; LLVM IR from erincatto/box2d :: src (contact_solver)

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

%struct.b2Softness = type { float, float, float }
%struct.b2Vec2 = type { float, float }
%struct.b2StepContext = type { float, float, float, float, i32, %struct.b2Softness, %struct.b2Softness, %struct.b2Softness, float, float, ptr, ptr, ptr, ptr, ptr, i32, ptr, %struct.b2AtomicInt, ptr, ptr, ptr, i32, i32, ptr, i32, i8, [64 x i8], %struct.b2AtomicU32, [64 x i8] }
%struct.b2AtomicInt = type { i32 }
%struct.b2AtomicU32 = type { i32 }
%struct.b2ConstraintGraph = type { [12 x %struct.b2GraphColor] }
%struct.b2GraphColor = type { %struct.b2BitSet, %struct.b2ContactSimArray, %struct.b2JointSimArray, %union.anon }
%struct.b2BitSet = type { ptr, i32, i32 }
%struct.b2ContactSimArray = type { ptr, i32, i32 }
%struct.b2JointSimArray = type { ptr, i32, i32 }
%union.anon = type { ptr }
%struct.b2World = type { %struct.b2ArenaAllocator, %struct.b2BroadPhase, %struct.b2ConstraintGraph, %struct.b2IdPool, %struct.b2BodyArray, %struct.b2IdPool, %struct.b2SolverSetArray, %struct.b2IdPool, %struct.b2JointArray, %struct.b2IdPool, %struct.b2ContactArray, %struct.b2IdPool, %struct.b2IslandArray, %struct.b2IdPool, %struct.b2IdPool, %struct.b2ShapeArray, %struct.b2ChainShapeArray, %struct.b2SensorArray, %struct.b2TaskContextArray, %struct.b2SensorTaskContextArray, %struct.b2BodyMoveEventArray, %struct.b2SensorBeginTouchEventArray, %struct.b2ContactBeginTouchEventArray, [2 x %struct.b2SensorEndTouchEventArray], [2 x %struct.b2ContactEndTouchEventArray], i32, %struct.b2ContactHitEventArray, %struct.b2BitSet, %struct.b2BitSet, %struct.b2BitSet, %struct.b2BitSet, i64, i32, %struct.b2Vec2, float, float, float, float, float, float, float, float, ptr, ptr, i16, %struct.b2Profile, ptr, ptr, ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, float, i32, i32, i16, i8, i8, i8, i8, i8, i8 }
%struct.b2ArenaAllocator = type { ptr, i32, i32, i32, i32, %struct.b2ArenaEntryArray }
%struct.b2ArenaEntryArray = type { ptr, i32, i32 }
%struct.b2BroadPhase = type { [3 x %struct.b2DynamicTree], i32, %struct.b2HashSet, %struct.b2IntArray, ptr, ptr, i32, %struct.b2AtomicInt, %struct.b2HashSet }
%struct.b2DynamicTree = type { ptr, i32, i32, i32, i32, i32, ptr, ptr, ptr, ptr, i32 }
%struct.b2IntArray = type { ptr, i32, i32 }
%struct.b2HashSet = type { ptr, i32, i32 }
%struct.b2BodyArray = type { ptr, i32, i32 }
%struct.b2SolverSetArray = type { ptr, i32, i32 }
%struct.b2JointArray = type { ptr, i32, i32 }
%struct.b2ContactArray = type { ptr, i32, i32 }
%struct.b2IslandArray = type { ptr, i32, i32 }
%struct.b2IdPool = type { %struct.b2IntArray, i32 }
%struct.b2ShapeArray = type { ptr, i32, i32 }
%struct.b2ChainShapeArray = type { ptr, i32, i32 }
%struct.b2SensorArray = type { ptr, i32, i32 }
%struct.b2TaskContextArray = type { ptr, i32, i32 }
%struct.b2SensorTaskContextArray = type { ptr, i32, i32 }
%struct.b2BodyMoveEventArray = type { ptr, i32, i32 }
%struct.b2SensorBeginTouchEventArray = type { ptr, i32, i32 }
%struct.b2ContactBeginTouchEventArray = type { ptr, i32, i32 }
%struct.b2SensorEndTouchEventArray = type { ptr, i32, i32 }
%struct.b2ContactEndTouchEventArray = type { ptr, i32, i32 }
%struct.b2ContactHitEventArray = type { ptr, i32, i32 }
%struct.b2Profile = type { float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float }
%struct.b2ContactSim = type { i32, i32, i32, i32, i32, float, float, float, float, %struct.b2Manifold, float, float, float, float, i32, %struct.b2SimplexCache }
%struct.b2Manifold = type { %struct.b2Vec2, float, [2 x %struct.b2ManifoldPoint], i32 }
%struct.b2ManifoldPoint = type { %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, i16, i8 }
%struct.b2SimplexCache = type { i16, [3 x i8], [3 x i8] }
%struct.b2ContactConstraint = type { i32, i32, [2 x %struct.b2ContactConstraintPoint], %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, %struct.b2Softness, i32 }
%struct.b2ContactConstraintPoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, float, float }
%struct.b2BodyState = type { %struct.b2Vec2, float, i32, %struct.b2Vec2, %struct.b2Rot }
%struct.b2Rot = type { float, float }

@.str = external hidden unnamed_addr constant [34 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [70 x i8], align 1

; Function Attrs: nounwind uwtable
define dso_local void @b2PrepareOverflowContacts(ptr noundef %0) #0 {
  %2 = alloca ptr, align 8
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca %struct.b2Softness, align 4
  %11 = alloca %struct.b2Softness, align 4
  %12 = alloca float, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca ptr, align 8
  %21 = alloca %struct.b2Vec2, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca ptr, align 8
  %26 = alloca %struct.b2Vec2, align 4
  %27 = alloca float, align 4
  %28 = alloca float, align 4
  %29 = alloca float, align 4
  %30 = alloca ptr, align 8
  %31 = alloca float, align 4
  %32 = alloca %struct.b2Vec2, align 4
  %33 = alloca %struct.b2Vec2, align 4
  %34 = alloca i32, align 4
  %35 = alloca ptr, align 8
  %36 = alloca ptr, align 8
  %37 = alloca %struct.b2Vec2, align 4
  %38 = alloca %struct.b2Vec2, align 4
  %39 = alloca %struct.b2Vec2, align 4
  %40 = alloca float, align 4
  %41 = alloca float, align 4
  %42 = alloca float, align 4
  %43 = alloca float, align 4
  %44 = alloca float, align 4
  %45 = alloca float, align 4
  %46 = alloca %struct.b2Vec2, align 4
  %47 = alloca %struct.b2Vec2, align 4
  %48 = alloca %struct.b2Vec2, align 4
  %49 = alloca %struct.b2Vec2, align 4
  %50 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %3) #8
  %51 = load ptr, ptr %2, align 8, !tbaa !5
  %52 = getelementptr inbounds %struct.b2StepContext, ptr %51, i32 0, i32 10
  %53 = load ptr, ptr %52, align 8, !tbaa !9
  store ptr %53, ptr %3, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %4) #8
  %54 = load ptr, ptr %2, align 8, !tbaa !5
  %55 = getelementptr inbounds %struct.b2StepContext, ptr %54, i32 0, i32 11
  %56 = load ptr, ptr %55, align 8, !tbaa !17
  store ptr %56, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #8
  %57 = load ptr, ptr %4, align 8, !tbaa !5
  %58 = getelementptr inbounds %struct.b2ConstraintGraph, ptr %57, i32 0, i32 0
  %59 = getelementptr inbounds [12 x %struct.b2GraphColor], ptr %58, i64 0, i64 0
  %60 = getelementptr inbounds %struct.b2GraphColor, ptr %59, i64 11
  store ptr %60, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #8
  %61 = load ptr, ptr %5, align 8, !tbaa !5
  %62 = getelementptr inbounds %struct.b2GraphColor, ptr %61, i32 0, i32 3
  %63 = load ptr, ptr %62, align 8, !tbaa !18
  store ptr %63, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #8
  %64 = load ptr, ptr %5, align 8, !tbaa !5
  %65 = getelementptr inbounds %struct.b2GraphColor, ptr %64, i32 0, i32 1
  %66 = getelementptr inbounds %struct.b2ContactSimArray, ptr %65, i32 0, i32 1
  %67 = load i32, ptr %66, align 8, !tbaa !19
  store i32 %67, ptr %7, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #8
  %68 = load ptr, ptr %5, align 8, !tbaa !5
  %69 = getelementptr inbounds %struct.b2GraphColor, ptr %68, i32 0, i32 1
  %70 = getelementptr inbounds %struct.b2ContactSimArray, ptr %69, i32 0, i32 0
  %71 = load ptr, ptr %70, align 8, !tbaa !24
  store ptr %71, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #8
  %72 = load ptr, ptr %2, align 8, !tbaa !5
  %73 = getelementptr inbounds %struct.b2StepContext, ptr %72, i32 0, i32 12
  %74 = load ptr, ptr %73, align 8, !tbaa !25
  store ptr %74, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr %10) #8
  %75 = load ptr, ptr %2, align 8, !tbaa !5
  %76 = getelementptr inbounds %struct.b2StepContext, ptr %75, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %10, ptr align 8 %76, i64 12, i1 false), !tbaa.struct !26
  call void @llvm.lifetime.start.p0(i64 12, ptr %11) #8
  %77 = load ptr, ptr %2, align 8, !tbaa !5
  %78 = getelementptr inbounds %struct.b2StepContext, ptr %77, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 4 %78, i64 12, i1 false), !tbaa.struct !26
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #8
  %79 = load ptr, ptr %3, align 8, !tbaa !5
  %80 = getelementptr inbounds %struct.b2World, ptr %79, i32 0, i32 62
  %81 = load i8, ptr %80, align 8, !tbaa !28, !range !39, !noundef !40
  %82 = trunc i8 %81 to i1
  %83 = zext i1 %82 to i64
  %84 = select i1 %82, float 1.000000e+00, float 0.000000e+00
  store float %84, ptr %12, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #8
  store i32 0, ptr %13, align 4, !tbaa !23
  br label %85

85:                                               ; preds = %380, %1
  %86 = load i32, ptr %13, align 4, !tbaa !23
  %87 = load i32, ptr %7, align 4, !tbaa !23
  %88 = icmp slt i32 %86, %87
  br i1 %88, label %90, label %89

89:                                               ; preds = %85
  store i32 2, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  br label %383

90:                                               ; preds = %85
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  %91 = load ptr, ptr %8, align 8, !tbaa !5
  %92 = load i32, ptr %13, align 4, !tbaa !23
  %93 = sext i32 %92 to i64
  %94 = getelementptr inbounds %struct.b2ContactSim, ptr %91, i64 %93
  store ptr %94, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #8
  %95 = load ptr, ptr %15, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct.b2ContactSim, ptr %95, i32 0, i32 9
  store ptr %96, ptr %16, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #8
  %97 = load ptr, ptr %16, align 8, !tbaa !5
  %98 = getelementptr inbounds %struct.b2Manifold, ptr %97, i32 0, i32 3
  %99 = load i32, ptr %98, align 4, !tbaa !41
  store i32 %99, ptr %17, align 4, !tbaa !23
  br label %100

100:                                              ; preds = %90
  %101 = load i32, ptr %17, align 4, !tbaa !23
  %102 = icmp slt i32 0, %101
  br i1 %102, label %103, label %106

103:                                              ; preds = %100
  %104 = load i32, ptr %17, align 4, !tbaa !23
  %105 = icmp sle i32 %104, 2
  br i1 %105, label %110, label %106

106:                                              ; preds = %103, %100
  %107 = call i32 @b2InternalAssertFcn(ptr noundef @.str, ptr noundef @.str.1, i32 noundef 53)
  %108 = icmp ne i32 %107, 0
  br i1 %108, label %109, label %110

109:                                              ; preds = %106
  call void @llvm.trap()
  br label %110

110:                                              ; preds = %109, %106, %103
  br label %111

111:                                              ; preds = %110
  br label %112

112:                                              ; preds = %111
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #8
  %113 = load ptr, ptr %15, align 8, !tbaa !5
  %114 = getelementptr inbounds %struct.b2ContactSim, ptr %113, i32 0, i32 1
  %115 = load i32, ptr %114, align 4, !tbaa !43
  store i32 %115, ptr %18, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #8
  %116 = load ptr, ptr %15, align 8, !tbaa !5
  %117 = getelementptr inbounds %struct.b2ContactSim, ptr %116, i32 0, i32 2
  %118 = load i32, ptr %117, align 4, !tbaa !46
  store i32 %118, ptr %19, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #8
  %119 = load ptr, ptr %6, align 8, !tbaa !5
  %120 = load i32, ptr %13, align 4, !tbaa !23
  %121 = sext i32 %120 to i64
  %122 = getelementptr inbounds %struct.b2ContactConstraint, ptr %119, i64 %121
  store ptr %122, ptr %20, align 8, !tbaa !5
  %123 = load i32, ptr %18, align 4, !tbaa !23
  %124 = load ptr, ptr %20, align 8, !tbaa !5
  %125 = getelementptr inbounds %struct.b2ContactConstraint, ptr %124, i32 0, i32 0
  store i32 %123, ptr %125, align 4, !tbaa !47
  %126 = load i32, ptr %19, align 4, !tbaa !23
  %127 = load ptr, ptr %20, align 8, !tbaa !5
  %128 = getelementptr inbounds %struct.b2ContactConstraint, ptr %127, i32 0, i32 1
  store i32 %126, ptr %128, align 4, !tbaa !49
  %129 = load ptr, ptr %20, align 8, !tbaa !5
  %130 = getelementptr inbounds %struct.b2ContactConstraint, ptr %129, i32 0, i32 3
  %131 = load ptr, ptr %16, align 8, !tbaa !5
  %132 = getelementptr inbounds %struct.b2Manifold, ptr %131, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %130, ptr align 4 %132, i64 8, i1 false), !tbaa.struct !50
  %133 = load ptr, ptr %15, align 8, !tbaa !5
  %134 = getelementptr inbounds %struct.b2ContactSim, ptr %133, i32 0, i32 10
  %135 = load float, ptr %134, align 4, !tbaa !51
  %136 = load ptr, ptr %20, align 8, !tbaa !5
  %137 = getelementptr inbounds %struct.b2ContactConstraint, ptr %136, i32 0, i32 8
  store float %135, ptr %137, align 4, !tbaa !52
  %138 = load ptr, ptr %15, align 8, !tbaa !5
  %139 = getelementptr inbounds %struct.b2ContactSim, ptr %138, i32 0, i32 11
  %140 = load float, ptr %139, align 4, !tbaa !53
  %141 = load ptr, ptr %20, align 8, !tbaa !5
  %142 = getelementptr inbounds %struct.b2ContactConstraint, ptr %141, i32 0, i32 9
  store float %140, ptr %142, align 4, !tbaa !54
  %143 = load ptr, ptr %15, align 8, !tbaa !5
  %144 = getelementptr inbounds %struct.b2ContactSim, ptr %143, i32 0, i32 12
  %145 = load float, ptr %144, align 4, !tbaa !55
  %146 = load ptr, ptr %20, align 8, !tbaa !5
  %147 = getelementptr inbounds %struct.b2ContactConstraint, ptr %146, i32 0, i32 11
  store float %145, ptr %147, align 4, !tbaa !56
  %148 = load float, ptr %12, align 4, !tbaa !27
  %149 = load ptr, ptr %16, align 8, !tbaa !5
  %150 = getelementptr inbounds %struct.b2Manifold, ptr %149, i32 0, i32 1
  %151 = load float, ptr %150, align 4, !tbaa !57
  %152 = fmul float %148, %151
  %153 = load ptr, ptr %20, align 8, !tbaa !5
  %154 = getelementptr inbounds %struct.b2ContactConstraint, ptr %153, i32 0, i32 13
  store float %152, ptr %154, align 4, !tbaa !58
  %155 = load ptr, ptr %15, align 8, !tbaa !5
  %156 = getelementptr inbounds %struct.b2ContactSim, ptr %155, i32 0, i32 13
  %157 = load float, ptr %156, align 4, !tbaa !59
  %158 = load ptr, ptr %20, align 8, !tbaa !5
  %159 = getelementptr inbounds %struct.b2ContactConstraint, ptr %158, i32 0, i32 10
  store float %157, ptr %159, align 4, !tbaa !60
  %160 = load i32, ptr %17, align 4, !tbaa !23
  %161 = load ptr, ptr %20, align 8, !tbaa !5
  %162 = getelementptr inbounds %struct.b2ContactConstraint, ptr %161, i32 0, i32 15
  store i32 %160, ptr %162, align 4, !tbaa !61
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  call void @llvm.memset.p0.i64(ptr align 4 %21, i8 0, i64 8, i1 false)
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #8
  store float 0.000000e+00, ptr %22, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #8
  %163 = load ptr, ptr %15, align 8, !tbaa !5
  %164 = getelementptr inbounds %struct.b2ContactSim, ptr %163, i32 0, i32 5
  %165 = load float, ptr %164, align 4, !tbaa !62
  store float %165, ptr %23, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #8
  %166 = load ptr, ptr %15, align 8, !tbaa !5
  %167 = getelementptr inbounds %struct.b2ContactSim, ptr %166, i32 0, i32 6
  %168 = load float, ptr %167, align 4, !tbaa !63
  store float %168, ptr %24, align 4, !tbaa !27
  %169 = load i32, ptr %18, align 4, !tbaa !23
  %170 = icmp ne i32 %169, -1
  br i1 %170, label %171, label %181

171:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #8
  %172 = load ptr, ptr %9, align 8, !tbaa !5
  %173 = load i32, ptr %18, align 4, !tbaa !23
  %174 = sext i32 %173 to i64
  %175 = getelementptr inbounds %struct.b2BodyState, ptr %172, i64 %174
  store ptr %175, ptr %25, align 8, !tbaa !5
  %176 = load ptr, ptr %25, align 8, !tbaa !5
  %177 = getelementptr inbounds %struct.b2BodyState, ptr %176, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %21, ptr align 4 %177, i64 8, i1 false), !tbaa.struct !50
  %178 = load ptr, ptr %25, align 8, !tbaa !5
  %179 = getelementptr inbounds %struct.b2BodyState, ptr %178, i32 0, i32 1
  %180 = load float, ptr %179, align 4, !tbaa !64
  store float %180, ptr %22, align 4, !tbaa !27
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  br label %181

181:                                              ; preds = %171, %112
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #8
  call void @llvm.memset.p0.i64(ptr align 4 %26, i8 0, i64 8, i1 false)
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #8
  store float 0.000000e+00, ptr %27, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #8
  %182 = load ptr, ptr %15, align 8, !tbaa !5
  %183 = getelementptr inbounds %struct.b2ContactSim, ptr %182, i32 0, i32 7
  %184 = load float, ptr %183, align 4, !tbaa !67
  store float %184, ptr %28, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #8
  %185 = load ptr, ptr %15, align 8, !tbaa !5
  %186 = getelementptr inbounds %struct.b2ContactSim, ptr %185, i32 0, i32 8
  %187 = load float, ptr %186, align 4, !tbaa !68
  store float %187, ptr %29, align 4, !tbaa !27
  %188 = load i32, ptr %19, align 4, !tbaa !23
  %189 = icmp ne i32 %188, -1
  br i1 %189, label %190, label %200

190:                                              ; preds = %181
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #8
  %191 = load ptr, ptr %9, align 8, !tbaa !5
  %192 = load i32, ptr %19, align 4, !tbaa !23
  %193 = sext i32 %192 to i64
  %194 = getelementptr inbounds %struct.b2BodyState, ptr %191, i64 %193
  store ptr %194, ptr %30, align 8, !tbaa !5
  %195 = load ptr, ptr %30, align 8, !tbaa !5
  %196 = getelementptr inbounds %struct.b2BodyState, ptr %195, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %26, ptr align 4 %196, i64 8, i1 false), !tbaa.struct !50
  %197 = load ptr, ptr %30, align 8, !tbaa !5
  %198 = getelementptr inbounds %struct.b2BodyState, ptr %197, i32 0, i32 1
  %199 = load float, ptr %198, align 4, !tbaa !64
  store float %199, ptr %27, align 4, !tbaa !27
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #8
  br label %200

200:                                              ; preds = %190, %181
  %201 = load i32, ptr %18, align 4, !tbaa !23
  %202 = icmp eq i32 %201, -1
  br i1 %202, label %206, label %203

203:                                              ; preds = %200
  %204 = load i32, ptr %19, align 4, !tbaa !23
  %205 = icmp eq i32 %204, -1
  br i1 %205, label %206, label %209

206:                                              ; preds = %203, %200
  %207 = load ptr, ptr %20, align 8, !tbaa !5
  %208 = getelementptr inbounds %struct.b2ContactConstraint, ptr %207, i32 0, i32 14
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %208, ptr align 4 %11, i64 12, i1 false), !tbaa.struct !26
  br label %212

209:                                              ; preds = %203
  %210 = load ptr, ptr %20, align 8, !tbaa !5
  %211 = getelementptr inbounds %struct.b2ContactConstraint, ptr %210, i32 0, i32 14
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %211, ptr align 4 %10, i64 12, i1 false), !tbaa.struct !26
  br label %212

212:                                              ; preds = %209, %206
  %213 = load float, ptr %23, align 4, !tbaa !27
  %214 = load ptr, ptr %20, align 8, !tbaa !5
  %215 = getelementptr inbounds %struct.b2ContactConstraint, ptr %214, i32 0, i32 4
  store float %213, ptr %215, align 4, !tbaa !69
  %216 = load float, ptr %24, align 4, !tbaa !27
  %217 = load ptr, ptr %20, align 8, !tbaa !5
  %218 = getelementptr inbounds %struct.b2ContactConstraint, ptr %217, i32 0, i32 6
  store float %216, ptr %218, align 4, !tbaa !70
  %219 = load float, ptr %28, align 4, !tbaa !27
  %220 = load ptr, ptr %20, align 8, !tbaa !5
  %221 = getelementptr inbounds %struct.b2ContactConstraint, ptr %220, i32 0, i32 5
  store float %219, ptr %221, align 4, !tbaa !71
  %222 = load float, ptr %29, align 4, !tbaa !27
  %223 = load ptr, ptr %20, align 8, !tbaa !5
  %224 = getelementptr inbounds %struct.b2ContactConstraint, ptr %223, i32 0, i32 7
  store float %222, ptr %224, align 4, !tbaa !72
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #8
  %225 = load float, ptr %24, align 4, !tbaa !27
  %226 = load float, ptr %29, align 4, !tbaa !27
  %227 = fadd float %225, %226
  store float %227, ptr %31, align 4, !tbaa !27
  %228 = load float, ptr %31, align 4, !tbaa !27
  %229 = fcmp ogt float %228, 0.000000e+00
  br i1 %229, label %230, label %233

230:                                              ; preds = %212
  %231 = load float, ptr %31, align 4, !tbaa !27
  %232 = fdiv float 1.000000e+00, %231
  br label %234

233:                                              ; preds = %212
  br label %234

234:                                              ; preds = %233, %230
  %235 = phi float [ %232, %230 ], [ 0.000000e+00, %233 ]
  %236 = load ptr, ptr %20, align 8, !tbaa !5
  %237 = getelementptr inbounds %struct.b2ContactConstraint, ptr %236, i32 0, i32 12
  store float %235, ptr %237, align 4, !tbaa !73
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  %238 = load ptr, ptr %20, align 8, !tbaa !5
  %239 = getelementptr inbounds %struct.b2ContactConstraint, ptr %238, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %32, ptr align 4 %239, i64 8, i1 false), !tbaa.struct !50
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #8
  %240 = load ptr, ptr %20, align 8, !tbaa !5
  %241 = getelementptr inbounds %struct.b2ContactConstraint, ptr %240, i32 0, i32 3
  %242 = load <2 x float>, ptr %241, align 4
  %243 = call <2 x float> @b2RightPerp(<2 x float> %242)
  store <2 x float> %243, ptr %33, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #8
  store i32 0, ptr %34, align 4, !tbaa !23
  br label %244

244:                                              ; preds = %376, %234
  %245 = load i32, ptr %34, align 4, !tbaa !23
  %246 = load i32, ptr %17, align 4, !tbaa !23
  %247 = icmp slt i32 %245, %246
  br i1 %247, label %249, label %248

248:                                              ; preds = %244
  store i32 7, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #8
  br label %379

249:                                              ; preds = %244
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #8
  %250 = load ptr, ptr %16, align 8, !tbaa !5
  %251 = getelementptr inbounds %struct.b2Manifold, ptr %250, i32 0, i32 2
  %252 = getelementptr inbounds [2 x %struct.b2ManifoldPoint], ptr %251, i64 0, i64 0
  %253 = load i32, ptr %34, align 4, !tbaa !23
  %254 = sext i32 %253 to i64
  %255 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %252, i64 %254
  store ptr %255, ptr %35, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #8
  %256 = load ptr, ptr %20, align 8, !tbaa !5
  %257 = getelementptr inbounds %struct.b2ContactConstraint, ptr %256, i32 0, i32 2
  %258 = getelementptr inbounds [2 x %struct.b2ContactConstraintPoint], ptr %257, i64 0, i64 0
  %259 = load i32, ptr %34, align 4, !tbaa !23
  %260 = sext i32 %259 to i64
  %261 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %258, i64 %260
  store ptr %261, ptr %36, align 8, !tbaa !5
  %262 = load float, ptr %12, align 4, !tbaa !27
  %263 = load ptr, ptr %35, align 8, !tbaa !5
  %264 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %263, i32 0, i32 4
  %265 = load float, ptr %264, align 4, !tbaa !74
  %266 = fmul float %262, %265
  %267 = load ptr, ptr %36, align 8, !tbaa !5
  %268 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %267, i32 0, i32 4
  store float %266, ptr %268, align 4, !tbaa !76
  %269 = load float, ptr %12, align 4, !tbaa !27
  %270 = load ptr, ptr %35, align 8, !tbaa !5
  %271 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %270, i32 0, i32 5
  %272 = load float, ptr %271, align 4, !tbaa !78
  %273 = fmul float %269, %272
  %274 = load ptr, ptr %36, align 8, !tbaa !5
  %275 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %274, i32 0, i32 5
  store float %273, ptr %275, align 4, !tbaa !79
  %276 = load ptr, ptr %36, align 8, !tbaa !5
  %277 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %276, i32 0, i32 6
  store float 0.000000e+00, ptr %277, align 4, !tbaa !80
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #8
  %278 = load ptr, ptr %35, align 8, !tbaa !5
  %279 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %278, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %37, ptr align 4 %279, i64 8, i1 false), !tbaa.struct !50
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #8
  %280 = load ptr, ptr %35, align 8, !tbaa !5
  %281 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %280, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %38, ptr align 4 %281, i64 8, i1 false), !tbaa.struct !50
  %282 = load ptr, ptr %36, align 8, !tbaa !5
  %283 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %282, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %283, ptr align 4 %37, i64 8, i1 false), !tbaa.struct !50
  %284 = load ptr, ptr %36, align 8, !tbaa !5
  %285 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %284, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %285, ptr align 4 %38, i64 8, i1 false), !tbaa.struct !50
  %286 = load ptr, ptr %35, align 8, !tbaa !5
  %287 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %286, i32 0, i32 3
  %288 = load float, ptr %287, align 4, !tbaa !81
  %289 = load <2 x float>, ptr %38, align 4
  %290 = load <2 x float>, ptr %37, align 4
  %291 = call <2 x float> @b2Sub(<2 x float> %289, <2 x float> %290)
  store <2 x float> %291, ptr %39, align 4
  %292 = load <2 x float>, ptr %39, align 4
  %293 = load <2 x float>, ptr %32, align 4
  %294 = call float @b2Dot(<2 x float> %292, <2 x float> %293)
  %295 = fsub float %288, %294
  %296 = load ptr, ptr %36, align 8, !tbaa !5
  %297 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %296, i32 0, i32 2
  store float %295, ptr %297, align 4, !tbaa !82
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #8
  %298 = load <2 x float>, ptr %37, align 4
  %299 = load <2 x float>, ptr %32, align 4
  %300 = call float @b2Cross(<2 x float> %298, <2 x float> %299)
  store float %300, ptr %40, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #8
  %301 = load <2 x float>, ptr %38, align 4
  %302 = load <2 x float>, ptr %32, align 4
  %303 = call float @b2Cross(<2 x float> %301, <2 x float> %302)
  store float %303, ptr %41, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #8
  %304 = load float, ptr %23, align 4, !tbaa !27
  %305 = load float, ptr %28, align 4, !tbaa !27
  %306 = fadd float %304, %305
  %307 = load float, ptr %24, align 4, !tbaa !27
  %308 = load float, ptr %40, align 4, !tbaa !27
  %309 = fmul float %307, %308
  %310 = load float, ptr %40, align 4, !tbaa !27
  %311 = call float @llvm.fmuladd.f32(float %309, float %310, float %306)
  %312 = load float, ptr %29, align 4, !tbaa !27
  %313 = load float, ptr %41, align 4, !tbaa !27
  %314 = fmul float %312, %313
  %315 = load float, ptr %41, align 4, !tbaa !27
  %316 = call float @llvm.fmuladd.f32(float %314, float %315, float %311)
  store float %316, ptr %42, align 4, !tbaa !27
  %317 = load float, ptr %42, align 4, !tbaa !27
  %318 = fcmp ogt float %317, 0.000000e+00
  br i1 %318, label %319, label %322

319:                                              ; preds = %249
  %320 = load float, ptr %42, align 4, !tbaa !27
  %321 = fdiv float 1.000000e+00, %320
  br label %323

322:                                              ; preds = %249
  br label %323

323:                                              ; preds = %322, %319
  %324 = phi float [ %321, %319 ], [ 0.000000e+00, %322 ]
  %325 = load ptr, ptr %36, align 8, !tbaa !5
  %326 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %325, i32 0, i32 7
  store float %324, ptr %326, align 4, !tbaa !83
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #8
  %327 = load <2 x float>, ptr %37, align 4
  %328 = load <2 x float>, ptr %33, align 4
  %329 = call float @b2Cross(<2 x float> %327, <2 x float> %328)
  store float %329, ptr %43, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #8
  %330 = load <2 x float>, ptr %38, align 4
  %331 = load <2 x float>, ptr %33, align 4
  %332 = call float @b2Cross(<2 x float> %330, <2 x float> %331)
  store float %332, ptr %44, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #8
  %333 = load float, ptr %23, align 4, !tbaa !27
  %334 = load float, ptr %28, align 4, !tbaa !27
  %335 = fadd float %333, %334
  %336 = load float, ptr %24, align 4, !tbaa !27
  %337 = load float, ptr %43, align 4, !tbaa !27
  %338 = fmul float %336, %337
  %339 = load float, ptr %43, align 4, !tbaa !27
  %340 = call float @llvm.fmuladd.f32(float %338, float %339, float %335)
  %341 = load float, ptr %29, align 4, !tbaa !27
  %342 = load float, ptr %44, align 4, !tbaa !27
  %343 = fmul float %341, %342
  %344 = load float, ptr %44, align 4, !tbaa !27
  %345 = call float @llvm.fmuladd.f32(float %343, float %344, float %340)
  store float %345, ptr %45, align 4, !tbaa !27
  %346 = load float, ptr %45, align 4, !tbaa !27
  %347 = fcmp ogt float %346, 0.000000e+00
  br i1 %347, label %348, label %351

348:                                              ; preds = %323
  %349 = load float, ptr %45, align 4, !tbaa !27
  %350 = fdiv float 1.000000e+00, %349
  br label %352

351:                                              ; preds = %323
  br label %352

352:                                              ; preds = %351, %348
  %353 = phi float [ %350, %348 ], [ 0.000000e+00, %351 ]
  %354 = load ptr, ptr %36, align 8, !tbaa !5
  %355 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %354, i32 0, i32 8
  store float %353, ptr %355, align 4, !tbaa !84
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #8
  %356 = load float, ptr %22, align 4, !tbaa !27
  %357 = load <2 x float>, ptr %37, align 4
  %358 = call <2 x float> @b2CrossSV(float noundef %356, <2 x float> %357)
  store <2 x float> %358, ptr %47, align 4
  %359 = load <2 x float>, ptr %21, align 4
  %360 = load <2 x float>, ptr %47, align 4
  %361 = call <2 x float> @b2Add(<2 x float> %359, <2 x float> %360)
  store <2 x float> %361, ptr %46, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #8
  %362 = load float, ptr %27, align 4, !tbaa !27
  %363 = load <2 x float>, ptr %38, align 4
  %364 = call <2 x float> @b2CrossSV(float noundef %362, <2 x float> %363)
  store <2 x float> %364, ptr %49, align 4
  %365 = load <2 x float>, ptr %26, align 4
  %366 = load <2 x float>, ptr %49, align 4
  %367 = call <2 x float> @b2Add(<2 x float> %365, <2 x float> %366)
  store <2 x float> %367, ptr %48, align 4
  %368 = load <2 x float>, ptr %48, align 4
  %369 = load <2 x float>, ptr %46, align 4
  %370 = call <2 x float> @b2Sub(<2 x float> %368, <2 x float> %369)
  store <2 x float> %370, ptr %50, align 4
  %371 = load <2 x float>, ptr %32, align 4
  %372 = load <2 x float>, ptr %50, align 4
  %373 = call float @b2Dot(<2 x float> %371, <2 x float> %372)
  %374 = load ptr, ptr %36, align 8, !tbaa !5
  %375 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %374, i32 0, i32 3
  store float %373, ptr %375, align 4, !tbaa !85
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #8
  br label %376

376:                                              ; preds = %352
  %377 = load i32, ptr %34, align 4, !tbaa !23
  %378 = add nsw i32 %377, 1
  store i32 %378, ptr %34, align 4, !tbaa !23
  br label %244, !llvm.loop !86

379:                                              ; preds = %248
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  br label %380

380:                                              ; preds = %379
  %381 = load i32, ptr %13, align 4, !tbaa !23
  %382 = add nsw i32 %381, 1
  store i32 %382, ptr %13, align 4, !tbaa !23
  br label %85, !llvm.loop !88

383:                                              ; preds = %89
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #8
  call void @llvm.lifetime.end.p0(i64 12, ptr %11) #8
  call void @llvm.lifetime.end.p0(i64 12, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %4) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %3) #8
  ret void
}

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #2

declare i32 @b2InternalAssertFcn(ptr noundef, ptr noundef, i32 noundef) #3

; Function Attrs: cold noreturn nounwind memory(inaccessiblemem: write)
declare void @llvm.trap() #4

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #5

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RightPerp(<2 x float>) #6

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Dot(<2 x float>, <2 x float>) #6

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Sub(<2 x float>, <2 x float>) #6

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Cross(<2 x float>, <2 x float>) #6

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #7

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Add(<2 x float>, <2 x float>) #6

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2CrossSV(float noundef, <2 x float>) #6

attributes #0 = { nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { cold noreturn nounwind memory(inaccessiblemem: write) }
attributes #5 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #6 = { inlinehint nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !6, i64 64}
!10 = !{!"b2StepContext", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !12, i64 16, !13, i64 20, !13, i64 32, !13, i64 44, !11, i64 56, !11, i64 60, !6, i64 64, !6, i64 72, !6, i64 80, !6, i64 88, !6, i64 96, !12, i64 104, !6, i64 112, !14, i64 120, !6, i64 128, !6, i64 136, !6, i64 144, !12, i64 152, !12, i64 156, !6, i64 160, !12, i64 168, !15, i64 172, !7, i64 173, !16, i64 240, !7, i64 244}
!11 = !{!"float", !7, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!"b2Softness", !11, i64 0, !11, i64 4, !11, i64 8}
!14 = !{!"b2AtomicInt", !12, i64 0}
!15 = !{!"_Bool", !7, i64 0}
!16 = !{!"b2AtomicU32", !12, i64 0}
!17 = !{!10, !6, i64 72}
!18 = !{!7, !7, i64 0}
!19 = !{!20, !12, i64 24}
!20 = !{!"b2GraphColor", !21, i64 0, !22, i64 16, !22, i64 32, !7, i64 48}
!21 = !{!"b2BitSet", !6, i64 0, !12, i64 8, !12, i64 12}
!22 = !{!"", !6, i64 0, !12, i64 8, !12, i64 12}
!23 = !{!12, !12, i64 0}
!24 = !{!20, !6, i64 16}
!25 = !{!10, !6, i64 80}
!26 = !{i64 0, i64 4, !27, i64 4, i64 4, !27, i64 8, i64 4, !27}
!27 = !{!11, !11, i64 0}
!28 = !{!29, !15, i64 1800}
!29 = !{!"b2World", !30, i64 0, !31, i64 40, !33, i64 336, !34, i64 1008, !22, i64 1032, !34, i64 1048, !22, i64 1072, !34, i64 1088, !22, i64 1112, !34, i64 1128, !22, i64 1152, !34, i64 1168, !22, i64 1192, !34, i64 1208, !34, i64 1232, !22, i64 1256, !22, i64 1272, !22, i64 1288, !22, i64 1304, !22, i64 1320, !22, i64 1336, !22, i64 1352, !22, i64 1368, !7, i64 1384, !7, i64 1416, !12, i64 1448, !22, i64 1456, !21, i64 1472, !21, i64 1488, !21, i64 1504, !21, i64 1520, !35, i64 1536, !12, i64 1544, !36, i64 1548, !11, i64 1556, !11, i64 1560, !11, i64 1564, !11, i64 1568, !11, i64 1572, !11, i64 1576, !11, i64 1580, !11, i64 1584, !6, i64 1592, !6, i64 1600, !37, i64 1608, !38, i64 1612, !6, i64 1704, !6, i64 1712, !6, i64 1720, !6, i64 1728, !12, i64 1736, !6, i64 1744, !6, i64 1752, !6, i64 1760, !6, i64 1768, !6, i64 1776, !11, i64 1784, !12, i64 1788, !12, i64 1792, !37, i64 1796, !15, i64 1798, !15, i64 1799, !15, i64 1800, !15, i64 1801, !15, i64 1802, !15, i64 1803}
!30 = !{!"b2ArenaAllocator", !6, i64 0, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !22, i64 24}
!31 = !{!"b2BroadPhase", !7, i64 0, !12, i64 216, !32, i64 224, !22, i64 240, !6, i64 256, !6, i64 264, !12, i64 272, !14, i64 276, !32, i64 280}
!32 = !{!"b2HashSet", !6, i64 0, !12, i64 8, !12, i64 12}
!33 = !{!"b2ConstraintGraph", !7, i64 0}
!34 = !{!"b2IdPool", !22, i64 0, !12, i64 16}
!35 = !{!"long", !7, i64 0}
!36 = !{!"b2Vec2", !11, i64 0, !11, i64 4}
!37 = !{!"short", !7, i64 0}
!38 = !{!"b2Profile", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !11, i64 44, !11, i64 48, !11, i64 52, !11, i64 56, !11, i64 60, !11, i64 64, !11, i64 68, !11, i64 72, !11, i64 76, !11, i64 80, !11, i64 84}
!39 = !{i8 0, i8 2}
!40 = !{}
!41 = !{!42, !12, i64 108}
!42 = !{!"b2Manifold", !36, i64 0, !11, i64 8, !7, i64 12, !12, i64 108}
!43 = !{!44, !12, i64 4}
!44 = !{!"b2ContactSim", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !42, i64 36, !11, i64 148, !11, i64 152, !11, i64 156, !11, i64 160, !12, i64 164, !45, i64 168}
!45 = !{!"b2SimplexCache", !37, i64 0, !7, i64 2, !7, i64 5}
!46 = !{!44, !12, i64 8}
!47 = !{!48, !12, i64 0}
!48 = !{!"b2ContactConstraint", !12, i64 0, !12, i64 4, !7, i64 8, !36, i64 96, !11, i64 104, !11, i64 108, !11, i64 112, !11, i64 116, !11, i64 120, !11, i64 124, !11, i64 128, !11, i64 132, !11, i64 136, !11, i64 140, !13, i64 144, !12, i64 156}
!49 = !{!48, !12, i64 4}
!50 = !{i64 0, i64 4, !27, i64 4, i64 4, !27}
!51 = !{!44, !11, i64 148}
!52 = !{!48, !11, i64 120}
!53 = !{!44, !11, i64 152}
!54 = !{!48, !11, i64 124}
!55 = !{!44, !11, i64 156}
!56 = !{!48, !11, i64 132}
!57 = !{!42, !11, i64 8}
!58 = !{!48, !11, i64 140}
!59 = !{!44, !11, i64 160}
!60 = !{!48, !11, i64 128}
!61 = !{!48, !12, i64 156}
!62 = !{!44, !11, i64 20}
!63 = !{!44, !11, i64 24}
!64 = !{!65, !11, i64 8}
!65 = !{!"b2BodyState", !36, i64 0, !11, i64 8, !12, i64 12, !36, i64 16, !66, i64 24}
!66 = !{!"b2Rot", !11, i64 0, !11, i64 4}
!67 = !{!44, !11, i64 28}
!68 = !{!44, !11, i64 32}
!69 = !{!48, !11, i64 104}
!70 = !{!48, !11, i64 112}
!71 = !{!48, !11, i64 108}
!72 = !{!48, !11, i64 116}
!73 = !{!48, !11, i64 136}
!74 = !{!75, !11, i64 28}
!75 = !{!"b2ManifoldPoint", !36, i64 0, !36, i64 8, !36, i64 16, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !37, i64 44, !15, i64 46}
!76 = !{!77, !11, i64 24}
!77 = !{!"b2ContactConstraintPoint", !36, i64 0, !36, i64 8, !11, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40}
!78 = !{!75, !11, i64 32}
!79 = !{!77, !11, i64 28}
!80 = !{!77, !11, i64 32}
!81 = !{!75, !11, i64 24}
!82 = !{!77, !11, i64 16}
!83 = !{!77, !11, i64 36}
!84 = !{!77, !11, i64 40}
!85 = !{!77, !11, i64 20}
!86 = distinct !{!86, !87}
!87 = !{!"llvm.loop.mustprogress"}
!88 = distinct !{!88, !87}


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

%struct.b2Softness = type { float, float, float }
%struct.b2ContactSim = type { i32, i32, i32, i32, i32, float, float, float, float, %struct.b2Manifold, float, float, float, float, i32, %struct.b2SimplexCache }
%struct.b2Manifold = type { %struct.b2Vec2, float, [2 x %struct.b2ManifoldPoint], i32 }
%struct.b2Vec2 = type { float, float }
%struct.b2ManifoldPoint = type { %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, i16, i8 }
%struct.b2SimplexCache = type { i16, [3 x i8], [3 x i8] }
%struct.b2ContactConstraint = type { i32, i32, [2 x %struct.b2ContactConstraintPoint], %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, %struct.b2Softness, i32 }
%struct.b2ContactConstraintPoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, float, float }
%struct.b2BodyState = type { %struct.b2Vec2, float, i32, %struct.b2Vec2, %struct.b2Rot }
%struct.b2Rot = type { float, float }

@.str = external hidden unnamed_addr constant [34 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [70 x i8], align 1

; Function Attrs: nounwind uwtable
define dso_local void @b2PrepareOverflowContacts(ptr nocapture noundef readonly %0) local_unnamed_addr #0 {
  %2 = alloca %struct.b2Softness, align 4
  %3 = alloca %struct.b2Softness, align 4
  %4 = getelementptr inbounds i8, ptr %0, i64 64
  %5 = load ptr, ptr %4, align 8, !tbaa !5
  %6 = getelementptr inbounds i8, ptr %0, i64 72
  %7 = load ptr, ptr %6, align 8, !tbaa !16
  %8 = getelementptr inbounds i8, ptr %7, i64 664
  %9 = load ptr, ptr %8, align 8, !tbaa !17
  %10 = getelementptr inbounds i8, ptr %7, i64 632
  %11 = getelementptr inbounds i8, ptr %7, i64 640
  %12 = load i32, ptr %11, align 8, !tbaa !18
  %13 = load ptr, ptr %10, align 8, !tbaa !22
  %14 = getelementptr inbounds i8, ptr %0, i64 80
  %15 = load ptr, ptr %14, align 8, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %2)
  %16 = getelementptr inbounds i8, ptr %0, i64 32
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(12) %2, ptr noundef nonnull align 8 dereferenceable(12) %16, i64 12, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %3)
  %17 = getelementptr inbounds i8, ptr %0, i64 44
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(12) %3, ptr noundef nonnull align 4 dereferenceable(12) %17, i64 12, i1 false), !tbaa.struct !24
  %18 = getelementptr inbounds i8, ptr %5, i64 1800
  %19 = load i8, ptr %18, align 8, !tbaa !26, !range !37, !noundef !38
  %20 = trunc nuw i8 %19 to i1
  %21 = select i1 %20, float 1.000000e+00, float 0.000000e+00
  %22 = icmp sgt i32 %12, 0
  br i1 %22, label %.lr.ph162.preheader, label %._crit_edge163

.lr.ph162.preheader:                              ; preds = %1
  %wide.trip.count168 = zext nneg i32 %12 to i64
  %23 = insertelement <2 x float> poison, float %21, i64 0
  %24 = shufflevector <2 x float> %23, <2 x float> poison, <2 x i32> zeroinitializer
  br label %.lr.ph162

._crit_edge163:                                   ; preds = %._crit_edge, %1
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %3)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %2)
  ret void

.lr.ph162:                                        ; preds = %.lr.ph162.preheader, %._crit_edge
  %indvars.iv165 = phi i64 [ 0, %.lr.ph162.preheader ], [ %indvars.iv.next166, %._crit_edge ]
  %25 = getelementptr inbounds %struct.b2ContactSim, ptr %13, i64 %indvars.iv165
  %26 = getelementptr inbounds i8, ptr %25, i64 36
  %27 = getelementptr inbounds i8, ptr %25, i64 144
  %28 = load i32, ptr %27, align 4, !tbaa !39
  %29 = add i32 %28, -1
  %or.cond = icmp ult i32 %29, 2
  br i1 %or.cond, label %33, label %30

30:                                               ; preds = %.lr.ph162
  %31 = tail call i32 @b2InternalAssertFcn(ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i32 noundef 53) #7
  %.not = icmp eq i32 %31, 0
  br i1 %.not, label %33, label %32

32:                                               ; preds = %30
  tail call void @llvm.trap()
  unreachable

33:                                               ; preds = %.lr.ph162, %30
  %34 = getelementptr inbounds i8, ptr %25, i64 4
  %35 = load i32, ptr %34, align 4, !tbaa !41
  %36 = getelementptr inbounds i8, ptr %25, i64 8
  %37 = load i32, ptr %36, align 4, !tbaa !44
  %38 = getelementptr inbounds %struct.b2ContactConstraint, ptr %9, i64 %indvars.iv165
  store i32 %35, ptr %38, align 4, !tbaa !45
  %39 = getelementptr inbounds i8, ptr %38, i64 4
  store i32 %37, ptr %39, align 4, !tbaa !47
  %40 = getelementptr inbounds i8, ptr %38, i64 96
  %41 = load i64, ptr %26, align 4
  store i64 %41, ptr %40, align 4
  %42 = getelementptr inbounds i8, ptr %25, i64 148
  %43 = getelementptr inbounds i8, ptr %38, i64 120
  %44 = getelementptr inbounds i8, ptr %25, i64 44
  %45 = load float, ptr %44, align 4, !tbaa !48
  %46 = fmul float %21, %45
  %47 = getelementptr inbounds i8, ptr %38, i64 140
  store float %46, ptr %47, align 4, !tbaa !49
  %48 = load <4 x float>, ptr %42, align 4, !tbaa !25
  %49 = shufflevector <4 x float> %48, <4 x float> poison, <4 x i32> <i32 0, i32 1, i32 3, i32 2>
  store <4 x float> %49, ptr %43, align 4, !tbaa !25
  %50 = getelementptr inbounds i8, ptr %38, i64 156
  store i32 %28, ptr %50, align 4, !tbaa !50
  %51 = getelementptr inbounds i8, ptr %25, i64 20
  %52 = load float, ptr %51, align 4, !tbaa !51
  %53 = getelementptr inbounds i8, ptr %25, i64 24
  %54 = load float, ptr %53, align 4, !tbaa !52
  %.not150 = icmp eq i32 %35, -1
  %55 = bitcast i64 %41 to <2 x float>
  br i1 %.not150, label %56, label %.thread170

56:                                               ; preds = %33
  %57 = getelementptr inbounds i8, ptr %25, i64 28
  %58 = load <2 x float>, ptr %57, align 4, !tbaa !25
  %.not151 = icmp eq i32 %37, -1
  br i1 %.not151, label %.thread, label %.thread.sink.split

.thread170:                                       ; preds = %33
  %59 = sext i32 %35 to i64
  %60 = getelementptr inbounds %struct.b2BodyState, ptr %15, i64 %59
  %.sroa.076.0.copyload = load <2 x float>, ptr %60, align 4
  %61 = getelementptr inbounds i8, ptr %60, i64 8
  %62 = load float, ptr %61, align 4, !tbaa !53
  %63 = getelementptr inbounds i8, ptr %25, i64 28
  %64 = load <2 x float>, ptr %63, align 4, !tbaa !25
  %.not151173 = icmp eq i32 %37, -1
  br i1 %.not151173, label %.thread, label %.thread.sink.split

.thread.sink.split:                               ; preds = %.thread170, %56
  %.sink187.ph = phi ptr [ %3, %56 ], [ %2, %.thread170 ]
  %.sroa.076.1177.ph = phi <2 x float> [ zeroinitializer, %56 ], [ %.sroa.076.0.copyload, %.thread170 ]
  %.0145174.ph = phi float [ 0.000000e+00, %56 ], [ %62, %.thread170 ]
  %65 = phi <2 x float> [ %58, %56 ], [ %64, %.thread170 ]
  %66 = sext i32 %37 to i64
  %67 = getelementptr inbounds %struct.b2BodyState, ptr %15, i64 %66
  %.sroa.065.0.copyload = load <2 x float>, ptr %67, align 4
  %68 = getelementptr inbounds i8, ptr %67, i64 8
  %69 = load float, ptr %68, align 4, !tbaa !53
  br label %.thread

.thread:                                          ; preds = %.thread.sink.split, %56, %.thread170
  %.sink187 = phi ptr [ %3, %.thread170 ], [ %3, %56 ], [ %.sink187.ph, %.thread.sink.split ]
  %.sroa.076.1177 = phi <2 x float> [ %.sroa.076.0.copyload, %.thread170 ], [ zeroinitializer, %56 ], [ %.sroa.076.1177.ph, %.thread.sink.split ]
  %.0145174 = phi float [ %62, %.thread170 ], [ 0.000000e+00, %56 ], [ %.0145174.ph, %.thread.sink.split ]
  %.sroa.065.1157 = phi <2 x float> [ zeroinitializer, %.thread170 ], [ zeroinitializer, %56 ], [ %.sroa.065.0.copyload, %.thread.sink.split ]
  %.0146155 = phi float [ 0.000000e+00, %.thread170 ], [ 0.000000e+00, %56 ], [ %69, %.thread.sink.split ]
  %70 = phi <2 x float> [ %64, %.thread170 ], [ %58, %56 ], [ %65, %.thread.sink.split ]
  %71 = getelementptr inbounds i8, ptr %38, i64 144
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(12) %71, ptr noundef nonnull align 4 dereferenceable(12) %.sink187, i64 12, i1 false)
  %72 = getelementptr inbounds i8, ptr %38, i64 104
  store float %52, ptr %72, align 4, !tbaa !56
  %73 = getelementptr inbounds i8, ptr %38, i64 112
  store float %54, ptr %73, align 4, !tbaa !57
  %74 = getelementptr inbounds i8, ptr %38, i64 108
  %75 = extractelement <2 x float> %70, i64 0
  store float %75, ptr %74, align 4, !tbaa !58
  %76 = getelementptr inbounds i8, ptr %38, i64 116
  %77 = extractelement <2 x float> %70, i64 1
  store float %77, ptr %76, align 4, !tbaa !59
  %78 = fadd float %54, %77
  %79 = fcmp ogt float %78, 0.000000e+00
  %80 = fdiv float 1.000000e+00, %78
  %81 = select i1 %79, float %80, float 0.000000e+00
  %82 = getelementptr inbounds i8, ptr %38, i64 136
  store float %81, ptr %82, align 4, !tbaa !60
  %83 = tail call <2 x float> @b2RightPerp(<2 x float> %55)
  %84 = icmp sgt i32 %28, 0
  br i1 %84, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %.thread
  %85 = getelementptr inbounds i8, ptr %25, i64 48
  %86 = getelementptr inbounds i8, ptr %38, i64 8
  %87 = fadd float %52, %75
  %wide.trip.count = zext nneg i32 %28 to i64
  br label %88

._crit_edge:                                      ; preds = %88, %.thread
  %indvars.iv.next166 = add nuw nsw i64 %indvars.iv165, 1
  %exitcond169.not = icmp eq i64 %indvars.iv.next166, %wide.trip.count168
  br i1 %exitcond169.not, label %._crit_edge163, label %.lr.ph162, !llvm.loop !61

88:                                               ; preds = %.lr.ph, %88
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %88 ]
  %89 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %85, i64 %indvars.iv
  %90 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %86, i64 %indvars.iv
  %91 = getelementptr inbounds i8, ptr %89, i64 28
  %92 = getelementptr inbounds i8, ptr %90, i64 24
  %93 = load <2 x float>, ptr %91, align 4, !tbaa !25
  %94 = fmul <2 x float> %24, %93
  store <2 x float> %94, ptr %92, align 4, !tbaa !25
  %95 = getelementptr inbounds i8, ptr %90, i64 32
  store float 0.000000e+00, ptr %95, align 4, !tbaa !63
  %96 = getelementptr inbounds i8, ptr %89, i64 8
  %.sroa.025.0.copyload = load <2 x float>, ptr %96, align 4
  %97 = getelementptr inbounds i8, ptr %89, i64 16
  %.sroa.020.0.copyload = load <2 x float>, ptr %97, align 4
  store <2 x float> %.sroa.025.0.copyload, ptr %90, align 4
  %98 = getelementptr inbounds i8, ptr %90, i64 8
  store <2 x float> %.sroa.020.0.copyload, ptr %98, align 4
  %99 = getelementptr inbounds i8, ptr %89, i64 24
  %100 = load float, ptr %99, align 4, !tbaa !65
  %101 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.020.0.copyload, <2 x float> %.sroa.025.0.copyload)
  %102 = tail call float @b2Dot(<2 x float> %101, <2 x float> %55)
  %103 = fsub float %100, %102
  %104 = getelementptr inbounds i8, ptr %90, i64 16
  store float %103, ptr %104, align 4, !tbaa !67
  %105 = tail call float @b2Cross(<2 x float> %.sroa.025.0.copyload, <2 x float> %55)
  %106 = tail call float @b2Cross(<2 x float> %.sroa.020.0.copyload, <2 x float> %55)
  %107 = fmul float %54, %105
  %108 = tail call float @llvm.fmuladd.f32(float %107, float %105, float %87)
  %109 = fmul float %77, %106
  %110 = tail call float @llvm.fmuladd.f32(float %109, float %106, float %108)
  %111 = fcmp ogt float %110, 0.000000e+00
  %112 = fdiv float 1.000000e+00, %110
  %113 = select i1 %111, float %112, float 0.000000e+00
  %114 = getelementptr inbounds i8, ptr %90, i64 36
  store float %113, ptr %114, align 4, !tbaa !68
  %115 = tail call float @b2Cross(<2 x float> %.sroa.025.0.copyload, <2 x float> %83)
  %116 = tail call float @b2Cross(<2 x float> %.sroa.020.0.copyload, <2 x float> %83)
  %117 = fmul float %54, %115
  %118 = tail call float @llvm.fmuladd.f32(float %117, float %115, float %87)
  %119 = fmul float %77, %116
  %120 = tail call float @llvm.fmuladd.f32(float %119, float %116, float %118)
  %121 = fcmp ogt float %120, 0.000000e+00
  %122 = fdiv float 1.000000e+00, %120
  %123 = select i1 %121, float %122, float 0.000000e+00
  %124 = getelementptr inbounds i8, ptr %90, i64 40
  store float %123, ptr %124, align 4, !tbaa !69
  %125 = tail call <2 x float> @b2CrossSV(float noundef %.0145174, <2 x float> %.sroa.025.0.copyload)
  %126 = tail call <2 x float> @b2Add(<2 x float> %.sroa.076.1177, <2 x float> %125)
  %127 = tail call <2 x float> @b2CrossSV(float noundef %.0146155, <2 x float> %.sroa.020.0.copyload)
  %128 = tail call <2 x float> @b2Add(<2 x float> %.sroa.065.1157, <2 x float> %127)
  %129 = tail call <2 x float> @b2Sub(<2 x float> %128, <2 x float> %126)
  %130 = tail call float @b2Dot(<2 x float> %55, <2 x float> %129)
  %131 = getelementptr inbounds i8, ptr %90, i64 20
  store float %130, ptr %131, align 4, !tbaa !70
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %88, !llvm.loop !71
}

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

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #2

declare i32 @b2InternalAssertFcn(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #3

; Function Attrs: cold noreturn nounwind memory(inaccessiblemem: write)
declare void @llvm.trap() #4

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RightPerp(<2 x float>) local_unnamed_addr #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Dot(<2 x float>, <2 x float>) local_unnamed_addr #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Sub(<2 x float>, <2 x float>) local_unnamed_addr #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Cross(<2 x float>, <2 x float>) local_unnamed_addr #5

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #6

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Add(<2 x float>, <2 x float>) local_unnamed_addr #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2CrossSV(float noundef, <2 x float>) local_unnamed_addr #5

attributes #0 = { nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { cold noreturn nounwind memory(inaccessiblemem: write) }
attributes #5 = { inlinehint nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !12, i64 64}
!6 = !{!"b2StepContext", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !10, i64 16, !11, i64 20, !11, i64 32, !11, i64 44, !7, i64 56, !7, i64 60, !12, i64 64, !12, i64 72, !12, i64 80, !12, i64 88, !12, i64 96, !10, i64 104, !12, i64 112, !13, i64 120, !12, i64 128, !12, i64 136, !12, i64 144, !10, i64 152, !10, i64 156, !12, i64 160, !10, i64 168, !14, i64 172, !8, i64 173, !15, i64 240, !8, i64 244}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"int", !8, i64 0}
!11 = !{!"b2Softness", !7, i64 0, !7, i64 4, !7, i64 8}
!12 = !{!"any pointer", !8, i64 0}
!13 = !{!"b2AtomicInt", !10, i64 0}
!14 = !{!"_Bool", !8, i64 0}
!15 = !{!"b2AtomicU32", !10, i64 0}
!16 = !{!6, !12, i64 72}
!17 = !{!8, !8, i64 0}
!18 = !{!19, !10, i64 24}
!19 = !{!"b2GraphColor", !20, i64 0, !21, i64 16, !21, i64 32, !8, i64 48}
!20 = !{!"b2BitSet", !12, i64 0, !10, i64 8, !10, i64 12}
!21 = !{!"", !12, i64 0, !10, i64 8, !10, i64 12}
!22 = !{!19, !12, i64 16}
!23 = !{!6, !12, i64 80}
!24 = !{i64 0, i64 4, !25, i64 4, i64 4, !25, i64 8, i64 4, !25}
!25 = !{!7, !7, i64 0}
!26 = !{!27, !14, i64 1800}
!27 = !{!"b2World", !28, i64 0, !29, i64 40, !31, i64 336, !32, i64 1008, !21, i64 1032, !32, i64 1048, !21, i64 1072, !32, i64 1088, !21, i64 1112, !32, i64 1128, !21, i64 1152, !32, i64 1168, !21, i64 1192, !32, i64 1208, !32, i64 1232, !21, i64 1256, !21, i64 1272, !21, i64 1288, !21, i64 1304, !21, i64 1320, !21, i64 1336, !21, i64 1352, !21, i64 1368, !8, i64 1384, !8, i64 1416, !10, i64 1448, !21, i64 1456, !20, i64 1472, !20, i64 1488, !20, i64 1504, !20, i64 1520, !33, i64 1536, !10, i64 1544, !34, i64 1548, !7, i64 1556, !7, i64 1560, !7, i64 1564, !7, i64 1568, !7, i64 1572, !7, i64 1576, !7, i64 1580, !7, i64 1584, !12, i64 1592, !12, i64 1600, !35, i64 1608, !36, i64 1612, !12, i64 1704, !12, i64 1712, !12, i64 1720, !12, i64 1728, !10, i64 1736, !12, i64 1744, !12, i64 1752, !12, i64 1760, !12, i64 1768, !12, i64 1776, !7, i64 1784, !10, i64 1788, !10, i64 1792, !35, i64 1796, !14, i64 1798, !14, i64 1799, !14, i64 1800, !14, i64 1801, !14, i64 1802, !14, i64 1803}
!28 = !{!"b2ArenaAllocator", !12, i64 0, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !21, i64 24}
!29 = !{!"b2BroadPhase", !8, i64 0, !10, i64 216, !30, i64 224, !21, i64 240, !12, i64 256, !12, i64 264, !10, i64 272, !13, i64 276, !30, i64 280}
!30 = !{!"b2HashSet", !12, i64 0, !10, i64 8, !10, i64 12}
!31 = !{!"b2ConstraintGraph", !8, i64 0}
!32 = !{!"b2IdPool", !21, i64 0, !10, i64 16}
!33 = !{!"long", !8, i64 0}
!34 = !{!"b2Vec2", !7, i64 0, !7, i64 4}
!35 = !{!"short", !8, i64 0}
!36 = !{!"b2Profile", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40, !7, i64 44, !7, i64 48, !7, i64 52, !7, i64 56, !7, i64 60, !7, i64 64, !7, i64 68, !7, i64 72, !7, i64 76, !7, i64 80, !7, i64 84}
!37 = !{i8 0, i8 2}
!38 = !{}
!39 = !{!40, !10, i64 108}
!40 = !{!"b2Manifold", !34, i64 0, !7, i64 8, !8, i64 12, !10, i64 108}
!41 = !{!42, !10, i64 4}
!42 = !{!"b2ContactSim", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !40, i64 36, !7, i64 148, !7, i64 152, !7, i64 156, !7, i64 160, !10, i64 164, !43, i64 168}
!43 = !{!"b2SimplexCache", !35, i64 0, !8, i64 2, !8, i64 5}
!44 = !{!42, !10, i64 8}
!45 = !{!46, !10, i64 0}
!46 = !{!"b2ContactConstraint", !10, i64 0, !10, i64 4, !8, i64 8, !34, i64 96, !7, i64 104, !7, i64 108, !7, i64 112, !7, i64 116, !7, i64 120, !7, i64 124, !7, i64 128, !7, i64 132, !7, i64 136, !7, i64 140, !11, i64 144, !10, i64 156}
!47 = !{!46, !10, i64 4}
!48 = !{!40, !7, i64 8}
!49 = !{!46, !7, i64 140}
!50 = !{!46, !10, i64 156}
!51 = !{!42, !7, i64 20}
!52 = !{!42, !7, i64 24}
!53 = !{!54, !7, i64 8}
!54 = !{!"b2BodyState", !34, i64 0, !7, i64 8, !10, i64 12, !34, i64 16, !55, i64 24}
!55 = !{!"b2Rot", !7, i64 0, !7, i64 4}
!56 = !{!46, !7, i64 104}
!57 = !{!46, !7, i64 112}
!58 = !{!46, !7, i64 108}
!59 = !{!46, !7, i64 116}
!60 = !{!46, !7, i64 136}
!61 = distinct !{!61, !62}
!62 = !{!"llvm.loop.mustprogress"}
!63 = !{!64, !7, i64 32}
!64 = !{!"b2ContactConstraintPoint", !34, i64 0, !34, i64 8, !7, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40}
!65 = !{!66, !7, i64 24}
!66 = !{!"b2ManifoldPoint", !34, i64 0, !34, i64 8, !34, i64 16, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40, !35, i64 44, !14, i64 46}
!67 = !{!64, !7, i64 16}
!68 = !{!64, !7, i64 36}
!69 = !{!64, !7, i64 40}
!70 = !{!64, !7, i64 20}
!71 = distinct !{!71, !62}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass