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

; 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.b2BodyState = type { %struct.b2Vec2, float, i32, %struct.b2Vec2, %struct.b2Rot }
%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2JointSim = type { i32, i32, i32, i32, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %union.anon }
%union.anon = type { %struct.b2PrismaticJoint }
%struct.b2PrismaticJoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, float, i32, i32, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, %struct.b2Softness, i8, i8, i8 }
%struct.b2Softness = type { float, float, float }
%struct.b2RevoluteJoint = type { %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, float, i32, i32, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, %struct.b2Softness, i8, i8, i8 }
%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 }

@.str.1 = external hidden unnamed_addr constant [70 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [31 x i8], align 1
@__const.b2SolveRevoluteJoint.dummyState = external hidden unnamed_addr constant %struct.b2BodyState, align 4

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2RelativeAngle(<2 x float>, <2 x float>) #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2UnwindAngle(float noundef) #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: inlinehint nounwind uwtable
declare hidden float @b2MaxFloat(float noundef, float noundef) #2

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSV(float noundef, <2 x float>) #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RotateVector(<2 x float>, <2 x float>) #1

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSub(<2 x float>, float noundef, <2 x float>) #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Cross(<2 x float>, <2 x float>) #1

; Function Attrs: 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> @b2MulAdd(<2 x float>, float noundef, <2 x float>) #1

; Function Attrs: nounwind uwtable
define dso_local void @b2SolveRevoluteJoint(ptr noundef %0, ptr noundef %1, i1 noundef zeroext %2) #7 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i8, align 1
  %7 = alloca float, align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca float, align 4
  %11 = alloca %struct.b2BodyState, align 4
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca %struct.b2Vec2, align 4
  %16 = alloca float, align 4
  %17 = alloca %struct.b2Vec2, align 4
  %18 = alloca float, align 4
  %19 = alloca i8, align 1
  %20 = alloca float, align 4
  %21 = alloca float, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca float, align 4
  %29 = alloca float, align 4
  %30 = alloca float, align 4
  %31 = alloca float, align 4
  %32 = alloca float, align 4
  %33 = alloca float, align 4
  %34 = alloca float, align 4
  %35 = alloca float, align 4
  %36 = alloca float, align 4
  %37 = alloca float, align 4
  %38 = alloca float, align 4
  %39 = alloca float, 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 %struct.b2Vec2, 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
  %51 = alloca %struct.b2Vec2, align 4
  %52 = alloca %struct.b2Vec2, align 4
  %53 = alloca float, align 4
  %54 = alloca float, align 4
  %55 = alloca %struct.b2Vec2, align 4
  %56 = alloca %struct.b2Vec2, align 4
  %57 = alloca %struct.b2Vec2, align 4
  %58 = alloca %struct.b2Vec2, align 4
  %59 = alloca %struct.b2Vec2, align 4
  %60 = alloca %struct.b2Vec2, align 4
  %61 = alloca %struct.b2Vec2, align 4
  %62 = alloca %struct.b2Mat22, align 4
  %63 = alloca %struct.b2Vec2, align 4
  %64 = alloca %struct.b2Vec2, align 4
  %65 = alloca %struct.b2Vec2, align 4
  %66 = alloca %struct.b2Vec2, align 4
  %67 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %68 = zext i1 %2 to i8
  store i8 %68, ptr %6, align 1, !tbaa !9
  br label %69

69:                                               ; preds = %3
  %70 = load ptr, ptr %4, align 8, !tbaa !5
  %71 = getelementptr inbounds %struct.b2JointSim, ptr %70, i32 0, i32 3
  %72 = load i32, ptr %71, align 4, !tbaa !11
  %73 = icmp eq i32 %72, 5
  br i1 %73, label %78, label %74

74:                                               ; preds = %69
  %75 = call i32 @b2InternalAssertFcn(ptr noundef @.str.4, ptr noundef @.str.1, i32 noundef 280)
  %76 = icmp ne i32 %75, 0
  br i1 %76, label %77, label %78

77:                                               ; preds = %74
  call void @llvm.trap()
  br label %78

78:                                               ; preds = %77, %74, %69
  br label %79

79:                                               ; preds = %78
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #9
  %80 = load ptr, ptr %4, align 8, !tbaa !5
  %81 = getelementptr inbounds %struct.b2JointSim, ptr %80, i32 0, i32 6
  %82 = load float, ptr %81, align 4, !tbaa !16
  store float %82, ptr %7, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  %83 = load ptr, ptr %4, align 8, !tbaa !5
  %84 = getelementptr inbounds %struct.b2JointSim, ptr %83, i32 0, i32 7
  %85 = load float, ptr %84, align 4, !tbaa !18
  store float %85, ptr %8, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #9
  %86 = load ptr, ptr %4, align 8, !tbaa !5
  %87 = getelementptr inbounds %struct.b2JointSim, ptr %86, i32 0, i32 8
  %88 = load float, ptr %87, align 4, !tbaa !19
  store float %88, ptr %9, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #9
  %89 = load ptr, ptr %4, align 8, !tbaa !5
  %90 = getelementptr inbounds %struct.b2JointSim, ptr %89, i32 0, i32 9
  %91 = load float, ptr %90, align 4, !tbaa !20
  store float %91, ptr %10, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 4 @__const.b2SolveRevoluteJoint.dummyState, i64 32, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #9
  %92 = load ptr, ptr %4, align 8, !tbaa !5
  %93 = getelementptr inbounds %struct.b2JointSim, ptr %92, i32 0, i32 10
  store ptr %93, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #9
  %94 = load ptr, ptr %12, align 8, !tbaa !5
  %95 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %94, i32 0, i32 12
  %96 = load i32, ptr %95, align 4, !tbaa !21
  %97 = icmp eq i32 %96, -1
  br i1 %97, label %98, label %99

98:                                               ; preds = %79
  br label %108

99:                                               ; preds = %79
  %100 = load ptr, ptr %5, align 8, !tbaa !5
  %101 = getelementptr inbounds %struct.b2StepContext, ptr %100, i32 0, i32 12
  %102 = load ptr, ptr %101, align 8, !tbaa !24
  %103 = load ptr, ptr %12, align 8, !tbaa !5
  %104 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %103, i32 0, i32 12
  %105 = load i32, ptr %104, align 4, !tbaa !21
  %106 = sext i32 %105 to i64
  %107 = getelementptr inbounds %struct.b2BodyState, ptr %102, i64 %106
  br label %108

108:                                              ; preds = %99, %98
  %109 = phi ptr [ %11, %98 ], [ %107, %99 ]
  store ptr %109, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #9
  %110 = load ptr, ptr %12, align 8, !tbaa !5
  %111 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %110, i32 0, i32 13
  %112 = load i32, ptr %111, align 4, !tbaa !28
  %113 = icmp eq i32 %112, -1
  br i1 %113, label %114, label %115

114:                                              ; preds = %108
  br label %124

115:                                              ; preds = %108
  %116 = load ptr, ptr %5, align 8, !tbaa !5
  %117 = getelementptr inbounds %struct.b2StepContext, ptr %116, i32 0, i32 12
  %118 = load ptr, ptr %117, align 8, !tbaa !24
  %119 = load ptr, ptr %12, align 8, !tbaa !5
  %120 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %119, i32 0, i32 13
  %121 = load i32, ptr %120, align 4, !tbaa !28
  %122 = sext i32 %121 to i64
  %123 = getelementptr inbounds %struct.b2BodyState, ptr %118, i64 %122
  br label %124

124:                                              ; preds = %115, %114
  %125 = phi ptr [ %11, %114 ], [ %123, %115 ]
  store ptr %125, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #9
  %126 = load ptr, ptr %13, align 8, !tbaa !5
  %127 = getelementptr inbounds %struct.b2BodyState, ptr %126, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %127, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #9
  %128 = load ptr, ptr %13, align 8, !tbaa !5
  %129 = getelementptr inbounds %struct.b2BodyState, ptr %128, i32 0, i32 1
  %130 = load float, ptr %129, align 4, !tbaa !30
  store float %130, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #9
  %131 = load ptr, ptr %14, align 8, !tbaa !5
  %132 = getelementptr inbounds %struct.b2BodyState, ptr %131, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %132, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #9
  %133 = load ptr, ptr %14, align 8, !tbaa !5
  %134 = getelementptr inbounds %struct.b2BodyState, ptr %133, i32 0, i32 1
  %135 = load float, ptr %134, align 4, !tbaa !30
  store float %135, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 1, ptr %19) #9
  %136 = load float, ptr %9, align 4, !tbaa !17
  %137 = load float, ptr %10, align 4, !tbaa !17
  %138 = fadd float %136, %137
  %139 = fcmp oeq float %138, 0.000000e+00
  %140 = zext i1 %139 to i8
  store i8 %140, ptr %19, align 1, !tbaa !9
  %141 = load ptr, ptr %12, align 8, !tbaa !5
  %142 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %141, i32 0, i32 20
  %143 = load i8, ptr %142, align 4, !tbaa !33, !range !34, !noundef !35
  %144 = trunc i8 %143 to i1
  br i1 %144, label %145, label %209

145:                                              ; preds = %124
  %146 = load i8, ptr %19, align 1, !tbaa !9, !range !34, !noundef !35
  %147 = trunc i8 %146 to i1
  %148 = zext i1 %147 to i32
  %149 = icmp eq i32 %148, 0
  br i1 %149, label %150, label %209

150:                                              ; preds = %145
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #9
  %151 = load ptr, ptr %14, align 8, !tbaa !5
  %152 = getelementptr inbounds %struct.b2BodyState, ptr %151, i32 0, i32 4
  %153 = load ptr, ptr %13, align 8, !tbaa !5
  %154 = getelementptr inbounds %struct.b2BodyState, ptr %153, i32 0, i32 4
  %155 = load <2 x float>, ptr %152, align 4
  %156 = load <2 x float>, ptr %154, align 4
  %157 = call float @b2RelativeAngle(<2 x float> %155, <2 x float> %156)
  %158 = load ptr, ptr %12, align 8, !tbaa !5
  %159 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %158, i32 0, i32 17
  %160 = load float, ptr %159, align 4, !tbaa !36
  %161 = fadd float %157, %160
  store float %161, ptr %20, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #9
  %162 = load ptr, ptr %12, align 8, !tbaa !5
  %163 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %162, i32 0, i32 19
  %164 = getelementptr inbounds %struct.b2Softness, ptr %163, i32 0, i32 0
  %165 = load float, ptr %164, align 4, !tbaa !37
  %166 = load float, ptr %20, align 4, !tbaa !17
  %167 = fmul float %165, %166
  store float %167, ptr %21, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #9
  %168 = load ptr, ptr %12, align 8, !tbaa !5
  %169 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %168, i32 0, i32 19
  %170 = getelementptr inbounds %struct.b2Softness, ptr %169, i32 0, i32 1
  %171 = load float, ptr %170, align 4, !tbaa !38
  store float %171, ptr %22, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #9
  %172 = load ptr, ptr %12, align 8, !tbaa !5
  %173 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %172, i32 0, i32 19
  %174 = getelementptr inbounds %struct.b2Softness, ptr %173, i32 0, i32 2
  %175 = load float, ptr %174, align 4, !tbaa !39
  store float %175, ptr %23, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  %176 = load float, ptr %18, align 4, !tbaa !17
  %177 = load float, ptr %16, align 4, !tbaa !17
  %178 = fsub float %176, %177
  store float %178, ptr %24, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #9
  %179 = load float, ptr %22, align 4, !tbaa !17
  %180 = fneg float %179
  %181 = load ptr, ptr %12, align 8, !tbaa !5
  %182 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %181, i32 0, i32 18
  %183 = load float, ptr %182, align 4, !tbaa !40
  %184 = fmul float %180, %183
  %185 = load float, ptr %24, align 4, !tbaa !17
  %186 = load float, ptr %21, align 4, !tbaa !17
  %187 = fadd float %185, %186
  %188 = load float, ptr %23, align 4, !tbaa !17
  %189 = load ptr, ptr %12, align 8, !tbaa !5
  %190 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %189, i32 0, i32 1
  %191 = load float, ptr %190, align 4, !tbaa !41
  %192 = fmul float %188, %191
  %193 = fneg float %192
  %194 = call float @llvm.fmuladd.f32(float %184, float %187, float %193)
  store float %194, ptr %25, align 4, !tbaa !17
  %195 = load float, ptr %25, align 4, !tbaa !17
  %196 = load ptr, ptr %12, align 8, !tbaa !5
  %197 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %196, i32 0, i32 1
  %198 = load float, ptr %197, align 4, !tbaa !41
  %199 = fadd float %198, %195
  store float %199, ptr %197, align 4, !tbaa !41
  %200 = load float, ptr %9, align 4, !tbaa !17
  %201 = load float, ptr %25, align 4, !tbaa !17
  %202 = load float, ptr %16, align 4, !tbaa !17
  %203 = fneg float %200
  %204 = call float @llvm.fmuladd.f32(float %203, float %201, float %202)
  store float %204, ptr %16, align 4, !tbaa !17
  %205 = load float, ptr %10, align 4, !tbaa !17
  %206 = load float, ptr %25, align 4, !tbaa !17
  %207 = load float, ptr %18, align 4, !tbaa !17
  %208 = call float @llvm.fmuladd.f32(float %205, float %206, float %207)
  store float %208, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #9
  br label %209

209:                                              ; preds = %150, %145, %124
  %210 = load ptr, ptr %12, align 8, !tbaa !5
  %211 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %210, i32 0, i32 21
  %212 = load i8, ptr %211, align 1, !tbaa !42, !range !34, !noundef !35
  %213 = trunc i8 %212 to i1
  br i1 %213, label %214, label %268

214:                                              ; preds = %209
  %215 = load i8, ptr %19, align 1, !tbaa !9, !range !34, !noundef !35
  %216 = trunc i8 %215 to i1
  %217 = zext i1 %216 to i32
  %218 = icmp eq i32 %217, 0
  br i1 %218, label %219, label %268

219:                                              ; preds = %214
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  %220 = load float, ptr %18, align 4, !tbaa !17
  %221 = load float, ptr %16, align 4, !tbaa !17
  %222 = fsub float %220, %221
  %223 = load ptr, ptr %12, align 8, !tbaa !5
  %224 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %223, i32 0, i32 8
  %225 = load float, ptr %224, align 4, !tbaa !43
  %226 = fsub float %222, %225
  store float %226, ptr %26, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  %227 = load ptr, ptr %12, align 8, !tbaa !5
  %228 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %227, i32 0, i32 18
  %229 = load float, ptr %228, align 4, !tbaa !40
  %230 = fneg float %229
  %231 = load float, ptr %26, align 4, !tbaa !17
  %232 = fmul float %230, %231
  store float %232, ptr %27, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #9
  %233 = load ptr, ptr %12, align 8, !tbaa !5
  %234 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %233, i32 0, i32 2
  %235 = load float, ptr %234, align 4, !tbaa !44
  store float %235, ptr %28, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  %236 = load ptr, ptr %5, align 8, !tbaa !5
  %237 = getelementptr inbounds %struct.b2StepContext, ptr %236, i32 0, i32 2
  %238 = load float, ptr %237, align 8, !tbaa !45
  %239 = load ptr, ptr %12, align 8, !tbaa !5
  %240 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %239, i32 0, i32 7
  %241 = load float, ptr %240, align 4, !tbaa !46
  %242 = fmul float %238, %241
  store float %242, ptr %29, align 4, !tbaa !17
  %243 = load ptr, ptr %12, align 8, !tbaa !5
  %244 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %243, i32 0, i32 2
  %245 = load float, ptr %244, align 4, !tbaa !44
  %246 = load float, ptr %27, align 4, !tbaa !17
  %247 = fadd float %245, %246
  %248 = load float, ptr %29, align 4, !tbaa !17
  %249 = fneg float %248
  %250 = load float, ptr %29, align 4, !tbaa !17
  %251 = call float @b2ClampFloat(float noundef %247, float noundef %249, float noundef %250)
  %252 = load ptr, ptr %12, align 8, !tbaa !5
  %253 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %252, i32 0, i32 2
  store float %251, ptr %253, align 4, !tbaa !44
  %254 = load ptr, ptr %12, align 8, !tbaa !5
  %255 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %254, i32 0, i32 2
  %256 = load float, ptr %255, align 4, !tbaa !44
  %257 = load float, ptr %28, align 4, !tbaa !17
  %258 = fsub float %256, %257
  store float %258, ptr %27, align 4, !tbaa !17
  %259 = load float, ptr %9, align 4, !tbaa !17
  %260 = load float, ptr %27, align 4, !tbaa !17
  %261 = load float, ptr %16, align 4, !tbaa !17
  %262 = fneg float %259
  %263 = call float @llvm.fmuladd.f32(float %262, float %260, float %261)
  store float %263, ptr %16, align 4, !tbaa !17
  %264 = load float, ptr %10, align 4, !tbaa !17
  %265 = load float, ptr %27, align 4, !tbaa !17
  %266 = load float, ptr %18, align 4, !tbaa !17
  %267 = call float @llvm.fmuladd.f32(float %264, float %265, float %266)
  store float %267, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #9
  br label %268

268:                                              ; preds = %219, %214, %209
  %269 = load ptr, ptr %12, align 8, !tbaa !5
  %270 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %269, i32 0, i32 22
  %271 = load i8, ptr %270, align 2, !tbaa !47, !range !34, !noundef !35
  %272 = trunc i8 %271 to i1
  br i1 %272, label %273, label %438

273:                                              ; preds = %268
  %274 = load i8, ptr %19, align 1, !tbaa !9, !range !34, !noundef !35
  %275 = trunc i8 %274 to i1
  %276 = zext i1 %275 to i32
  %277 = icmp eq i32 %276, 0
  br i1 %277, label %278, label %438

278:                                              ; preds = %273
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #9
  %279 = load ptr, ptr %14, align 8, !tbaa !5
  %280 = getelementptr inbounds %struct.b2BodyState, ptr %279, i32 0, i32 4
  %281 = load ptr, ptr %13, align 8, !tbaa !5
  %282 = getelementptr inbounds %struct.b2BodyState, ptr %281, i32 0, i32 4
  %283 = load <2 x float>, ptr %280, align 4
  %284 = load <2 x float>, ptr %282, align 4
  %285 = call float @b2RelativeAngle(<2 x float> %283, <2 x float> %284)
  %286 = load ptr, ptr %12, align 8, !tbaa !5
  %287 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %286, i32 0, i32 17
  %288 = load float, ptr %287, align 4, !tbaa !36
  %289 = fadd float %285, %288
  store float %289, ptr %30, align 4, !tbaa !17
  %290 = load float, ptr %30, align 4, !tbaa !17
  %291 = call float @b2UnwindAngle(float noundef %290)
  store float %291, ptr %30, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #9
  %292 = load float, ptr %30, align 4, !tbaa !17
  %293 = load ptr, ptr %12, align 8, !tbaa !5
  %294 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %293, i32 0, i32 10
  %295 = load float, ptr %294, align 4, !tbaa !48
  %296 = fsub float %292, %295
  store float %296, ptr %31, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #9
  store float 0.000000e+00, ptr %32, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #9
  store float 1.000000e+00, ptr %33, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #9
  store float 0.000000e+00, ptr %34, align 4, !tbaa !17
  %297 = load float, ptr %31, align 4, !tbaa !17
  %298 = fcmp ogt float %297, 0.000000e+00
  br i1 %298, label %299, label %305

299:                                              ; preds = %278
  %300 = load float, ptr %31, align 4, !tbaa !17
  %301 = load ptr, ptr %5, align 8, !tbaa !5
  %302 = getelementptr inbounds %struct.b2StepContext, ptr %301, i32 0, i32 3
  %303 = load float, ptr %302, align 4, !tbaa !49
  %304 = fmul float %300, %303
  store float %304, ptr %32, align 4, !tbaa !17
  br label %324

305:                                              ; preds = %278
  %306 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %307 = trunc i8 %306 to i1
  br i1 %307, label %308, label %323

308:                                              ; preds = %305
  %309 = load ptr, ptr %5, align 8, !tbaa !5
  %310 = getelementptr inbounds %struct.b2StepContext, ptr %309, i32 0, i32 5
  %311 = getelementptr inbounds %struct.b2Softness, ptr %310, i32 0, i32 0
  %312 = load float, ptr %311, align 4, !tbaa !50
  %313 = load float, ptr %31, align 4, !tbaa !17
  %314 = fmul float %312, %313
  store float %314, ptr %32, align 4, !tbaa !17
  %315 = load ptr, ptr %5, align 8, !tbaa !5
  %316 = getelementptr inbounds %struct.b2StepContext, ptr %315, i32 0, i32 5
  %317 = getelementptr inbounds %struct.b2Softness, ptr %316, i32 0, i32 1
  %318 = load float, ptr %317, align 4, !tbaa !51
  store float %318, ptr %33, align 4, !tbaa !17
  %319 = load ptr, ptr %5, align 8, !tbaa !5
  %320 = getelementptr inbounds %struct.b2StepContext, ptr %319, i32 0, i32 5
  %321 = getelementptr inbounds %struct.b2Softness, ptr %320, i32 0, i32 2
  %322 = load float, ptr %321, align 4, !tbaa !52
  store float %322, ptr %34, align 4, !tbaa !17
  br label %323

323:                                              ; preds = %308, %305
  br label %324

324:                                              ; preds = %323, %299
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #9
  %325 = load float, ptr %18, align 4, !tbaa !17
  %326 = load float, ptr %16, align 4, !tbaa !17
  %327 = fsub float %325, %326
  store float %327, ptr %35, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #9
  %328 = load ptr, ptr %12, align 8, !tbaa !5
  %329 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %328, i32 0, i32 3
  %330 = load float, ptr %329, align 4, !tbaa !53
  store float %330, ptr %36, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #9
  %331 = load float, ptr %33, align 4, !tbaa !17
  %332 = fneg float %331
  %333 = load ptr, ptr %12, align 8, !tbaa !5
  %334 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %333, i32 0, i32 18
  %335 = load float, ptr %334, align 4, !tbaa !40
  %336 = fmul float %332, %335
  %337 = load float, ptr %35, align 4, !tbaa !17
  %338 = load float, ptr %32, align 4, !tbaa !17
  %339 = fadd float %337, %338
  %340 = load float, ptr %34, align 4, !tbaa !17
  %341 = load float, ptr %36, align 4, !tbaa !17
  %342 = fmul float %340, %341
  %343 = fneg float %342
  %344 = call float @llvm.fmuladd.f32(float %336, float %339, float %343)
  store float %344, ptr %37, align 4, !tbaa !17
  %345 = load float, ptr %36, align 4, !tbaa !17
  %346 = load float, ptr %37, align 4, !tbaa !17
  %347 = fadd float %345, %346
  %348 = call float @b2MaxFloat(float noundef %347, float noundef 0.000000e+00)
  %349 = load ptr, ptr %12, align 8, !tbaa !5
  %350 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %349, i32 0, i32 3
  store float %348, ptr %350, align 4, !tbaa !53
  %351 = load ptr, ptr %12, align 8, !tbaa !5
  %352 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %351, i32 0, i32 3
  %353 = load float, ptr %352, align 4, !tbaa !53
  %354 = load float, ptr %36, align 4, !tbaa !17
  %355 = fsub float %353, %354
  store float %355, ptr %37, align 4, !tbaa !17
  %356 = load float, ptr %9, align 4, !tbaa !17
  %357 = load float, ptr %37, align 4, !tbaa !17
  %358 = load float, ptr %16, align 4, !tbaa !17
  %359 = fneg float %356
  %360 = call float @llvm.fmuladd.f32(float %359, float %357, float %358)
  store float %360, ptr %16, align 4, !tbaa !17
  %361 = load float, ptr %10, align 4, !tbaa !17
  %362 = load float, ptr %37, align 4, !tbaa !17
  %363 = load float, ptr %18, align 4, !tbaa !17
  %364 = call float @llvm.fmuladd.f32(float %361, float %362, float %363)
  store float %364, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #9
  %365 = load ptr, ptr %12, align 8, !tbaa !5
  %366 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %365, i32 0, i32 11
  %367 = load float, ptr %366, align 4, !tbaa !54
  %368 = load float, ptr %30, align 4, !tbaa !17
  %369 = fsub float %367, %368
  store float %369, ptr %38, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #9
  store float 0.000000e+00, ptr %39, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #9
  store float 1.000000e+00, ptr %40, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #9
  store float 0.000000e+00, ptr %41, align 4, !tbaa !17
  %370 = load float, ptr %38, align 4, !tbaa !17
  %371 = fcmp ogt float %370, 0.000000e+00
  br i1 %371, label %372, label %378

372:                                              ; preds = %324
  %373 = load float, ptr %38, align 4, !tbaa !17
  %374 = load ptr, ptr %5, align 8, !tbaa !5
  %375 = getelementptr inbounds %struct.b2StepContext, ptr %374, i32 0, i32 3
  %376 = load float, ptr %375, align 4, !tbaa !49
  %377 = fmul float %373, %376
  store float %377, ptr %39, align 4, !tbaa !17
  br label %397

378:                                              ; preds = %324
  %379 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %380 = trunc i8 %379 to i1
  br i1 %380, label %381, label %396

381:                                              ; preds = %378
  %382 = load ptr, ptr %5, align 8, !tbaa !5
  %383 = getelementptr inbounds %struct.b2StepContext, ptr %382, i32 0, i32 5
  %384 = getelementptr inbounds %struct.b2Softness, ptr %383, i32 0, i32 0
  %385 = load float, ptr %384, align 4, !tbaa !50
  %386 = load float, ptr %38, align 4, !tbaa !17
  %387 = fmul float %385, %386
  store float %387, ptr %39, align 4, !tbaa !17
  %388 = load ptr, ptr %5, align 8, !tbaa !5
  %389 = getelementptr inbounds %struct.b2StepContext, ptr %388, i32 0, i32 5
  %390 = getelementptr inbounds %struct.b2Softness, ptr %389, i32 0, i32 1
  %391 = load float, ptr %390, align 4, !tbaa !51
  store float %391, ptr %40, align 4, !tbaa !17
  %392 = load ptr, ptr %5, align 8, !tbaa !5
  %393 = getelementptr inbounds %struct.b2StepContext, ptr %392, i32 0, i32 5
  %394 = getelementptr inbounds %struct.b2Softness, ptr %393, i32 0, i32 2
  %395 = load float, ptr %394, align 4, !tbaa !52
  store float %395, ptr %41, align 4, !tbaa !17
  br label %396

396:                                              ; preds = %381, %378
  br label %397

397:                                              ; preds = %396, %372
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #9
  %398 = load float, ptr %16, align 4, !tbaa !17
  %399 = load float, ptr %18, align 4, !tbaa !17
  %400 = fsub float %398, %399
  store float %400, ptr %42, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #9
  %401 = load ptr, ptr %12, align 8, !tbaa !5
  %402 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %401, i32 0, i32 4
  %403 = load float, ptr %402, align 4, !tbaa !55
  store float %403, ptr %43, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #9
  %404 = load float, ptr %40, align 4, !tbaa !17
  %405 = fneg float %404
  %406 = load ptr, ptr %12, align 8, !tbaa !5
  %407 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %406, i32 0, i32 18
  %408 = load float, ptr %407, align 4, !tbaa !40
  %409 = fmul float %405, %408
  %410 = load float, ptr %42, align 4, !tbaa !17
  %411 = load float, ptr %39, align 4, !tbaa !17
  %412 = fadd float %410, %411
  %413 = load float, ptr %41, align 4, !tbaa !17
  %414 = load float, ptr %43, align 4, !tbaa !17
  %415 = fmul float %413, %414
  %416 = fneg float %415
  %417 = call float @llvm.fmuladd.f32(float %409, float %412, float %416)
  store float %417, ptr %44, align 4, !tbaa !17
  %418 = load float, ptr %43, align 4, !tbaa !17
  %419 = load float, ptr %44, align 4, !tbaa !17
  %420 = fadd float %418, %419
  %421 = call float @b2MaxFloat(float noundef %420, float noundef 0.000000e+00)
  %422 = load ptr, ptr %12, align 8, !tbaa !5
  %423 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %422, i32 0, i32 4
  store float %421, ptr %423, align 4, !tbaa !55
  %424 = load ptr, ptr %12, align 8, !tbaa !5
  %425 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %424, i32 0, i32 4
  %426 = load float, ptr %425, align 4, !tbaa !55
  %427 = load float, ptr %43, align 4, !tbaa !17
  %428 = fsub float %426, %427
  store float %428, ptr %44, align 4, !tbaa !17
  %429 = load float, ptr %9, align 4, !tbaa !17
  %430 = load float, ptr %44, align 4, !tbaa !17
  %431 = load float, ptr %16, align 4, !tbaa !17
  %432 = call float @llvm.fmuladd.f32(float %429, float %430, float %431)
  store float %432, ptr %16, align 4, !tbaa !17
  %433 = load float, ptr %10, align 4, !tbaa !17
  %434 = load float, ptr %44, align 4, !tbaa !17
  %435 = load float, ptr %18, align 4, !tbaa !17
  %436 = fneg float %433
  %437 = call float @llvm.fmuladd.f32(float %436, float %434, float %435)
  store float %437, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #9
  br label %438

438:                                              ; preds = %397, %273, %268
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #9
  %439 = load ptr, ptr %13, align 8, !tbaa !5
  %440 = getelementptr inbounds %struct.b2BodyState, ptr %439, i32 0, i32 4
  %441 = load ptr, ptr %12, align 8, !tbaa !5
  %442 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %441, i32 0, i32 14
  %443 = load <2 x float>, ptr %440, align 4
  %444 = load <2 x float>, ptr %442, align 4
  %445 = call <2 x float> @b2RotateVector(<2 x float> %443, <2 x float> %444)
  store <2 x float> %445, ptr %45, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #9
  %446 = load ptr, ptr %14, align 8, !tbaa !5
  %447 = getelementptr inbounds %struct.b2BodyState, ptr %446, i32 0, i32 4
  %448 = load ptr, ptr %12, align 8, !tbaa !5
  %449 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %448, i32 0, i32 15
  %450 = load <2 x float>, ptr %447, align 4
  %451 = load <2 x float>, ptr %449, align 4
  %452 = call <2 x float> @b2RotateVector(<2 x float> %450, <2 x float> %451)
  store <2 x float> %452, ptr %46, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #9
  %453 = load float, ptr %18, align 4, !tbaa !17
  %454 = load <2 x float>, ptr %46, align 4
  %455 = call <2 x float> @b2CrossSV(float noundef %453, <2 x float> %454)
  store <2 x float> %455, ptr %49, align 4
  %456 = load <2 x float>, ptr %17, align 4
  %457 = load <2 x float>, ptr %49, align 4
  %458 = call <2 x float> @b2Add(<2 x float> %456, <2 x float> %457)
  store <2 x float> %458, ptr %48, align 4
  %459 = load float, ptr %16, align 4, !tbaa !17
  %460 = load <2 x float>, ptr %45, align 4
  %461 = call <2 x float> @b2CrossSV(float noundef %459, <2 x float> %460)
  store <2 x float> %461, ptr %51, align 4
  %462 = load <2 x float>, ptr %15, align 4
  %463 = load <2 x float>, ptr %51, align 4
  %464 = call <2 x float> @b2Add(<2 x float> %462, <2 x float> %463)
  store <2 x float> %464, ptr %50, align 4
  %465 = load <2 x float>, ptr %48, align 4
  %466 = load <2 x float>, ptr %50, align 4
  %467 = call <2 x float> @b2Sub(<2 x float> %465, <2 x float> %466)
  store <2 x float> %467, ptr %47, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #9
  call void @llvm.memset.p0.i64(ptr align 4 %52, i8 0, i64 8, i1 false)
  call void @llvm.lifetime.start.p0(i64 4, ptr %53) #9
  store float 1.000000e+00, ptr %53, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %54) #9
  store float 0.000000e+00, ptr %54, align 4, !tbaa !17
  %468 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %469 = trunc i8 %468 to i1
  br i1 %469, label %470, label %503

470:                                              ; preds = %438
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #9
  %471 = load ptr, ptr %13, align 8, !tbaa !5
  %472 = getelementptr inbounds %struct.b2BodyState, ptr %471, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %55, ptr align 4 %472, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #9
  %473 = load ptr, ptr %14, align 8, !tbaa !5
  %474 = getelementptr inbounds %struct.b2BodyState, ptr %473, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %56, ptr align 4 %474, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #9
  %475 = load <2 x float>, ptr %56, align 4
  %476 = load <2 x float>, ptr %55, align 4
  %477 = call <2 x float> @b2Sub(<2 x float> %475, <2 x float> %476)
  store <2 x float> %477, ptr %59, align 4
  %478 = load <2 x float>, ptr %46, align 4
  %479 = load <2 x float>, ptr %45, align 4
  %480 = call <2 x float> @b2Sub(<2 x float> %478, <2 x float> %479)
  store <2 x float> %480, ptr %60, align 4
  %481 = load <2 x float>, ptr %59, align 4
  %482 = load <2 x float>, ptr %60, align 4
  %483 = call <2 x float> @b2Add(<2 x float> %481, <2 x float> %482)
  store <2 x float> %483, ptr %58, align 4
  %484 = load ptr, ptr %12, align 8, !tbaa !5
  %485 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %484, i32 0, i32 16
  %486 = load <2 x float>, ptr %58, align 4
  %487 = load <2 x float>, ptr %485, align 4
  %488 = call <2 x float> @b2Add(<2 x float> %486, <2 x float> %487)
  store <2 x float> %488, ptr %57, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %61) #9
  %489 = load ptr, ptr %5, align 8, !tbaa !5
  %490 = getelementptr inbounds %struct.b2StepContext, ptr %489, i32 0, i32 5
  %491 = getelementptr inbounds %struct.b2Softness, ptr %490, i32 0, i32 0
  %492 = load float, ptr %491, align 4, !tbaa !50
  %493 = load <2 x float>, ptr %57, align 4
  %494 = call <2 x float> @b2MulSV(float noundef %492, <2 x float> %493)
  store <2 x float> %494, ptr %61, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %52, ptr align 4 %61, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %61) #9
  %495 = load ptr, ptr %5, align 8, !tbaa !5
  %496 = getelementptr inbounds %struct.b2StepContext, ptr %495, i32 0, i32 5
  %497 = getelementptr inbounds %struct.b2Softness, ptr %496, i32 0, i32 1
  %498 = load float, ptr %497, align 4, !tbaa !51
  store float %498, ptr %53, align 4, !tbaa !17
  %499 = load ptr, ptr %5, align 8, !tbaa !5
  %500 = getelementptr inbounds %struct.b2StepContext, ptr %499, i32 0, i32 5
  %501 = getelementptr inbounds %struct.b2Softness, ptr %500, i32 0, i32 2
  %502 = load float, ptr %501, align 4, !tbaa !52
  store float %502, ptr %54, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #9
  br label %503

503:                                              ; preds = %470, %438
  call void @llvm.lifetime.start.p0(i64 16, ptr %62) #9
  %504 = load float, ptr %7, align 4, !tbaa !17
  %505 = load float, ptr %8, align 4, !tbaa !17
  %506 = fadd float %504, %505
  %507 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 1
  %508 = load float, ptr %507, align 4, !tbaa !56
  %509 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 1
  %510 = load float, ptr %509, align 4, !tbaa !56
  %511 = fmul float %508, %510
  %512 = load float, ptr %9, align 4, !tbaa !17
  %513 = call float @llvm.fmuladd.f32(float %511, float %512, float %506)
  %514 = getelementptr inbounds %struct.b2Vec2, ptr %46, i32 0, i32 1
  %515 = load float, ptr %514, align 4, !tbaa !56
  %516 = getelementptr inbounds %struct.b2Vec2, ptr %46, i32 0, i32 1
  %517 = load float, ptr %516, align 4, !tbaa !56
  %518 = fmul float %515, %517
  %519 = load float, ptr %10, align 4, !tbaa !17
  %520 = call float @llvm.fmuladd.f32(float %518, float %519, float %513)
  %521 = getelementptr inbounds %struct.b2Mat22, ptr %62, i32 0, i32 0
  %522 = getelementptr inbounds %struct.b2Vec2, ptr %521, i32 0, i32 0
  store float %520, ptr %522, align 4, !tbaa !57
  %523 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 1
  %524 = load float, ptr %523, align 4, !tbaa !56
  %525 = fneg float %524
  %526 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 0
  %527 = load float, ptr %526, align 4, !tbaa !59
  %528 = fmul float %525, %527
  %529 = load float, ptr %9, align 4, !tbaa !17
  %530 = getelementptr inbounds %struct.b2Vec2, ptr %46, i32 0, i32 1
  %531 = load float, ptr %530, align 4, !tbaa !56
  %532 = getelementptr inbounds %struct.b2Vec2, ptr %46, i32 0, i32 0
  %533 = load float, ptr %532, align 4, !tbaa !59
  %534 = fmul float %531, %533
  %535 = load float, ptr %10, align 4, !tbaa !17
  %536 = fmul float %534, %535
  %537 = fneg float %536
  %538 = call float @llvm.fmuladd.f32(float %528, float %529, float %537)
  %539 = getelementptr inbounds %struct.b2Mat22, ptr %62, i32 0, i32 1
  %540 = getelementptr inbounds %struct.b2Vec2, ptr %539, i32 0, i32 0
  store float %538, ptr %540, align 4, !tbaa !60
  %541 = getelementptr inbounds %struct.b2Mat22, ptr %62, i32 0, i32 1
  %542 = getelementptr inbounds %struct.b2Vec2, ptr %541, i32 0, i32 0
  %543 = load float, ptr %542, align 4, !tbaa !60
  %544 = getelementptr inbounds %struct.b2Mat22, ptr %62, i32 0, i32 0
  %545 = getelementptr inbounds %struct.b2Vec2, ptr %544, i32 0, i32 1
  store float %543, ptr %545, align 4, !tbaa !61
  %546 = load float, ptr %7, align 4, !tbaa !17
  %547 = load float, ptr %8, align 4, !tbaa !17
  %548 = fadd float %546, %547
  %549 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 0
  %550 = load float, ptr %549, align 4, !tbaa !59
  %551 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 0
  %552 = load float, ptr %551, align 4, !tbaa !59
  %553 = fmul float %550, %552
  %554 = load float, ptr %9, align 4, !tbaa !17
  %555 = call float @llvm.fmuladd.f32(float %553, float %554, float %548)
  %556 = getelementptr inbounds %struct.b2Vec2, ptr %46, i32 0, i32 0
  %557 = load float, ptr %556, align 4, !tbaa !59
  %558 = getelementptr inbounds %struct.b2Vec2, ptr %46, i32 0, i32 0
  %559 = load float, ptr %558, align 4, !tbaa !59
  %560 = fmul float %557, %559
  %561 = load float, ptr %10, align 4, !tbaa !17
  %562 = call float @llvm.fmuladd.f32(float %560, float %561, float %555)
  %563 = getelementptr inbounds %struct.b2Mat22, ptr %62, i32 0, i32 1
  %564 = getelementptr inbounds %struct.b2Vec2, ptr %563, i32 0, i32 1
  store float %562, ptr %564, align 4, !tbaa !62
  call void @llvm.lifetime.start.p0(i64 8, ptr %63) #9
  %565 = load <2 x float>, ptr %47, align 4
  %566 = load <2 x float>, ptr %52, align 4
  %567 = call <2 x float> @b2Add(<2 x float> %565, <2 x float> %566)
  store <2 x float> %567, ptr %64, align 4
  %568 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %62, i32 0, i32 0
  %569 = load <2 x float>, ptr %568, align 4
  %570 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %62, i32 0, i32 1
  %571 = load <2 x float>, ptr %570, align 4
  %572 = load <2 x float>, ptr %64, align 4
  %573 = call <2 x float> @b2Solve22(<2 x float> %569, <2 x float> %571, <2 x float> %572)
  store <2 x float> %573, ptr %63, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %65) #9
  %574 = load float, ptr %53, align 4, !tbaa !17
  %575 = fneg float %574
  %576 = getelementptr inbounds %struct.b2Vec2, ptr %63, i32 0, i32 0
  %577 = load float, ptr %576, align 4, !tbaa !59
  %578 = load float, ptr %54, align 4, !tbaa !17
  %579 = load ptr, ptr %12, align 8, !tbaa !5
  %580 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %579, i32 0, i32 0
  %581 = getelementptr inbounds %struct.b2Vec2, ptr %580, i32 0, i32 0
  %582 = load float, ptr %581, align 4, !tbaa !63
  %583 = fmul float %578, %582
  %584 = fneg float %583
  %585 = call float @llvm.fmuladd.f32(float %575, float %577, float %584)
  %586 = getelementptr inbounds %struct.b2Vec2, ptr %65, i32 0, i32 0
  store float %585, ptr %586, align 4, !tbaa !59
  %587 = load float, ptr %53, align 4, !tbaa !17
  %588 = fneg float %587
  %589 = getelementptr inbounds %struct.b2Vec2, ptr %63, i32 0, i32 1
  %590 = load float, ptr %589, align 4, !tbaa !56
  %591 = load float, ptr %54, align 4, !tbaa !17
  %592 = load ptr, ptr %12, align 8, !tbaa !5
  %593 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %592, i32 0, i32 0
  %594 = getelementptr inbounds %struct.b2Vec2, ptr %593, i32 0, i32 1
  %595 = load float, ptr %594, align 4, !tbaa !64
  %596 = fmul float %591, %595
  %597 = fneg float %596
  %598 = call float @llvm.fmuladd.f32(float %588, float %590, float %597)
  %599 = getelementptr inbounds %struct.b2Vec2, ptr %65, i32 0, i32 1
  store float %598, ptr %599, align 4, !tbaa !56
  %600 = getelementptr inbounds %struct.b2Vec2, ptr %65, i32 0, i32 0
  %601 = load float, ptr %600, align 4, !tbaa !59
  %602 = load ptr, ptr %12, align 8, !tbaa !5
  %603 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %602, i32 0, i32 0
  %604 = getelementptr inbounds %struct.b2Vec2, ptr %603, i32 0, i32 0
  %605 = load float, ptr %604, align 4, !tbaa !63
  %606 = fadd float %605, %601
  store float %606, ptr %604, align 4, !tbaa !63
  %607 = getelementptr inbounds %struct.b2Vec2, ptr %65, i32 0, i32 1
  %608 = load float, ptr %607, align 4, !tbaa !56
  %609 = load ptr, ptr %12, align 8, !tbaa !5
  %610 = getelementptr inbounds %struct.b2RevoluteJoint, ptr %609, i32 0, i32 0
  %611 = getelementptr inbounds %struct.b2Vec2, ptr %610, i32 0, i32 1
  %612 = load float, ptr %611, align 4, !tbaa !64
  %613 = fadd float %612, %608
  store float %613, ptr %611, align 4, !tbaa !64
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #9
  %614 = load float, ptr %7, align 4, !tbaa !17
  %615 = load <2 x float>, ptr %15, align 4
  %616 = load <2 x float>, ptr %65, align 4
  %617 = call <2 x float> @b2MulSub(<2 x float> %615, float noundef %614, <2 x float> %616)
  store <2 x float> %617, ptr %66, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %66, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #9
  %618 = load float, ptr %9, align 4, !tbaa !17
  %619 = load <2 x float>, ptr %45, align 4
  %620 = load <2 x float>, ptr %65, align 4
  %621 = call float @b2Cross(<2 x float> %619, <2 x float> %620)
  %622 = load float, ptr %16, align 4, !tbaa !17
  %623 = fneg float %618
  %624 = call float @llvm.fmuladd.f32(float %623, float %621, float %622)
  store float %624, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %67) #9
  %625 = load float, ptr %8, align 4, !tbaa !17
  %626 = load <2 x float>, ptr %17, align 4
  %627 = load <2 x float>, ptr %65, align 4
  %628 = call <2 x float> @b2MulAdd(<2 x float> %626, float noundef %625, <2 x float> %627)
  store <2 x float> %628, ptr %67, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %67, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %67) #9
  %629 = load float, ptr %10, align 4, !tbaa !17
  %630 = load <2 x float>, ptr %46, align 4
  %631 = load <2 x float>, ptr %65, align 4
  %632 = call float @b2Cross(<2 x float> %630, <2 x float> %631)
  %633 = load float, ptr %18, align 4, !tbaa !17
  %634 = call float @llvm.fmuladd.f32(float %629, float %632, float %633)
  store float %634, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %62) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %53) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #9
  %635 = load ptr, ptr %13, align 8, !tbaa !5
  %636 = getelementptr inbounds %struct.b2BodyState, ptr %635, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %636, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !29
  %637 = load float, ptr %16, align 4, !tbaa !17
  %638 = load ptr, ptr %13, align 8, !tbaa !5
  %639 = getelementptr inbounds %struct.b2BodyState, ptr %638, i32 0, i32 1
  store float %637, ptr %639, align 4, !tbaa !30
  %640 = load ptr, ptr %14, align 8, !tbaa !5
  %641 = getelementptr inbounds %struct.b2BodyState, ptr %640, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %641, ptr align 4 %17, i64 8, i1 false), !tbaa.struct !29
  %642 = load float, ptr %18, align 4, !tbaa !17
  %643 = load ptr, ptr %14, align 8, !tbaa !5
  %644 = getelementptr inbounds %struct.b2BodyState, ptr %643, i32 0, i32 1
  store float %642, ptr %644, align 4, !tbaa !30
  call void @llvm.lifetime.end.p0(i64 1, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #9
  ret void
}

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2ClampFloat(float noundef, float noundef, float noundef) #2

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Add(<2 x float>, <2 x float>) #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2CrossSV(float noundef, <2 x float>) #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #8

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Solve22(<2 x float>, <2 x float>, <2 x float>) #1

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { inlinehint nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { "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: readwrite) }
attributes #6 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { 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 #8 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #9 = { 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, !10, i64 0}
!10 = !{!"_Bool", !7, i64 0}
!11 = !{!12, !13, i64 12}
!12 = !{!"b2JointSim", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !14, i64 16, !14, i64 24, !15, i64 32, !15, i64 36, !15, i64 40, !15, i64 44, !7, i64 48}
!13 = !{!"int", !7, i64 0}
!14 = !{!"b2Vec2", !15, i64 0, !15, i64 4}
!15 = !{!"float", !7, i64 0}
!16 = !{!12, !15, i64 32}
!17 = !{!15, !15, i64 0}
!18 = !{!12, !15, i64 36}
!19 = !{!12, !15, i64 40}
!20 = !{!12, !15, i64 44}
!21 = !{!22, !13, i64 52}
!22 = !{!"b2RevoluteJoint", !14, i64 0, !15, i64 8, !15, i64 12, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28, !15, i64 32, !15, i64 36, !15, i64 40, !15, i64 44, !15, i64 48, !13, i64 52, !13, i64 56, !14, i64 60, !14, i64 68, !14, i64 76, !15, i64 84, !15, i64 88, !23, i64 92, !10, i64 104, !10, i64 105, !10, i64 106}
!23 = !{!"b2Softness", !15, i64 0, !15, i64 4, !15, i64 8}
!24 = !{!25, !6, i64 80}
!25 = !{!"b2StepContext", !15, i64 0, !15, i64 4, !15, i64 8, !15, i64 12, !13, i64 16, !23, i64 20, !23, i64 32, !23, i64 44, !15, i64 56, !15, i64 60, !6, i64 64, !6, i64 72, !6, i64 80, !6, i64 88, !6, i64 96, !13, i64 104, !6, i64 112, !26, i64 120, !6, i64 128, !6, i64 136, !6, i64 144, !13, i64 152, !13, i64 156, !6, i64 160, !13, i64 168, !10, i64 172, !7, i64 173, !27, i64 240, !7, i64 244}
!26 = !{!"b2AtomicInt", !13, i64 0}
!27 = !{!"b2AtomicU32", !13, i64 0}
!28 = !{!22, !13, i64 56}
!29 = !{i64 0, i64 4, !17, i64 4, i64 4, !17}
!30 = !{!31, !15, i64 8}
!31 = !{!"b2BodyState", !14, i64 0, !15, i64 8, !13, i64 12, !14, i64 16, !32, i64 24}
!32 = !{!"b2Rot", !15, i64 0, !15, i64 4}
!33 = !{!22, !10, i64 104}
!34 = !{i8 0, i8 2}
!35 = !{}
!36 = !{!22, !15, i64 84}
!37 = !{!22, !15, i64 92}
!38 = !{!22, !15, i64 96}
!39 = !{!22, !15, i64 100}
!40 = !{!22, !15, i64 88}
!41 = !{!22, !15, i64 8}
!42 = !{!22, !10, i64 105}
!43 = !{!22, !15, i64 36}
!44 = !{!22, !15, i64 12}
!45 = !{!25, !15, i64 8}
!46 = !{!22, !15, i64 32}
!47 = !{!22, !10, i64 106}
!48 = !{!22, !15, i64 44}
!49 = !{!25, !15, i64 12}
!50 = !{!25, !15, i64 20}
!51 = !{!25, !15, i64 24}
!52 = !{!25, !15, i64 28}
!53 = !{!22, !15, i64 16}
!54 = !{!22, !15, i64 48}
!55 = !{!22, !15, i64 20}
!56 = !{!14, !15, i64 4}
!57 = !{!58, !15, i64 0}
!58 = !{!"b2Mat22", !14, i64 0, !14, i64 8}
!59 = !{!14, !15, i64 0}
!60 = !{!58, !15, i64 8}
!61 = !{!58, !15, i64 4}
!62 = !{!58, !15, i64 12}
!63 = !{!22, !15, i64 0}
!64 = !{!22, !15, i64 4}


; 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.b2BodyState = type { %struct.b2Vec2, float, i32, %struct.b2Vec2, %struct.b2Rot }
%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }

@.str.1 = external hidden unnamed_addr constant [70 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [31 x i8], align 1
@__const.b2SolveRevoluteJoint.dummyState = external hidden unnamed_addr constant %struct.b2BodyState, align 4

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2RelativeAngle(<2 x float>, <2 x float>) local_unnamed_addr #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2UnwindAngle(float noundef) local_unnamed_addr #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: inlinehint nounwind uwtable
declare hidden float @b2MaxFloat(float noundef, float noundef) local_unnamed_addr #2

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSV(float noundef, <2 x float>) local_unnamed_addr #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RotateVector(<2 x float>, <2 x float>) local_unnamed_addr #1

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSub(<2 x float>, float noundef, <2 x float>) local_unnamed_addr #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Cross(<2 x float>, <2 x float>) local_unnamed_addr #1

; 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> @b2MulAdd(<2 x float>, float noundef, <2 x float>) local_unnamed_addr #1

; Function Attrs: nounwind uwtable
define dso_local void @b2SolveRevoluteJoint(ptr nocapture noundef %0, ptr nocapture noundef readonly %1, i1 noundef zeroext %2) local_unnamed_addr #7 {
  %4 = alloca %struct.b2BodyState, align 4
  %5 = getelementptr inbounds i8, ptr %0, i64 12
  %6 = load i32, ptr %5, align 4, !tbaa !5
  %7 = icmp eq i32 %6, 5
  br i1 %7, label %11, label %8

8:                                                ; preds = %3
  %9 = tail call i32 @b2InternalAssertFcn(ptr noundef nonnull @.str.4, ptr noundef nonnull @.str.1, i32 noundef 280) #9
  %.not = icmp eq i32 %9, 0
  br i1 %.not, label %11, label %10

10:                                               ; preds = %8
  tail call void @llvm.trap()
  unreachable

11:                                               ; preds = %3, %8
  %12 = getelementptr inbounds i8, ptr %0, i64 32
  %13 = load float, ptr %12, align 4, !tbaa !12
  %14 = getelementptr inbounds i8, ptr %0, i64 36
  %15 = load float, ptr %14, align 4, !tbaa !13
  %16 = getelementptr inbounds i8, ptr %0, i64 40
  %17 = load <2 x float>, ptr %16, align 4, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #9
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(32) %4, ptr noundef nonnull align 4 dereferenceable(32) @__const.b2SolveRevoluteJoint.dummyState, i64 32, i1 false)
  %18 = getelementptr inbounds i8, ptr %0, i64 100
  %19 = load i32, ptr %18, align 4, !tbaa !15
  %20 = icmp eq i32 %19, -1
  br i1 %20, label %26, label %21

21:                                               ; preds = %11
  %22 = getelementptr inbounds i8, ptr %1, i64 80
  %23 = load ptr, ptr %22, align 8, !tbaa !19
  %24 = sext i32 %19 to i64
  %25 = getelementptr inbounds %struct.b2BodyState, ptr %23, i64 %24
  br label %26

26:                                               ; preds = %11, %21
  %27 = phi ptr [ %25, %21 ], [ %4, %11 ]
  %28 = getelementptr inbounds i8, ptr %0, i64 104
  %29 = load i32, ptr %28, align 4, !tbaa !24
  %30 = icmp eq i32 %29, -1
  br i1 %30, label %36, label %31

31:                                               ; preds = %26
  %32 = getelementptr inbounds i8, ptr %1, i64 80
  %33 = load ptr, ptr %32, align 8, !tbaa !19
  %34 = sext i32 %29 to i64
  %35 = getelementptr inbounds %struct.b2BodyState, ptr %33, i64 %34
  br label %36

36:                                               ; preds = %26, %31
  %37 = phi ptr [ %35, %31 ], [ %4, %26 ]
  %.sroa.0126.0.copyload = load <2 x float>, ptr %27, align 4
  %38 = getelementptr inbounds i8, ptr %27, i64 8
  %39 = load float, ptr %38, align 4, !tbaa !25
  %.sroa.0112.0.copyload = load <2 x float>, ptr %37, align 4
  %40 = getelementptr inbounds i8, ptr %37, i64 8
  %41 = load float, ptr %40, align 4, !tbaa !25
  %42 = extractelement <2 x float> %17, i64 0
  %43 = extractelement <2 x float> %17, i64 1
  %44 = fadd float %42, %43
  %45 = fcmp oeq float %44, 0.000000e+00
  %46 = getelementptr inbounds i8, ptr %0, i64 152
  %47 = load i8, ptr %46, align 4, !tbaa !28, !range !29, !noundef !30
  %48 = trunc nuw i8 %47 to i1
  %.not248 = xor i1 %48, true
  %brmerge = select i1 %.not248, i1 true, i1 %45
  br i1 %brmerge, label %80, label %49

49:                                               ; preds = %36
  %50 = getelementptr inbounds i8, ptr %37, i64 24
  %51 = getelementptr inbounds i8, ptr %27, i64 24
  %52 = load <2 x float>, ptr %50, align 4
  %53 = load <2 x float>, ptr %51, align 4
  %54 = tail call float @b2RelativeAngle(<2 x float> %52, <2 x float> %53)
  %55 = getelementptr inbounds i8, ptr %0, i64 132
  %56 = load float, ptr %55, align 4, !tbaa !31
  %57 = fadd float %54, %56
  %58 = getelementptr inbounds i8, ptr %0, i64 140
  %59 = load float, ptr %58, align 4, !tbaa !32
  %60 = fmul float %59, %57
  %61 = getelementptr inbounds i8, ptr %0, i64 144
  %62 = load float, ptr %61, align 4, !tbaa !33
  %63 = getelementptr inbounds i8, ptr %0, i64 148
  %64 = load float, ptr %63, align 4, !tbaa !34
  %65 = fsub float %41, %39
  %66 = fneg float %62
  %67 = getelementptr inbounds i8, ptr %0, i64 136
  %68 = load float, ptr %67, align 4, !tbaa !35
  %69 = fmul float %68, %66
  %70 = fadd float %65, %60
  %71 = getelementptr inbounds i8, ptr %0, i64 56
  %72 = load float, ptr %71, align 4, !tbaa !36
  %73 = fneg float %64
  %74 = fmul float %72, %73
  %75 = tail call float @llvm.fmuladd.f32(float %69, float %70, float %74)
  %76 = fadd float %72, %75
  store float %76, ptr %71, align 4, !tbaa !36
  %77 = fneg float %42
  %78 = tail call float @llvm.fmuladd.f32(float %77, float %75, float %39)
  %79 = tail call float @llvm.fmuladd.f32(float %43, float %75, float %41)
  br label %80

80:                                               ; preds = %36, %49
  %.0231 = phi float [ %79, %49 ], [ %41, %36 ]
  %.0 = phi float [ %78, %49 ], [ %39, %36 ]
  %81 = getelementptr inbounds i8, ptr %0, i64 153
  %82 = load i8, ptr %81, align 1, !tbaa !37, !range !29, !noundef !30
  %83 = trunc nuw i8 %82 to i1
  %.not250 = xor i1 %83, true
  %brmerge252 = select i1 %.not250, i1 true, i1 %45
  br i1 %brmerge252, label %106, label %84

84:                                               ; preds = %80
  %85 = fsub float %.0231, %.0
  %86 = getelementptr inbounds i8, ptr %0, i64 84
  %87 = load float, ptr %86, align 4, !tbaa !38
  %88 = fsub float %85, %87
  %89 = getelementptr inbounds i8, ptr %0, i64 136
  %90 = load float, ptr %89, align 4, !tbaa !35
  %91 = getelementptr inbounds i8, ptr %0, i64 60
  %92 = load float, ptr %91, align 4, !tbaa !39
  %93 = getelementptr inbounds i8, ptr %1, i64 8
  %94 = load float, ptr %93, align 8, !tbaa !40
  %95 = getelementptr inbounds i8, ptr %0, i64 80
  %96 = load float, ptr %95, align 4, !tbaa !41
  %97 = fmul float %94, %96
  %98 = fmul float %90, %88
  %99 = fsub float %92, %98
  %100 = fneg float %97
  %101 = tail call float @b2ClampFloat(float noundef %99, float noundef %100, float noundef %97)
  store float %101, ptr %91, align 4, !tbaa !39
  %102 = fsub float %101, %92
  %103 = fneg float %42
  %104 = tail call float @llvm.fmuladd.f32(float %103, float %102, float %.0)
  %105 = tail call float @llvm.fmuladd.f32(float %43, float %102, float %.0231)
  br label %106

106:                                              ; preds = %80, %84
  %.1232 = phi float [ %105, %84 ], [ %.0231, %80 ]
  %.1 = phi float [ %104, %84 ], [ %.0, %80 ]
  %107 = getelementptr inbounds i8, ptr %0, i64 154
  %108 = load i8, ptr %107, align 2, !tbaa !42, !range !29, !noundef !30
  %109 = trunc nuw i8 %108 to i1
  %.not253 = xor i1 %109, true
  %brmerge255 = select i1 %.not253, i1 true, i1 %45
  br i1 %brmerge255, label %189, label %110

110:                                              ; preds = %106
  %111 = getelementptr inbounds i8, ptr %37, i64 24
  %112 = getelementptr inbounds i8, ptr %27, i64 24
  %113 = load <2 x float>, ptr %111, align 4
  %114 = load <2 x float>, ptr %112, align 4
  %115 = tail call float @b2RelativeAngle(<2 x float> %113, <2 x float> %114)
  %116 = getelementptr inbounds i8, ptr %0, i64 132
  %117 = load float, ptr %116, align 4, !tbaa !31
  %118 = fadd float %115, %117
  %119 = tail call float @b2UnwindAngle(float noundef %118)
  %120 = getelementptr inbounds i8, ptr %0, i64 92
  %121 = load float, ptr %120, align 4, !tbaa !43
  %122 = fsub float %119, %121
  %123 = fcmp ogt float %122, 0.000000e+00
  br i1 %123, label %124, label %128

124:                                              ; preds = %110
  %125 = getelementptr inbounds i8, ptr %1, i64 12
  %126 = load float, ptr %125, align 4, !tbaa !44
  %127 = fmul float %122, %126
  br label %137

128:                                              ; preds = %110
  br i1 %2, label %129, label %137

129:                                              ; preds = %128
  %130 = getelementptr inbounds i8, ptr %1, i64 20
  %131 = load float, ptr %130, align 4, !tbaa !45
  %132 = fmul float %122, %131
  %133 = getelementptr inbounds i8, ptr %1, i64 24
  %134 = load float, ptr %133, align 4, !tbaa !46
  %135 = getelementptr inbounds i8, ptr %1, i64 28
  %136 = load float, ptr %135, align 4, !tbaa !47
  br label %137

137:                                              ; preds = %128, %129, %124
  %.0236 = phi float [ 0.000000e+00, %124 ], [ %136, %129 ], [ 0.000000e+00, %128 ]
  %.0235 = phi float [ 1.000000e+00, %124 ], [ %134, %129 ], [ 1.000000e+00, %128 ]
  %.0234 = phi float [ %127, %124 ], [ %132, %129 ], [ 0.000000e+00, %128 ]
  %138 = fsub float %.1232, %.1
  %139 = getelementptr inbounds i8, ptr %0, i64 64
  %140 = load float, ptr %139, align 4, !tbaa !48
  %141 = fneg float %.0235
  %142 = getelementptr inbounds i8, ptr %0, i64 136
  %143 = load float, ptr %142, align 4, !tbaa !35
  %144 = fmul float %143, %141
  %145 = fadd float %138, %.0234
  %146 = fneg float %.0236
  %147 = fmul float %140, %146
  %148 = tail call float @llvm.fmuladd.f32(float %144, float %145, float %147)
  %149 = fadd float %140, %148
  %150 = tail call float @b2MaxFloat(float noundef %149, float noundef 0.000000e+00)
  store float %150, ptr %139, align 4, !tbaa !48
  %151 = fsub float %150, %140
  %152 = fneg float %42
  %153 = tail call float @llvm.fmuladd.f32(float %152, float %151, float %.1)
  %154 = tail call float @llvm.fmuladd.f32(float %43, float %151, float %.1232)
  %155 = getelementptr inbounds i8, ptr %0, i64 96
  %156 = load float, ptr %155, align 4, !tbaa !49
  %157 = fsub float %156, %119
  %158 = fcmp ogt float %157, 0.000000e+00
  br i1 %158, label %159, label %163

159:                                              ; preds = %137
  %160 = getelementptr inbounds i8, ptr %1, i64 12
  %161 = load float, ptr %160, align 4, !tbaa !44
  %162 = fmul float %157, %161
  br label %172

163:                                              ; preds = %137
  br i1 %2, label %164, label %172

164:                                              ; preds = %163
  %165 = getelementptr inbounds i8, ptr %1, i64 20
  %166 = load float, ptr %165, align 4, !tbaa !45
  %167 = fmul float %157, %166
  %168 = getelementptr inbounds i8, ptr %1, i64 24
  %169 = load float, ptr %168, align 4, !tbaa !46
  %170 = getelementptr inbounds i8, ptr %1, i64 28
  %171 = load float, ptr %170, align 4, !tbaa !47
  br label %172

172:                                              ; preds = %163, %164, %159
  %.0239 = phi float [ 0.000000e+00, %159 ], [ %171, %164 ], [ 0.000000e+00, %163 ]
  %.0238 = phi float [ 1.000000e+00, %159 ], [ %169, %164 ], [ 1.000000e+00, %163 ]
  %.0237 = phi float [ %162, %159 ], [ %167, %164 ], [ 0.000000e+00, %163 ]
  %173 = fsub float %153, %154
  %174 = getelementptr inbounds i8, ptr %0, i64 68
  %175 = load float, ptr %174, align 4, !tbaa !50
  %176 = fneg float %.0238
  %177 = load float, ptr %142, align 4, !tbaa !35
  %178 = fmul float %177, %176
  %179 = fadd float %173, %.0237
  %180 = fneg float %.0239
  %181 = fmul float %175, %180
  %182 = tail call float @llvm.fmuladd.f32(float %178, float %179, float %181)
  %183 = fadd float %175, %182
  %184 = tail call float @b2MaxFloat(float noundef %183, float noundef 0.000000e+00)
  store float %184, ptr %174, align 4, !tbaa !50
  %185 = fsub float %184, %175
  %186 = tail call float @llvm.fmuladd.f32(float %42, float %185, float %153)
  %187 = fneg float %43
  %188 = tail call float @llvm.fmuladd.f32(float %187, float %185, float %154)
  br label %189

189:                                              ; preds = %106, %172
  %.2233 = phi float [ %188, %172 ], [ %.1232, %106 ]
  %.2 = phi float [ %186, %172 ], [ %.1, %106 ]
  %190 = getelementptr inbounds i8, ptr %27, i64 24
  %191 = getelementptr inbounds i8, ptr %0, i64 108
  %192 = load <2 x float>, ptr %190, align 4
  %193 = load <2 x float>, ptr %191, align 4
  %194 = tail call <2 x float> @b2RotateVector(<2 x float> %192, <2 x float> %193)
  %195 = getelementptr inbounds i8, ptr %37, i64 24
  %196 = getelementptr inbounds i8, ptr %0, i64 116
  %197 = load <2 x float>, ptr %195, align 4
  %198 = load <2 x float>, ptr %196, align 4
  %199 = tail call <2 x float> @b2RotateVector(<2 x float> %197, <2 x float> %198)
  %200 = tail call <2 x float> @b2CrossSV(float noundef %.2233, <2 x float> %199)
  %201 = tail call <2 x float> @b2Add(<2 x float> %.sroa.0112.0.copyload, <2 x float> %200)
  %202 = tail call <2 x float> @b2CrossSV(float noundef %.2, <2 x float> %194)
  %203 = tail call <2 x float> @b2Add(<2 x float> %.sroa.0126.0.copyload, <2 x float> %202)
  %204 = tail call <2 x float> @b2Sub(<2 x float> %201, <2 x float> %203)
  br i1 %2, label %205, label %221

205:                                              ; preds = %189
  %206 = getelementptr inbounds i8, ptr %27, i64 16
  %.sroa.021.0.copyload = load <2 x float>, ptr %206, align 4
  %207 = getelementptr inbounds i8, ptr %37, i64 16
  %.sroa.020.0.copyload = load <2 x float>, ptr %207, align 4
  %208 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.020.0.copyload, <2 x float> %.sroa.021.0.copyload)
  %209 = tail call <2 x float> @b2Sub(<2 x float> %199, <2 x float> %194)
  %210 = tail call <2 x float> @b2Add(<2 x float> %208, <2 x float> %209)
  %211 = getelementptr inbounds i8, ptr %0, i64 124
  %212 = load <2 x float>, ptr %211, align 4
  %213 = tail call <2 x float> @b2Add(<2 x float> %210, <2 x float> %212)
  %214 = getelementptr inbounds i8, ptr %1, i64 20
  %215 = load float, ptr %214, align 4, !tbaa !45
  %216 = tail call <2 x float> @b2MulSV(float noundef %215, <2 x float> %213)
  %217 = getelementptr inbounds i8, ptr %1, i64 24
  %218 = load float, ptr %217, align 4, !tbaa !46
  %219 = getelementptr inbounds i8, ptr %1, i64 28
  %220 = load float, ptr %219, align 4, !tbaa !47
  br label %221

221:                                              ; preds = %205, %189
  %.sroa.025.0 = phi <2 x float> [ %216, %205 ], [ zeroinitializer, %189 ]
  %.0241 = phi float [ %218, %205 ], [ 1.000000e+00, %189 ]
  %.0240 = phi float [ %220, %205 ], [ 0.000000e+00, %189 ]
  %222 = getelementptr inbounds i8, ptr %0, i64 48
  %223 = fadd float %13, %15
  %.sroa.043.4.vec.extract = extractelement <2 x float> %194, i64 1
  %224 = fmul float %.sroa.043.4.vec.extract, %.sroa.043.4.vec.extract
  %225 = tail call float @llvm.fmuladd.f32(float %224, float %42, float %223)
  %.sroa.031.4.vec.extract = extractelement <2 x float> %199, i64 1
  %226 = fmul float %.sroa.031.4.vec.extract, %.sroa.031.4.vec.extract
  %227 = tail call float @llvm.fmuladd.f32(float %226, float %43, float %225)
  %.sroa.011.0.vec.insert = insertelement <2 x float> poison, float %227, i64 0
  %228 = fneg float %.sroa.043.4.vec.extract
  %.sroa.031.0.vec.extract = extractelement <2 x float> %199, i64 0
  %229 = fneg float %.sroa.031.4.vec.extract
  %230 = fmul float %.sroa.031.0.vec.extract, %229
  %231 = fmul float %43, %230
  %232 = fmul <2 x float> %194, %194
  %233 = extractelement <2 x float> %232, i64 0
  %234 = tail call float @llvm.fmuladd.f32(float %233, float %42, float %223)
  %235 = shufflevector <2 x float> %194, <2 x float> %199, <2 x i32> <i32 0, i32 2>
  %236 = shufflevector <2 x float> %199, <2 x float> poison, <2 x i32> <i32 poison, i32 0>
  %237 = insertelement <2 x float> %236, float %228, i64 0
  %238 = fmul <2 x float> %235, %237
  %239 = insertelement <2 x float> poison, float %231, i64 0
  %240 = insertelement <2 x float> %239, float %234, i64 1
  %241 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %238, <2 x float> %17, <2 x float> %240)
  %242 = shufflevector <2 x float> %.sroa.011.0.vec.insert, <2 x float> %241, <2 x i32> <i32 0, i32 2>
  %243 = tail call <2 x float> @b2Add(<2 x float> %204, <2 x float> %.sroa.025.0)
  %244 = tail call <2 x float> @b2Solve22(<2 x float> %242, <2 x float> %241, <2 x float> %243)
  %245 = fneg float %.0241
  %246 = fneg float %.0240
  %247 = load <2 x float>, ptr %222, align 4, !tbaa !14
  %248 = insertelement <2 x float> poison, float %246, i64 0
  %249 = shufflevector <2 x float> %248, <2 x float> poison, <2 x i32> zeroinitializer
  %250 = fmul <2 x float> %247, %249
  %251 = insertelement <2 x float> poison, float %245, i64 0
  %252 = shufflevector <2 x float> %251, <2 x float> poison, <2 x i32> zeroinitializer
  %253 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %252, <2 x float> %244, <2 x float> %250)
  %254 = fadd <2 x float> %247, %253
  store <2 x float> %254, ptr %222, align 4, !tbaa !14
  %255 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0126.0.copyload, float noundef %13, <2 x float> %253)
  %256 = tail call float @b2Cross(<2 x float> %194, <2 x float> %253)
  %257 = fneg float %42
  %258 = tail call float @llvm.fmuladd.f32(float %257, float %256, float %.2)
  %259 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0112.0.copyload, float noundef %15, <2 x float> %253)
  %260 = tail call float @b2Cross(<2 x float> %199, <2 x float> %253)
  %261 = tail call float @llvm.fmuladd.f32(float %43, float %260, float %.2233)
  store <2 x float> %255, ptr %27, align 4
  store float %258, ptr %38, align 4, !tbaa !25
  store <2 x float> %259, ptr %37, align 4
  store float %261, ptr %40, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #9
  ret void
}

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2ClampFloat(float noundef, float noundef, float noundef) local_unnamed_addr #2

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Add(<2 x float>, <2 x float>) local_unnamed_addr #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2CrossSV(float noundef, <2 x float>) local_unnamed_addr #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Solve22(<2 x float>, <2 x float>, <2 x float>) local_unnamed_addr #1

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <2 x float> @llvm.fmuladd.v2f32(<2 x float>, <2 x float>, <2 x float>) #8

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { inlinehint nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { "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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #6 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { 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 #8 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 12}
!6 = !{!"b2JointSim", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !10, i64 16, !10, i64 24, !11, i64 32, !11, i64 36, !11, i64 40, !11, i64 44, !8, i64 48}
!7 = !{!"int", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"b2Vec2", !11, i64 0, !11, i64 4}
!11 = !{!"float", !8, i64 0}
!12 = !{!6, !11, i64 32}
!13 = !{!6, !11, i64 36}
!14 = !{!11, !11, i64 0}
!15 = !{!16, !7, i64 52}
!16 = !{!"b2RevoluteJoint", !10, i64 0, !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, !7, i64 52, !7, i64 56, !10, i64 60, !10, i64 68, !10, i64 76, !11, i64 84, !11, i64 88, !17, i64 92, !18, i64 104, !18, i64 105, !18, i64 106}
!17 = !{!"b2Softness", !11, i64 0, !11, i64 4, !11, i64 8}
!18 = !{!"_Bool", !8, i64 0}
!19 = !{!20, !21, i64 80}
!20 = !{!"b2StepContext", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !7, i64 16, !17, i64 20, !17, i64 32, !17, i64 44, !11, i64 56, !11, i64 60, !21, i64 64, !21, i64 72, !21, i64 80, !21, i64 88, !21, i64 96, !7, i64 104, !21, i64 112, !22, i64 120, !21, i64 128, !21, i64 136, !21, i64 144, !7, i64 152, !7, i64 156, !21, i64 160, !7, i64 168, !18, i64 172, !8, i64 173, !23, i64 240, !8, i64 244}
!21 = !{!"any pointer", !8, i64 0}
!22 = !{!"b2AtomicInt", !7, i64 0}
!23 = !{!"b2AtomicU32", !7, i64 0}
!24 = !{!16, !7, i64 56}
!25 = !{!26, !11, i64 8}
!26 = !{!"b2BodyState", !10, i64 0, !11, i64 8, !7, i64 12, !10, i64 16, !27, i64 24}
!27 = !{!"b2Rot", !11, i64 0, !11, i64 4}
!28 = !{!16, !18, i64 104}
!29 = !{i8 0, i8 2}
!30 = !{}
!31 = !{!16, !11, i64 84}
!32 = !{!16, !11, i64 92}
!33 = !{!16, !11, i64 96}
!34 = !{!16, !11, i64 100}
!35 = !{!16, !11, i64 88}
!36 = !{!16, !11, i64 8}
!37 = !{!16, !18, i64 105}
!38 = !{!16, !11, i64 36}
!39 = !{!16, !11, i64 12}
!40 = !{!20, !11, i64 8}
!41 = !{!16, !11, i64 32}
!42 = !{!16, !18, i64 106}
!43 = !{!16, !11, i64 44}
!44 = !{!20, !11, i64 12}
!45 = !{!20, !11, i64 20}
!46 = !{!20, !11, i64 24}
!47 = !{!20, !11, i64 28}
!48 = !{!16, !11, i64 16}
!49 = !{!16, !11, i64 48}
!50 = !{!16, !11, i64 20}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass,VectorCombinePass