ELi6EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix<double,5,5,0,0>"*, %"struct.FixedMatrix<double,5,6,0,0>"*) + +declare void @_Z14orthoTransformIdLi2ELi6EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%struct.Mat6* noalias sret, %"struct.FixedMatrix<double,2,2,0,0>"*, %"struct.FixedMatrix<double,2,6,0,0>"*) + +declare void @_ZmlIdLi1ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix<double,1,6,0,0>"* noalias sret, %"struct.FixedMatrix<double,1,6,0,0>"*, %struct.Mat6*) + +declare void @_ZmlIdLi5ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix<double,5,6,0,0>"* noalias sret, %"struct.FixedMatrix<double,5,6,0,0>"*, %struct.Mat6*) + +declare void @_Z14orthoTransformIdLi6ELi5EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%"struct.FixedMatrix<double,5,5,0,0>"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix<double,5,6,0,0>"*) + +declare void @_ZmlIdLi2ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix<double,2,6,0,0>"* noalias sret, %"struct.FixedMatrix<double,2,6,0,0>"*, %struct.Mat6*) + +declare void @_Z14orthoTransformIdLi6ELi2EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%"struct.FixedMatrix<double,2,2,0,0>"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix<double,2,6,0,0>"*) + +declare void @_ZmlIdLi3ELi6ELi6EE11FixedMatrixIT_XT0_EXT2_ELi0ELi0EERKS0_IS1_XT0_EXT1_ELi0ELi0EERKS0_IS1_XT1_EXT2_ELi0ELi0EE(%"struct.FixedMatrix<double,3,6,0,0>"* noalias sret, %"struct.FixedMatrix<double,3,6,0,0>"*, %struct.Mat6*) + +declare void @_Z14orthoTransformIdLi6ELi3EE11FixedMatrixIT_XT1_EXT1_ELi0ELi0EERKS0_IS1_XT0_EXT0_ELi0ELi0EERKS0_IS1_XT1_EXT0_ELi0ELi0EE(%"struct.FixedMatrix<double,3,3,0,0>"* noalias sret, %struct.Mat6*, %"struct.FixedMatrix<double,3,6,0,0>"*) + +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<char,std::char_traits<char> >"* @_ZlsRSoRK9HingeNode(%"struct.std::basic_ostream<char,std::char_traits<char> >"*, %struct.HingeNode*) + +declare %"struct.std::basic_ostream<char,std::char_traits<char> >"* @_ZlsRSoPK7IVMAtom(%"struct.std::basic_ostream<char,std::char_traits<char> >"*, %struct.IVMAtom*) + +declare void @_ZN9HingeNode8addChildEPS_(%struct.HingeNode*, %struct.HingeNode*) + +declare void @_ZN7CDSListIP9HingeNodeE6appendES1_(%"struct.CDSList<HingeNode*>"*, %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<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN9HingeNode9calcAccelEv(%struct.HingeNode*) + +declare void @_ZN9HingeNode8getAccelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HingeNode*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN9HingeNode6getVelER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HingeNode*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN9HingeNode6getPosER9CDSVectorIdLi1EN3CDS12DefaultAllocEE(%struct.HingeNode*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN9HingeNode5printEi(%struct.HingeNode*, i32) + +declare void @_ZN9HingeNode18enforceConstraintsER9CDSVectorIdLi1EN3CDS12DefaultAllocEES4_(%struct.HingeNode*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*, %"struct.CDSVector<double,0,CDS::DefaultAlloc>"*) + +declare void @_ZN9HingeNode14setVelFromSVelERK11FixedVectorIdLi6ELi0EE(%struct.HingeNode*, %"struct.FixedMatrix<double,1,6,0,0>"*) + +declare vo |