loop_0 (header = 0, latch = 1, niter = )
{
  bb_2 (preds = {bb_0 }, succs = {bb_4 bb_3 })
  {
    <bb 2>:
    # DEBUG D#5 => &this_1(D)->m_manifoldsPtr
    # DEBUG this => D#5
    # VUSE <.MEM_3(D)>
    _5 = MEM[(struct btAlignedObjectArray *)this_1(D) + 8B].m_size;
    _6 = _5 * 2;
    # DEBUG D#4 => &D#5->m_allocator
    # DEBUG D#2 => D#4
    # DEBUG D#3 => 0B
    # DEBUG n => _6
    # DEBUG this => D#2
    # DEBUG hint => D#3
    _7 = (long unsigned int) _6;
    _8 = (unsigned int) _7;
    _9 = _8 * 8;
    _10 = (int) _9;
    # .MEM_22 = VDEF <.MEM_3(D)>
    _11 = btAlignedAlloc (_10, 16);
    # DEBUG s => _11
    # DEBUG i => 0
    # DEBUG i => 0
    # VUSE <.MEM_22>
    _2 = MEM[(struct btAlignedObjectArray *)this_1(D) + 8B].m_size;
    if (_2 > 0)
      goto <bb 4>;
    else
      goto <bb 3>;

  }
  bb_3 (preds = {bb_2 bb_10 }, succs = {bb_11 })
  {
    <bb 3>:
    # .MEM_21 = PHI <.MEM_22(2), .MEM_24(10)>

  }
  bb_11 (preds = {bb_3 }, succs = {bb_1 })
  {
    <bb 11>:
    # VUSE <.MEM_21>
    return;

  }
  bb_4 (preds = {bb_2 }, succs = {bb_14 })
  {
    <bb 4>:

  }
  bb_14 (preds = {bb_4 }, succs = {bb_18 bb_5 })
  {
    <bb 14>:
    if (0 != 0)
      goto <bb 18>;
    else
      goto <bb 5>;

  }
  bb_18 (preds = {bb_14 }, succs = {bb_22 bb_21 })
  {
    <bb 18>:
    _20 = -_11;
    _30 = _20 + 9;
    _31 = _30 <= 8B;
    if (_31 != 0)
      goto <bb 22>;
    else
      goto <bb 21>;

  }
  bb_21 (preds = {bb_18 }, succs = {bb_19 })
  {
    <bb 21>:
    goto <bb 19>;

  }
  bb_22 (preds = {bb_18 }, succs = {bb_28 bb_25 })
  {
    <bb 22>:
    _32 = _2 > 0;
    if (_32 != 0)
      goto <bb 28>;
    else
      goto <bb 25>;

  }
  bb_25 (preds = {bb_22 }, succs = {bb_23 })
  {
    <bb 25>:
    goto <bb 23>;

  }
  bb_28 (preds = {bb_22 }, succs = {bb_26 })
  {
    <bb 28>:
    _33 = _2 + -1;

  }
  bb_30 (preds = {bb_29 }, succs = {bb_24 })
  {
    <bb 30>:

  }
  bb_24 (preds = {bb_30 }, succs = {bb_23 })
  {
    <bb 24>:

  }
  bb_23 (preds = {bb_24 bb_25 }, succs = {bb_20 })
  {
    <bb 23>:
    # .MEM_51 = PHI <.MEM_53(24), .MEM_22(25)>

  }
  bb_20 (preds = {bb_23 }, succs = {bb_19 })
  {
    <bb 20>:

  }
  bb_19 (preds = {bb_20 bb_21 }, succs = {bb_16 })
  {
    <bb 19>:
    # .MEM_50 = PHI <.MEM_51(20), .MEM_22(21)>

  }
  bb_16 (preds = {bb_19 }, succs = {bb_15 })
  {
    <bb 16>:

  }
  bb_15 (preds = {bb_16 bb_8 }, succs = {bb_13 })
  {
    <bb 15>:
    # .MEM_24 = PHI <.MEM_50(16), .MEM_12(8)>

  }
  bb_13 (preds = {bb_15 }, succs = {bb_12 })
  {
    <bb 13>:
    goto <bb 12>;

  }
  bb_8 (preds = {bb_7 }, succs = {bb_15 })
  {
    <bb 8>:
    # .MEM_12 = PHI <.MEM_4(7)>
    goto <bb 15>;

  }
  bb_12 (preds = {bb_13 }, succs = {bb_10 })
  {
    <bb 12>:

  }
  bb_10 (preds = {bb_12 }, succs = {bb_3 })
  {
    <bb 10>:
    goto <bb 3>;

  }
  loop_2 (header = 26, latch = 27, niter = )
  {
    bb_26 (preds = {bb_28 bb_27 }, succs = {bb_31 })
    {
      <bb 26>:
      # graphite_IV.7_34 = PHI <0(28), graphite_IV.7_35(27)>
      # .MEM_52 = PHI <.MEM_22(28), .MEM_53(27)>

    }
    bb_31 (preds = {bb_26 }, succs = {bb_35 bb_34 })
    {
      <bb 31>:
      _36 = (sizetype) _11;
      _37 = _36 + 18446744073709551615;
      _38 = 8B + _37;
      _39 = _38 % 0B;
      _40 = _39 != -1B;
      if (_40 != 0)
        goto <bb 35>;
      else
        goto <bb 34>;

    }
    bb_34 (preds = {bb_31 }, succs = {bb_32 })
    {
      <bb 34>:
      goto <bb 32>;

    }
    bb_35 (preds = {bb_31 }, succs = {bb_33 })
    {
      <bb 35>:
      # VUSE <.MEM_52>
      _41 = MEM[(struct btAlignedObjectArray *)this_1(D) + 8B].m_data;
      _43 = (long unsigned int) graphite_IV.7_34;
      _44 = _43 * 8;
      _42 = _41 + _44;
      # VUSE <.MEM_52>
      _45 = *_42;
      _47 = (sizetype) graphite_IV.7_34;
      _48 = _47 * 8;
      _49 = _11 + _48;
      # .MEM_46 = VDEF <.MEM_52>
      MEM[(struct btCollisionDispatcher * *)_49] = _45;

    }
    bb_33 (preds = {bb_35 }, succs = {bb_32 })
    {
      <bb 33>:

    }
    bb_32 (preds = {bb_33 bb_34 }, succs = {bb_29 })
    {
      <bb 32>:
      # .MEM_53 = PHI <.MEM_46(33), .MEM_52(34)>

    }
    bb_29 (preds = {bb_32 }, succs = {bb_27 bb_30 })
    {
      <bb 29>:
      graphite_IV.7_35 = graphite_IV.7_34 + 1;
      if (graphite_IV.7_34 < _33)
        goto <bb 27>;
      else
        goto <bb 30>;

    }
    bb_27 (preds = {bb_29 }, succs = {bb_26 })
    {
      <bb 27>:
      goto <bb 26>;

    }
  }
  loop_1 (header = 5, latch = 9, niter = , upper_bound = 2147483646)
  {
    bb_5 (preds = {bb_14 bb_9 }, succs = {bb_6 bb_7 })
    {
      <bb 5>:
      # i_26 = PHI <0(14), i_19(9)>
      # .MEM_27 = PHI <.MEM_22(14), .MEM_4(9)>
      # DEBUG i => i_26
      _13 = (long unsigned int) i_26;
      _14 = _13 * 8;
      _15 = _11 + _14;
      # DEBUG D#1 => 8
      # DEBUG __p => _15
      # DEBUG D.2562 => D#1
      if (_15 != 0B)
        goto <bb 6>;
      else
        goto <bb 7>;

    }
    bb_6 (preds = {bb_5 }, succs = {bb_7 })
    {
      <bb 6>:
      # VUSE <.MEM_27>
      _16 = MEM[(struct btAlignedObjectArray *)this_1(D) + 8B].m_data;
      _17 = _16 + _14;
      # VUSE <.MEM_27>
      _18 = *_17;
      # .MEM_23 = VDEF <.MEM_27>
      MEM[(struct btCollisionDispatcher * *)_15] = _18;

    }
    bb_7 (preds = {bb_5 bb_6 }, succs = {bb_9 bb_8 })
    {
      <bb 7>:
      # .MEM_4 = PHI <.MEM_27(5), .MEM_23(6)>
      i_19 = i_26 + 1;
      # DEBUG i => i_19
      # DEBUG i => i_19
      if (_2 > i_19)
        goto <bb 9>;
      else
        goto <bb 8>;

    }
    bb_9 (preds = {bb_7 }, succs = {bb_5 })
    {
      <bb 9>:
      goto <bb 5>;

    }
  }
}