; LLVM IR from erincatto/box2d :: src (distance_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.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.b2DistanceJoint = type { float, float, float, float, float, float, float, float, float, float, float, i32, i32, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Softness, float, 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.2 = external hidden unnamed_addr constant [31 x i8], align 1
@__const.b2SolveDistanceJoint.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: inlinehint nounwind uwtable
declare hidden float @b2ClampFloat(float noundef, float noundef, float noundef) #1

; 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 @b2MaxFloat(float noundef, float noundef) #1

declare i32 @b2InternalAssertFcn(ptr noundef, ptr noundef, i32 noundef) #2

; Function Attrs: cold noreturn nounwind memory(inaccessiblemem: write)
declare void @llvm.trap() #3

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Sub(<2 x float>, <2 x float>) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Length(<2 x float>) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Normalize(<2 x float>) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSV(float noundef, <2 x float>) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RotateVector(<2 x float>, <2 x float>) #4

; 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> @b2Add(<2 x float>, <2 x float>) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Cross(<2 x float>, <2 x float>) #4

; 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> @b2MulSub(<2 x float>, float noundef, <2 x float>) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulAdd(<2 x float>, float noundef, <2 x float>) #4

; Function Attrs: nounwind uwtable
define dso_local void @b2SolveDistanceJoint(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 %struct.b2Vec2, align 4
  %20 = alloca %struct.b2Vec2, align 4
  %21 = alloca %struct.b2Vec2, align 4
  %22 = alloca %struct.b2Vec2, align 4
  %23 = alloca %struct.b2Vec2, align 4
  %24 = alloca %struct.b2Vec2, align 4
  %25 = alloca float, align 4
  %26 = alloca %struct.b2Vec2, align 4
  %27 = alloca %struct.b2Vec2, align 4
  %28 = alloca %struct.b2Vec2, align 4
  %29 = alloca %struct.b2Vec2, align 4
  %30 = alloca %struct.b2Vec2, align 4
  %31 = alloca %struct.b2Vec2, 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 %struct.b2Vec2, align 4
  %38 = alloca %struct.b2Vec2, align 4
  %39 = alloca %struct.b2Vec2, align 4
  %40 = alloca %struct.b2Vec2, align 4
  %41 = alloca %struct.b2Vec2, align 4
  %42 = alloca %struct.b2Vec2, align 4
  %43 = alloca %struct.b2Vec2, align 4
  %44 = alloca %struct.b2Vec2, align 4
  %45 = alloca float, align 4
  %46 = alloca float, align 4
  %47 = alloca float, align 4
  %48 = alloca float, align 4
  %49 = alloca float, align 4
  %50 = alloca float, align 4
  %51 = alloca float, align 4
  %52 = alloca %struct.b2Vec2, align 4
  %53 = alloca %struct.b2Vec2, align 4
  %54 = alloca %struct.b2Vec2, 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 float, align 4
  %61 = alloca float, align 4
  %62 = alloca float, align 4
  %63 = alloca float, align 4
  %64 = alloca float, align 4
  %65 = alloca float, align 4
  %66 = alloca float, align 4
  %67 = alloca %struct.b2Vec2, align 4
  %68 = alloca %struct.b2Vec2, align 4
  %69 = alloca %struct.b2Vec2, align 4
  %70 = alloca %struct.b2Vec2, align 4
  %71 = alloca %struct.b2Vec2, align 4
  %72 = alloca %struct.b2Vec2, align 4
  %73 = alloca %struct.b2Vec2, align 4
  %74 = alloca %struct.b2Vec2, align 4
  %75 = alloca float, align 4
  %76 = alloca float, align 4
  %77 = alloca float, align 4
  %78 = alloca float, align 4
  %79 = alloca %struct.b2Vec2, align 4
  %80 = alloca %struct.b2Vec2, align 4
  %81 = alloca %struct.b2Vec2, align 4
  %82 = alloca %struct.b2Vec2, align 4
  %83 = alloca %struct.b2Vec2, align 4
  %84 = alloca %struct.b2Vec2, align 4
  %85 = alloca %struct.b2Vec2, align 4
  %86 = alloca %struct.b2Vec2, align 4
  %87 = alloca float, align 4
  %88 = alloca float, align 4
  %89 = alloca float, align 4
  %90 = alloca float, align 4
  %91 = alloca float, align 4
  %92 = alloca float, align 4
  %93 = alloca %struct.b2Vec2, align 4
  %94 = alloca %struct.b2Vec2, align 4
  %95 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %96 = zext i1 %2 to i8
  store i8 %96, ptr %6, align 1, !tbaa !9
  br label %97

97:                                               ; preds = %3
  %98 = load ptr, ptr %4, align 8, !tbaa !5
  %99 = getelementptr inbounds %struct.b2JointSim, ptr %98, i32 0, i32 3
  %100 = load i32, ptr %99, align 4, !tbaa !11
  %101 = icmp eq i32 %100, 0
  br i1 %101, label %106, label %102

102:                                              ; preds = %97
  %103 = call i32 @b2InternalAssertFcn(ptr noundef @.str.2, ptr noundef @.str.1, i32 noundef 314)
  %104 = icmp ne i32 %103, 0
  br i1 %104, label %105, label %106

105:                                              ; preds = %102
  call void @llvm.trap()
  br label %106

106:                                              ; preds = %105, %102, %97
  br label %107

107:                                              ; preds = %106
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #8
  %108 = load ptr, ptr %4, align 8, !tbaa !5
  %109 = getelementptr inbounds %struct.b2JointSim, ptr %108, i32 0, i32 6
  %110 = load float, ptr %109, align 4, !tbaa !16
  store float %110, ptr %7, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #8
  %111 = load ptr, ptr %4, align 8, !tbaa !5
  %112 = getelementptr inbounds %struct.b2JointSim, ptr %111, i32 0, i32 7
  %113 = load float, ptr %112, align 4, !tbaa !18
  store float %113, ptr %8, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #8
  %114 = load ptr, ptr %4, align 8, !tbaa !5
  %115 = getelementptr inbounds %struct.b2JointSim, ptr %114, i32 0, i32 8
  %116 = load float, ptr %115, align 4, !tbaa !19
  store float %116, ptr %9, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #8
  %117 = load ptr, ptr %4, align 8, !tbaa !5
  %118 = getelementptr inbounds %struct.b2JointSim, ptr %117, i32 0, i32 9
  %119 = load float, ptr %118, align 4, !tbaa !20
  store float %119, ptr %10, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 4 @__const.b2SolveDistanceJoint.dummyState, i64 32, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #8
  %120 = load ptr, ptr %4, align 8, !tbaa !5
  %121 = getelementptr inbounds %struct.b2JointSim, ptr %120, i32 0, i32 10
  store ptr %121, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #8
  %122 = load ptr, ptr %12, align 8, !tbaa !5
  %123 = getelementptr inbounds %struct.b2DistanceJoint, ptr %122, i32 0, i32 11
  %124 = load i32, ptr %123, align 4, !tbaa !21
  %125 = icmp eq i32 %124, -1
  br i1 %125, label %126, label %127

126:                                              ; preds = %107
  br label %136

127:                                              ; preds = %107
  %128 = load ptr, ptr %5, align 8, !tbaa !5
  %129 = getelementptr inbounds %struct.b2StepContext, ptr %128, i32 0, i32 12
  %130 = load ptr, ptr %129, align 8, !tbaa !24
  %131 = load ptr, ptr %12, align 8, !tbaa !5
  %132 = getelementptr inbounds %struct.b2DistanceJoint, ptr %131, i32 0, i32 11
  %133 = load i32, ptr %132, align 4, !tbaa !21
  %134 = sext i32 %133 to i64
  %135 = getelementptr inbounds %struct.b2BodyState, ptr %130, i64 %134
  br label %136

136:                                              ; preds = %127, %126
  %137 = phi ptr [ %11, %126 ], [ %135, %127 ]
  store ptr %137, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #8
  %138 = load ptr, ptr %12, align 8, !tbaa !5
  %139 = getelementptr inbounds %struct.b2DistanceJoint, ptr %138, i32 0, i32 12
  %140 = load i32, ptr %139, align 4, !tbaa !28
  %141 = icmp eq i32 %140, -1
  br i1 %141, label %142, label %143

142:                                              ; preds = %136
  br label %152

143:                                              ; preds = %136
  %144 = load ptr, ptr %5, align 8, !tbaa !5
  %145 = getelementptr inbounds %struct.b2StepContext, ptr %144, i32 0, i32 12
  %146 = load ptr, ptr %145, align 8, !tbaa !24
  %147 = load ptr, ptr %12, align 8, !tbaa !5
  %148 = getelementptr inbounds %struct.b2DistanceJoint, ptr %147, i32 0, i32 12
  %149 = load i32, ptr %148, align 4, !tbaa !28
  %150 = sext i32 %149 to i64
  %151 = getelementptr inbounds %struct.b2BodyState, ptr %146, i64 %150
  br label %152

152:                                              ; preds = %143, %142
  %153 = phi ptr [ %11, %142 ], [ %151, %143 ]
  store ptr %153, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  %154 = load ptr, ptr %13, align 8, !tbaa !5
  %155 = getelementptr inbounds %struct.b2BodyState, ptr %154, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %155, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #8
  %156 = load ptr, ptr %13, align 8, !tbaa !5
  %157 = getelementptr inbounds %struct.b2BodyState, ptr %156, i32 0, i32 1
  %158 = load float, ptr %157, align 4, !tbaa !30
  store float %158, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #8
  %159 = load ptr, ptr %14, align 8, !tbaa !5
  %160 = getelementptr inbounds %struct.b2BodyState, ptr %159, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %160, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #8
  %161 = load ptr, ptr %14, align 8, !tbaa !5
  %162 = getelementptr inbounds %struct.b2BodyState, ptr %161, i32 0, i32 1
  %163 = load float, ptr %162, align 4, !tbaa !30
  store float %163, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #8
  %164 = load ptr, ptr %13, align 8, !tbaa !5
  %165 = getelementptr inbounds %struct.b2BodyState, ptr %164, i32 0, i32 4
  %166 = load ptr, ptr %12, align 8, !tbaa !5
  %167 = getelementptr inbounds %struct.b2DistanceJoint, ptr %166, i32 0, i32 13
  %168 = load <2 x float>, ptr %165, align 4
  %169 = load <2 x float>, ptr %167, align 4
  %170 = call <2 x float> @b2RotateVector(<2 x float> %168, <2 x float> %169)
  store <2 x float> %170, ptr %19, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #8
  %171 = load ptr, ptr %14, align 8, !tbaa !5
  %172 = getelementptr inbounds %struct.b2BodyState, ptr %171, i32 0, i32 4
  %173 = load ptr, ptr %12, align 8, !tbaa !5
  %174 = getelementptr inbounds %struct.b2DistanceJoint, ptr %173, i32 0, i32 14
  %175 = load <2 x float>, ptr %172, align 4
  %176 = load <2 x float>, ptr %174, align 4
  %177 = call <2 x float> @b2RotateVector(<2 x float> %175, <2 x float> %176)
  store <2 x float> %177, ptr %20, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  %178 = load ptr, ptr %14, align 8, !tbaa !5
  %179 = getelementptr inbounds %struct.b2BodyState, ptr %178, i32 0, i32 3
  %180 = load ptr, ptr %13, align 8, !tbaa !5
  %181 = getelementptr inbounds %struct.b2BodyState, ptr %180, i32 0, i32 3
  %182 = load <2 x float>, ptr %179, align 4
  %183 = load <2 x float>, ptr %181, align 4
  %184 = call <2 x float> @b2Sub(<2 x float> %182, <2 x float> %183)
  store <2 x float> %184, ptr %22, align 4
  %185 = load <2 x float>, ptr %20, align 4
  %186 = load <2 x float>, ptr %19, align 4
  %187 = call <2 x float> @b2Sub(<2 x float> %185, <2 x float> %186)
  store <2 x float> %187, ptr %23, align 4
  %188 = load <2 x float>, ptr %22, align 4
  %189 = load <2 x float>, ptr %23, align 4
  %190 = call <2 x float> @b2Add(<2 x float> %188, <2 x float> %189)
  store <2 x float> %190, ptr %21, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #8
  %191 = load ptr, ptr %12, align 8, !tbaa !5
  %192 = getelementptr inbounds %struct.b2DistanceJoint, ptr %191, i32 0, i32 15
  %193 = load <2 x float>, ptr %192, align 4
  %194 = load <2 x float>, ptr %21, align 4
  %195 = call <2 x float> @b2Add(<2 x float> %193, <2 x float> %194)
  store <2 x float> %195, ptr %24, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #8
  %196 = load <2 x float>, ptr %24, align 4
  %197 = call float @b2Length(<2 x float> %196)
  store float %197, ptr %25, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #8
  %198 = load <2 x float>, ptr %24, align 4
  %199 = call <2 x float> @b2Normalize(<2 x float> %198)
  store <2 x float> %199, ptr %26, align 4
  %200 = load ptr, ptr %12, align 8, !tbaa !5
  %201 = getelementptr inbounds %struct.b2DistanceJoint, ptr %200, i32 0, i32 18
  %202 = load i8, ptr %201, align 4, !tbaa !33, !range !34, !noundef !35
  %203 = trunc i8 %202 to i1
  br i1 %203, label %204, label %607

204:                                              ; preds = %152
  %205 = load ptr, ptr %12, align 8, !tbaa !5
  %206 = getelementptr inbounds %struct.b2DistanceJoint, ptr %205, i32 0, i32 3
  %207 = load float, ptr %206, align 4, !tbaa !36
  %208 = load ptr, ptr %12, align 8, !tbaa !5
  %209 = getelementptr inbounds %struct.b2DistanceJoint, ptr %208, i32 0, i32 4
  %210 = load float, ptr %209, align 4, !tbaa !37
  %211 = fcmp olt float %207, %210
  br i1 %211, label %219, label %212

212:                                              ; preds = %204
  %213 = load ptr, ptr %12, align 8, !tbaa !5
  %214 = getelementptr inbounds %struct.b2DistanceJoint, ptr %213, i32 0, i32 19
  %215 = load i8, ptr %214, align 1, !tbaa !38, !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 %607

219:                                              ; preds = %212, %204
  %220 = load ptr, ptr %12, align 8, !tbaa !5
  %221 = getelementptr inbounds %struct.b2DistanceJoint, ptr %220, i32 0, i32 1
  %222 = load float, ptr %221, align 4, !tbaa !39
  %223 = fcmp ogt float %222, 0.000000e+00
  br i1 %223, label %224, label %306

224:                                              ; preds = %219
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  %225 = load <2 x float>, ptr %17, align 4
  %226 = load <2 x float>, ptr %15, align 4
  %227 = call <2 x float> @b2Sub(<2 x float> %225, <2 x float> %226)
  store <2 x float> %227, ptr %28, align 4
  %228 = load float, ptr %18, align 4, !tbaa !17
  %229 = load <2 x float>, ptr %20, align 4
  %230 = call <2 x float> @b2CrossSV(float noundef %228, <2 x float> %229)
  store <2 x float> %230, ptr %30, align 4
  %231 = load float, ptr %16, align 4, !tbaa !17
  %232 = load <2 x float>, ptr %19, align 4
  %233 = call <2 x float> @b2CrossSV(float noundef %231, <2 x float> %232)
  store <2 x float> %233, ptr %31, align 4
  %234 = load <2 x float>, ptr %30, align 4
  %235 = load <2 x float>, ptr %31, align 4
  %236 = call <2 x float> @b2Sub(<2 x float> %234, <2 x float> %235)
  store <2 x float> %236, ptr %29, align 4
  %237 = load <2 x float>, ptr %28, align 4
  %238 = load <2 x float>, ptr %29, align 4
  %239 = call <2 x float> @b2Add(<2 x float> %237, <2 x float> %238)
  store <2 x float> %239, ptr %27, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #8
  %240 = load <2 x float>, ptr %26, align 4
  %241 = load <2 x float>, ptr %27, align 4
  %242 = call float @b2Dot(<2 x float> %240, <2 x float> %241)
  store float %242, ptr %32, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #8
  %243 = load float, ptr %25, align 4, !tbaa !17
  %244 = load ptr, ptr %12, align 8, !tbaa !5
  %245 = getelementptr inbounds %struct.b2DistanceJoint, ptr %244, i32 0, i32 0
  %246 = load float, ptr %245, align 4, !tbaa !40
  %247 = fsub float %243, %246
  store float %247, ptr %33, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #8
  %248 = load ptr, ptr %12, align 8, !tbaa !5
  %249 = getelementptr inbounds %struct.b2DistanceJoint, ptr %248, i32 0, i32 16
  %250 = getelementptr inbounds %struct.b2Softness, ptr %249, i32 0, i32 0
  %251 = load float, ptr %250, align 4, !tbaa !41
  %252 = load float, ptr %33, align 4, !tbaa !17
  %253 = fmul float %251, %252
  store float %253, ptr %34, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #8
  %254 = load ptr, ptr %12, align 8, !tbaa !5
  %255 = getelementptr inbounds %struct.b2DistanceJoint, ptr %254, i32 0, i32 16
  %256 = getelementptr inbounds %struct.b2Softness, ptr %255, i32 0, i32 1
  %257 = load float, ptr %256, align 4, !tbaa !42
  %258 = load ptr, ptr %12, align 8, !tbaa !5
  %259 = getelementptr inbounds %struct.b2DistanceJoint, ptr %258, i32 0, i32 17
  %260 = load float, ptr %259, align 4, !tbaa !43
  %261 = fmul float %257, %260
  store float %261, ptr %35, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #8
  %262 = load float, ptr %35, align 4, !tbaa !17
  %263 = fneg float %262
  %264 = load float, ptr %32, align 4, !tbaa !17
  %265 = load float, ptr %34, align 4, !tbaa !17
  %266 = fadd float %264, %265
  %267 = load ptr, ptr %12, align 8, !tbaa !5
  %268 = getelementptr inbounds %struct.b2DistanceJoint, ptr %267, i32 0, i32 16
  %269 = getelementptr inbounds %struct.b2Softness, ptr %268, i32 0, i32 2
  %270 = load float, ptr %269, align 4, !tbaa !44
  %271 = load ptr, ptr %12, align 8, !tbaa !5
  %272 = getelementptr inbounds %struct.b2DistanceJoint, ptr %271, i32 0, i32 7
  %273 = load float, ptr %272, align 4, !tbaa !45
  %274 = fmul float %270, %273
  %275 = fneg float %274
  %276 = call float @llvm.fmuladd.f32(float %263, float %266, float %275)
  store float %276, ptr %36, align 4, !tbaa !17
  %277 = load float, ptr %36, align 4, !tbaa !17
  %278 = load ptr, ptr %12, align 8, !tbaa !5
  %279 = getelementptr inbounds %struct.b2DistanceJoint, ptr %278, i32 0, i32 7
  %280 = load float, ptr %279, align 4, !tbaa !45
  %281 = fadd float %280, %277
  store float %281, ptr %279, align 4, !tbaa !45
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #8
  %282 = load float, ptr %36, align 4, !tbaa !17
  %283 = load <2 x float>, ptr %26, align 4
  %284 = call <2 x float> @b2MulSV(float noundef %282, <2 x float> %283)
  store <2 x float> %284, ptr %37, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #8
  %285 = load float, ptr %7, align 4, !tbaa !17
  %286 = load <2 x float>, ptr %15, align 4
  %287 = load <2 x float>, ptr %37, align 4
  %288 = call <2 x float> @b2MulSub(<2 x float> %286, float noundef %285, <2 x float> %287)
  store <2 x float> %288, ptr %38, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %38, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #8
  %289 = load float, ptr %9, align 4, !tbaa !17
  %290 = load <2 x float>, ptr %19, align 4
  %291 = load <2 x float>, ptr %37, align 4
  %292 = call float @b2Cross(<2 x float> %290, <2 x float> %291)
  %293 = load float, ptr %16, align 4, !tbaa !17
  %294 = fneg float %289
  %295 = call float @llvm.fmuladd.f32(float %294, float %292, float %293)
  store float %295, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #8
  %296 = load float, ptr %8, align 4, !tbaa !17
  %297 = load <2 x float>, ptr %17, align 4
  %298 = load <2 x float>, ptr %37, align 4
  %299 = call <2 x float> @b2MulAdd(<2 x float> %297, float noundef %296, <2 x float> %298)
  store <2 x float> %299, ptr %39, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %39, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #8
  %300 = load float, ptr %10, align 4, !tbaa !17
  %301 = load <2 x float>, ptr %20, align 4
  %302 = load <2 x float>, ptr %37, align 4
  %303 = call float @b2Cross(<2 x float> %301, <2 x float> %302)
  %304 = load float, ptr %18, align 4, !tbaa !17
  %305 = call float @llvm.fmuladd.f32(float %300, float %303, float %304)
  store float %305, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  br label %306

306:                                              ; preds = %224, %219
  %307 = load ptr, ptr %12, align 8, !tbaa !5
  %308 = getelementptr inbounds %struct.b2DistanceJoint, ptr %307, i32 0, i32 19
  %309 = load i8, ptr %308, align 1, !tbaa !38, !range !34, !noundef !35
  %310 = trunc i8 %309 to i1
  br i1 %310, label %311, label %523

311:                                              ; preds = %306
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #8
  %312 = load <2 x float>, ptr %17, align 4
  %313 = load <2 x float>, ptr %15, align 4
  %314 = call <2 x float> @b2Sub(<2 x float> %312, <2 x float> %313)
  store <2 x float> %314, ptr %41, align 4
  %315 = load float, ptr %18, align 4, !tbaa !17
  %316 = load <2 x float>, ptr %20, align 4
  %317 = call <2 x float> @b2CrossSV(float noundef %315, <2 x float> %316)
  store <2 x float> %317, ptr %43, align 4
  %318 = load float, ptr %16, align 4, !tbaa !17
  %319 = load <2 x float>, ptr %19, align 4
  %320 = call <2 x float> @b2CrossSV(float noundef %318, <2 x float> %319)
  store <2 x float> %320, ptr %44, align 4
  %321 = load <2 x float>, ptr %43, align 4
  %322 = load <2 x float>, ptr %44, align 4
  %323 = call <2 x float> @b2Sub(<2 x float> %321, <2 x float> %322)
  store <2 x float> %323, ptr %42, align 4
  %324 = load <2 x float>, ptr %41, align 4
  %325 = load <2 x float>, ptr %42, align 4
  %326 = call <2 x float> @b2Add(<2 x float> %324, <2 x float> %325)
  store <2 x float> %326, ptr %40, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #8
  %327 = load <2 x float>, ptr %26, align 4
  %328 = load <2 x float>, ptr %40, align 4
  %329 = call float @b2Dot(<2 x float> %327, <2 x float> %328)
  store float %329, ptr %45, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %46) #8
  %330 = load float, ptr %25, align 4, !tbaa !17
  %331 = load ptr, ptr %12, align 8, !tbaa !5
  %332 = getelementptr inbounds %struct.b2DistanceJoint, ptr %331, i32 0, i32 3
  %333 = load float, ptr %332, align 4, !tbaa !36
  %334 = fsub float %330, %333
  store float %334, ptr %46, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #8
  store float 0.000000e+00, ptr %47, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #8
  store float 1.000000e+00, ptr %48, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #8
  store float 0.000000e+00, ptr %49, align 4, !tbaa !17
  %335 = load float, ptr %46, align 4, !tbaa !17
  %336 = fcmp ogt float %335, 0.000000e+00
  br i1 %336, label %337, label %343

337:                                              ; preds = %311
  %338 = load float, ptr %46, align 4, !tbaa !17
  %339 = load ptr, ptr %5, align 8, !tbaa !5
  %340 = getelementptr inbounds %struct.b2StepContext, ptr %339, i32 0, i32 3
  %341 = load float, ptr %340, align 4, !tbaa !46
  %342 = fmul float %338, %341
  store float %342, ptr %47, align 4, !tbaa !17
  br label %362

343:                                              ; preds = %311
  %344 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %345 = trunc i8 %344 to i1
  br i1 %345, label %346, label %361

346:                                              ; preds = %343
  %347 = load ptr, ptr %5, align 8, !tbaa !5
  %348 = getelementptr inbounds %struct.b2StepContext, ptr %347, i32 0, i32 5
  %349 = getelementptr inbounds %struct.b2Softness, ptr %348, i32 0, i32 0
  %350 = load float, ptr %349, align 4, !tbaa !47
  %351 = load float, ptr %46, align 4, !tbaa !17
  %352 = fmul float %350, %351
  store float %352, ptr %47, align 4, !tbaa !17
  %353 = load ptr, ptr %5, align 8, !tbaa !5
  %354 = getelementptr inbounds %struct.b2StepContext, ptr %353, i32 0, i32 5
  %355 = getelementptr inbounds %struct.b2Softness, ptr %354, i32 0, i32 1
  %356 = load float, ptr %355, align 4, !tbaa !48
  store float %356, ptr %48, align 4, !tbaa !17
  %357 = load ptr, ptr %5, align 8, !tbaa !5
  %358 = getelementptr inbounds %struct.b2StepContext, ptr %357, i32 0, i32 5
  %359 = getelementptr inbounds %struct.b2Softness, ptr %358, i32 0, i32 2
  %360 = load float, ptr %359, align 4, !tbaa !49
  store float %360, ptr %49, align 4, !tbaa !17
  br label %361

361:                                              ; preds = %346, %343
  br label %362

362:                                              ; preds = %361, %337
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #8
  %363 = load float, ptr %48, align 4, !tbaa !17
  %364 = fneg float %363
  %365 = load ptr, ptr %12, align 8, !tbaa !5
  %366 = getelementptr inbounds %struct.b2DistanceJoint, ptr %365, i32 0, i32 17
  %367 = load float, ptr %366, align 4, !tbaa !43
  %368 = fmul float %364, %367
  %369 = load float, ptr %45, align 4, !tbaa !17
  %370 = load float, ptr %47, align 4, !tbaa !17
  %371 = fadd float %369, %370
  %372 = load float, ptr %49, align 4, !tbaa !17
  %373 = load ptr, ptr %12, align 8, !tbaa !5
  %374 = getelementptr inbounds %struct.b2DistanceJoint, ptr %373, i32 0, i32 8
  %375 = load float, ptr %374, align 4, !tbaa !50
  %376 = fmul float %372, %375
  %377 = fneg float %376
  %378 = call float @llvm.fmuladd.f32(float %368, float %371, float %377)
  store float %378, ptr %50, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %51) #8
  %379 = load ptr, ptr %12, align 8, !tbaa !5
  %380 = getelementptr inbounds %struct.b2DistanceJoint, ptr %379, i32 0, i32 8
  %381 = load float, ptr %380, align 4, !tbaa !50
  %382 = load float, ptr %50, align 4, !tbaa !17
  %383 = fadd float %381, %382
  %384 = call float @b2MaxFloat(float noundef 0.000000e+00, float noundef %383)
  store float %384, ptr %51, align 4, !tbaa !17
  %385 = load float, ptr %51, align 4, !tbaa !17
  %386 = load ptr, ptr %12, align 8, !tbaa !5
  %387 = getelementptr inbounds %struct.b2DistanceJoint, ptr %386, i32 0, i32 8
  %388 = load float, ptr %387, align 4, !tbaa !50
  %389 = fsub float %385, %388
  store float %389, ptr %50, align 4, !tbaa !17
  %390 = load float, ptr %51, align 4, !tbaa !17
  %391 = load ptr, ptr %12, align 8, !tbaa !5
  %392 = getelementptr inbounds %struct.b2DistanceJoint, ptr %391, i32 0, i32 8
  store float %390, ptr %392, align 4, !tbaa !50
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #8
  %393 = load float, ptr %50, align 4, !tbaa !17
  %394 = load <2 x float>, ptr %26, align 4
  %395 = call <2 x float> @b2MulSV(float noundef %393, <2 x float> %394)
  store <2 x float> %395, ptr %52, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #8
  %396 = load float, ptr %7, align 4, !tbaa !17
  %397 = load <2 x float>, ptr %15, align 4
  %398 = load <2 x float>, ptr %52, align 4
  %399 = call <2 x float> @b2MulSub(<2 x float> %397, float noundef %396, <2 x float> %398)
  store <2 x float> %399, ptr %53, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %53, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #8
  %400 = load float, ptr %9, align 4, !tbaa !17
  %401 = load <2 x float>, ptr %19, align 4
  %402 = load <2 x float>, ptr %52, align 4
  %403 = call float @b2Cross(<2 x float> %401, <2 x float> %402)
  %404 = load float, ptr %16, align 4, !tbaa !17
  %405 = fneg float %400
  %406 = call float @llvm.fmuladd.f32(float %405, float %403, float %404)
  store float %406, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #8
  %407 = load float, ptr %8, align 4, !tbaa !17
  %408 = load <2 x float>, ptr %17, align 4
  %409 = load <2 x float>, ptr %52, align 4
  %410 = call <2 x float> @b2MulAdd(<2 x float> %408, float noundef %407, <2 x float> %409)
  store <2 x float> %410, ptr %54, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %54, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #8
  %411 = load float, ptr %10, align 4, !tbaa !17
  %412 = load <2 x float>, ptr %20, align 4
  %413 = load <2 x float>, ptr %52, align 4
  %414 = call float @b2Cross(<2 x float> %412, <2 x float> %413)
  %415 = load float, ptr %18, align 4, !tbaa !17
  %416 = call float @llvm.fmuladd.f32(float %411, float %414, float %415)
  store float %416, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %51) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #8
  %417 = load <2 x float>, ptr %15, align 4
  %418 = load <2 x float>, ptr %17, align 4
  %419 = call <2 x float> @b2Sub(<2 x float> %417, <2 x float> %418)
  store <2 x float> %419, ptr %56, align 4
  %420 = load float, ptr %16, align 4, !tbaa !17
  %421 = load <2 x float>, ptr %19, align 4
  %422 = call <2 x float> @b2CrossSV(float noundef %420, <2 x float> %421)
  store <2 x float> %422, ptr %58, align 4
  %423 = load float, ptr %18, align 4, !tbaa !17
  %424 = load <2 x float>, ptr %20, align 4
  %425 = call <2 x float> @b2CrossSV(float noundef %423, <2 x float> %424)
  store <2 x float> %425, ptr %59, align 4
  %426 = load <2 x float>, ptr %58, align 4
  %427 = load <2 x float>, ptr %59, align 4
  %428 = call <2 x float> @b2Sub(<2 x float> %426, <2 x float> %427)
  store <2 x float> %428, ptr %57, align 4
  %429 = load <2 x float>, ptr %56, align 4
  %430 = load <2 x float>, ptr %57, align 4
  %431 = call <2 x float> @b2Add(<2 x float> %429, <2 x float> %430)
  store <2 x float> %431, ptr %55, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %60) #8
  %432 = load <2 x float>, ptr %26, align 4
  %433 = load <2 x float>, ptr %55, align 4
  %434 = call float @b2Dot(<2 x float> %432, <2 x float> %433)
  store float %434, ptr %60, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %61) #8
  %435 = load ptr, ptr %12, align 8, !tbaa !5
  %436 = getelementptr inbounds %struct.b2DistanceJoint, ptr %435, i32 0, i32 4
  %437 = load float, ptr %436, align 4, !tbaa !37
  %438 = load float, ptr %25, align 4, !tbaa !17
  %439 = fsub float %437, %438
  store float %439, ptr %61, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %62) #8
  store float 0.000000e+00, ptr %62, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %63) #8
  store float 1.000000e+00, ptr %63, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %64) #8
  store float 0.000000e+00, ptr %64, align 4, !tbaa !17
  %440 = load float, ptr %61, align 4, !tbaa !17
  %441 = fcmp ogt float %440, 0.000000e+00
  br i1 %441, label %442, label %448

442:                                              ; preds = %362
  %443 = load float, ptr %61, align 4, !tbaa !17
  %444 = load ptr, ptr %5, align 8, !tbaa !5
  %445 = getelementptr inbounds %struct.b2StepContext, ptr %444, i32 0, i32 3
  %446 = load float, ptr %445, align 4, !tbaa !46
  %447 = fmul float %443, %446
  store float %447, ptr %62, align 4, !tbaa !17
  br label %467

448:                                              ; preds = %362
  %449 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %450 = trunc i8 %449 to i1
  br i1 %450, label %451, label %466

451:                                              ; preds = %448
  %452 = load ptr, ptr %5, align 8, !tbaa !5
  %453 = getelementptr inbounds %struct.b2StepContext, ptr %452, i32 0, i32 5
  %454 = getelementptr inbounds %struct.b2Softness, ptr %453, i32 0, i32 0
  %455 = load float, ptr %454, align 4, !tbaa !47
  %456 = load float, ptr %61, align 4, !tbaa !17
  %457 = fmul float %455, %456
  store float %457, ptr %62, align 4, !tbaa !17
  %458 = load ptr, ptr %5, align 8, !tbaa !5
  %459 = getelementptr inbounds %struct.b2StepContext, ptr %458, i32 0, i32 5
  %460 = getelementptr inbounds %struct.b2Softness, ptr %459, i32 0, i32 1
  %461 = load float, ptr %460, align 4, !tbaa !48
  store float %461, ptr %63, align 4, !tbaa !17
  %462 = load ptr, ptr %5, align 8, !tbaa !5
  %463 = getelementptr inbounds %struct.b2StepContext, ptr %462, i32 0, i32 5
  %464 = getelementptr inbounds %struct.b2Softness, ptr %463, i32 0, i32 2
  %465 = load float, ptr %464, align 4, !tbaa !49
  store float %465, ptr %64, align 4, !tbaa !17
  br label %466

466:                                              ; preds = %451, %448
  br label %467

467:                                              ; preds = %466, %442
  call void @llvm.lifetime.start.p0(i64 4, ptr %65) #8
  %468 = load float, ptr %63, align 4, !tbaa !17
  %469 = fneg float %468
  %470 = load ptr, ptr %12, align 8, !tbaa !5
  %471 = getelementptr inbounds %struct.b2DistanceJoint, ptr %470, i32 0, i32 17
  %472 = load float, ptr %471, align 4, !tbaa !43
  %473 = fmul float %469, %472
  %474 = load float, ptr %60, align 4, !tbaa !17
  %475 = load float, ptr %62, align 4, !tbaa !17
  %476 = fadd float %474, %475
  %477 = load float, ptr %64, align 4, !tbaa !17
  %478 = load ptr, ptr %12, align 8, !tbaa !5
  %479 = getelementptr inbounds %struct.b2DistanceJoint, ptr %478, i32 0, i32 9
  %480 = load float, ptr %479, align 4, !tbaa !51
  %481 = fmul float %477, %480
  %482 = fneg float %481
  %483 = call float @llvm.fmuladd.f32(float %473, float %476, float %482)
  store float %483, ptr %65, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %66) #8
  %484 = load ptr, ptr %12, align 8, !tbaa !5
  %485 = getelementptr inbounds %struct.b2DistanceJoint, ptr %484, i32 0, i32 9
  %486 = load float, ptr %485, align 4, !tbaa !51
  %487 = load float, ptr %65, align 4, !tbaa !17
  %488 = fadd float %486, %487
  %489 = call float @b2MaxFloat(float noundef 0.000000e+00, float noundef %488)
  store float %489, ptr %66, align 4, !tbaa !17
  %490 = load float, ptr %66, align 4, !tbaa !17
  %491 = load ptr, ptr %12, align 8, !tbaa !5
  %492 = getelementptr inbounds %struct.b2DistanceJoint, ptr %491, i32 0, i32 9
  %493 = load float, ptr %492, align 4, !tbaa !51
  %494 = fsub float %490, %493
  store float %494, ptr %65, align 4, !tbaa !17
  %495 = load float, ptr %66, align 4, !tbaa !17
  %496 = load ptr, ptr %12, align 8, !tbaa !5
  %497 = getelementptr inbounds %struct.b2DistanceJoint, ptr %496, i32 0, i32 9
  store float %495, ptr %497, align 4, !tbaa !51
  call void @llvm.lifetime.start.p0(i64 8, ptr %67) #8
  %498 = load float, ptr %65, align 4, !tbaa !17
  %499 = fneg float %498
  %500 = load <2 x float>, ptr %26, align 4
  %501 = call <2 x float> @b2MulSV(float noundef %499, <2 x float> %500)
  store <2 x float> %501, ptr %67, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %68) #8
  %502 = load float, ptr %7, align 4, !tbaa !17
  %503 = load <2 x float>, ptr %15, align 4
  %504 = load <2 x float>, ptr %67, align 4
  %505 = call <2 x float> @b2MulSub(<2 x float> %503, float noundef %502, <2 x float> %504)
  store <2 x float> %505, ptr %68, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %68, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %68) #8
  %506 = load float, ptr %9, align 4, !tbaa !17
  %507 = load <2 x float>, ptr %19, align 4
  %508 = load <2 x float>, ptr %67, align 4
  %509 = call float @b2Cross(<2 x float> %507, <2 x float> %508)
  %510 = load float, ptr %16, align 4, !tbaa !17
  %511 = fneg float %506
  %512 = call float @llvm.fmuladd.f32(float %511, float %509, float %510)
  store float %512, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %69) #8
  %513 = load float, ptr %8, align 4, !tbaa !17
  %514 = load <2 x float>, ptr %17, align 4
  %515 = load <2 x float>, ptr %67, align 4
  %516 = call <2 x float> @b2MulAdd(<2 x float> %514, float noundef %513, <2 x float> %515)
  store <2 x float> %516, ptr %69, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %69, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %69) #8
  %517 = load float, ptr %10, align 4, !tbaa !17
  %518 = load <2 x float>, ptr %20, align 4
  %519 = load <2 x float>, ptr %67, align 4
  %520 = call float @b2Cross(<2 x float> %518, <2 x float> %519)
  %521 = load float, ptr %18, align 4, !tbaa !17
  %522 = call float @llvm.fmuladd.f32(float %517, float %520, float %521)
  store float %522, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 8, ptr %67) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %66) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %64) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %63) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %62) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %61) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %60) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #8
  br label %523

523:                                              ; preds = %467, %306
  %524 = load ptr, ptr %12, align 8, !tbaa !5
  %525 = getelementptr inbounds %struct.b2DistanceJoint, ptr %524, i32 0, i32 20
  %526 = load i8, ptr %525, align 2, !tbaa !52, !range !34, !noundef !35
  %527 = trunc i8 %526 to i1
  br i1 %527, label %528, label %606

528:                                              ; preds = %523
  call void @llvm.lifetime.start.p0(i64 8, ptr %70) #8
  %529 = load <2 x float>, ptr %17, align 4
  %530 = load <2 x float>, ptr %15, align 4
  %531 = call <2 x float> @b2Sub(<2 x float> %529, <2 x float> %530)
  store <2 x float> %531, ptr %71, align 4
  %532 = load float, ptr %18, align 4, !tbaa !17
  %533 = load <2 x float>, ptr %20, align 4
  %534 = call <2 x float> @b2CrossSV(float noundef %532, <2 x float> %533)
  store <2 x float> %534, ptr %73, align 4
  %535 = load float, ptr %16, align 4, !tbaa !17
  %536 = load <2 x float>, ptr %19, align 4
  %537 = call <2 x float> @b2CrossSV(float noundef %535, <2 x float> %536)
  store <2 x float> %537, ptr %74, align 4
  %538 = load <2 x float>, ptr %73, align 4
  %539 = load <2 x float>, ptr %74, align 4
  %540 = call <2 x float> @b2Sub(<2 x float> %538, <2 x float> %539)
  store <2 x float> %540, ptr %72, align 4
  %541 = load <2 x float>, ptr %71, align 4
  %542 = load <2 x float>, ptr %72, align 4
  %543 = call <2 x float> @b2Add(<2 x float> %541, <2 x float> %542)
  store <2 x float> %543, ptr %70, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %75) #8
  %544 = load <2 x float>, ptr %26, align 4
  %545 = load <2 x float>, ptr %70, align 4
  %546 = call float @b2Dot(<2 x float> %544, <2 x float> %545)
  store float %546, ptr %75, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #8
  %547 = load ptr, ptr %12, align 8, !tbaa !5
  %548 = getelementptr inbounds %struct.b2DistanceJoint, ptr %547, i32 0, i32 17
  %549 = load float, ptr %548, align 4, !tbaa !43
  %550 = load ptr, ptr %12, align 8, !tbaa !5
  %551 = getelementptr inbounds %struct.b2DistanceJoint, ptr %550, i32 0, i32 6
  %552 = load float, ptr %551, align 4, !tbaa !53
  %553 = load float, ptr %75, align 4, !tbaa !17
  %554 = fsub float %552, %553
  %555 = fmul float %549, %554
  store float %555, ptr %76, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %77) #8
  %556 = load ptr, ptr %12, align 8, !tbaa !5
  %557 = getelementptr inbounds %struct.b2DistanceJoint, ptr %556, i32 0, i32 10
  %558 = load float, ptr %557, align 4, !tbaa !54
  store float %558, ptr %77, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %78) #8
  %559 = load ptr, ptr %5, align 8, !tbaa !5
  %560 = getelementptr inbounds %struct.b2StepContext, ptr %559, i32 0, i32 2
  %561 = load float, ptr %560, align 8, !tbaa !55
  %562 = load ptr, ptr %12, align 8, !tbaa !5
  %563 = getelementptr inbounds %struct.b2DistanceJoint, ptr %562, i32 0, i32 5
  %564 = load float, ptr %563, align 4, !tbaa !56
  %565 = fmul float %561, %564
  store float %565, ptr %78, align 4, !tbaa !17
  %566 = load ptr, ptr %12, align 8, !tbaa !5
  %567 = getelementptr inbounds %struct.b2DistanceJoint, ptr %566, i32 0, i32 10
  %568 = load float, ptr %567, align 4, !tbaa !54
  %569 = load float, ptr %76, align 4, !tbaa !17
  %570 = fadd float %568, %569
  %571 = load float, ptr %78, align 4, !tbaa !17
  %572 = fneg float %571
  %573 = load float, ptr %78, align 4, !tbaa !17
  %574 = call float @b2ClampFloat(float noundef %570, float noundef %572, float noundef %573)
  %575 = load ptr, ptr %12, align 8, !tbaa !5
  %576 = getelementptr inbounds %struct.b2DistanceJoint, ptr %575, i32 0, i32 10
  store float %574, ptr %576, align 4, !tbaa !54
  %577 = load ptr, ptr %12, align 8, !tbaa !5
  %578 = getelementptr inbounds %struct.b2DistanceJoint, ptr %577, i32 0, i32 10
  %579 = load float, ptr %578, align 4, !tbaa !54
  %580 = load float, ptr %77, align 4, !tbaa !17
  %581 = fsub float %579, %580
  store float %581, ptr %76, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %79) #8
  %582 = load float, ptr %76, align 4, !tbaa !17
  %583 = load <2 x float>, ptr %26, align 4
  %584 = call <2 x float> @b2MulSV(float noundef %582, <2 x float> %583)
  store <2 x float> %584, ptr %79, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %80) #8
  %585 = load float, ptr %7, align 4, !tbaa !17
  %586 = load <2 x float>, ptr %15, align 4
  %587 = load <2 x float>, ptr %79, align 4
  %588 = call <2 x float> @b2MulSub(<2 x float> %586, float noundef %585, <2 x float> %587)
  store <2 x float> %588, ptr %80, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %80, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %80) #8
  %589 = load float, ptr %9, align 4, !tbaa !17
  %590 = load <2 x float>, ptr %19, align 4
  %591 = load <2 x float>, ptr %79, align 4
  %592 = call float @b2Cross(<2 x float> %590, <2 x float> %591)
  %593 = load float, ptr %16, align 4, !tbaa !17
  %594 = fneg float %589
  %595 = call float @llvm.fmuladd.f32(float %594, float %592, float %593)
  store float %595, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %81) #8
  %596 = load float, ptr %8, align 4, !tbaa !17
  %597 = load <2 x float>, ptr %17, align 4
  %598 = load <2 x float>, ptr %79, align 4
  %599 = call <2 x float> @b2MulAdd(<2 x float> %597, float noundef %596, <2 x float> %598)
  store <2 x float> %599, ptr %81, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %81, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %81) #8
  %600 = load float, ptr %10, align 4, !tbaa !17
  %601 = load <2 x float>, ptr %20, align 4
  %602 = load <2 x float>, ptr %79, align 4
  %603 = call float @b2Cross(<2 x float> %601, <2 x float> %602)
  %604 = load float, ptr %18, align 4, !tbaa !17
  %605 = call float @llvm.fmuladd.f32(float %600, float %603, float %604)
  store float %605, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 8, ptr %79) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %78) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %77) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %75) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %70) #8
  br label %606

606:                                              ; preds = %528, %523
  br label %694

607:                                              ; preds = %212, %152
  call void @llvm.lifetime.start.p0(i64 8, ptr %82) #8
  %608 = load <2 x float>, ptr %17, align 4
  %609 = load <2 x float>, ptr %15, align 4
  %610 = call <2 x float> @b2Sub(<2 x float> %608, <2 x float> %609)
  store <2 x float> %610, ptr %83, align 4
  %611 = load float, ptr %18, align 4, !tbaa !17
  %612 = load <2 x float>, ptr %20, align 4
  %613 = call <2 x float> @b2CrossSV(float noundef %611, <2 x float> %612)
  store <2 x float> %613, ptr %85, align 4
  %614 = load float, ptr %16, align 4, !tbaa !17
  %615 = load <2 x float>, ptr %19, align 4
  %616 = call <2 x float> @b2CrossSV(float noundef %614, <2 x float> %615)
  store <2 x float> %616, ptr %86, align 4
  %617 = load <2 x float>, ptr %85, align 4
  %618 = load <2 x float>, ptr %86, align 4
  %619 = call <2 x float> @b2Sub(<2 x float> %617, <2 x float> %618)
  store <2 x float> %619, ptr %84, align 4
  %620 = load <2 x float>, ptr %83, align 4
  %621 = load <2 x float>, ptr %84, align 4
  %622 = call <2 x float> @b2Add(<2 x float> %620, <2 x float> %621)
  store <2 x float> %622, ptr %82, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %87) #8
  %623 = load <2 x float>, ptr %26, align 4
  %624 = load <2 x float>, ptr %82, align 4
  %625 = call float @b2Dot(<2 x float> %623, <2 x float> %624)
  store float %625, ptr %87, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %88) #8
  %626 = load float, ptr %25, align 4, !tbaa !17
  %627 = load ptr, ptr %12, align 8, !tbaa !5
  %628 = getelementptr inbounds %struct.b2DistanceJoint, ptr %627, i32 0, i32 0
  %629 = load float, ptr %628, align 4, !tbaa !40
  %630 = fsub float %626, %629
  store float %630, ptr %88, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %89) #8
  store float 0.000000e+00, ptr %89, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %90) #8
  store float 1.000000e+00, ptr %90, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %91) #8
  store float 0.000000e+00, ptr %91, align 4, !tbaa !17
  %631 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %632 = trunc i8 %631 to i1
  br i1 %632, label %633, label %648

633:                                              ; preds = %607
  %634 = load ptr, ptr %5, align 8, !tbaa !5
  %635 = getelementptr inbounds %struct.b2StepContext, ptr %634, i32 0, i32 5
  %636 = getelementptr inbounds %struct.b2Softness, ptr %635, i32 0, i32 0
  %637 = load float, ptr %636, align 4, !tbaa !47
  %638 = load float, ptr %88, align 4, !tbaa !17
  %639 = fmul float %637, %638
  store float %639, ptr %89, align 4, !tbaa !17
  %640 = load ptr, ptr %5, align 8, !tbaa !5
  %641 = getelementptr inbounds %struct.b2StepContext, ptr %640, i32 0, i32 5
  %642 = getelementptr inbounds %struct.b2Softness, ptr %641, i32 0, i32 1
  %643 = load float, ptr %642, align 4, !tbaa !48
  store float %643, ptr %90, align 4, !tbaa !17
  %644 = load ptr, ptr %5, align 8, !tbaa !5
  %645 = getelementptr inbounds %struct.b2StepContext, ptr %644, i32 0, i32 5
  %646 = getelementptr inbounds %struct.b2Softness, ptr %645, i32 0, i32 2
  %647 = load float, ptr %646, align 4, !tbaa !49
  store float %647, ptr %91, align 4, !tbaa !17
  br label %648

648:                                              ; preds = %633, %607
  call void @llvm.lifetime.start.p0(i64 4, ptr %92) #8
  %649 = load float, ptr %90, align 4, !tbaa !17
  %650 = fneg float %649
  %651 = load ptr, ptr %12, align 8, !tbaa !5
  %652 = getelementptr inbounds %struct.b2DistanceJoint, ptr %651, i32 0, i32 17
  %653 = load float, ptr %652, align 4, !tbaa !43
  %654 = fmul float %650, %653
  %655 = load float, ptr %87, align 4, !tbaa !17
  %656 = load float, ptr %89, align 4, !tbaa !17
  %657 = fadd float %655, %656
  %658 = load float, ptr %91, align 4, !tbaa !17
  %659 = load ptr, ptr %12, align 8, !tbaa !5
  %660 = getelementptr inbounds %struct.b2DistanceJoint, ptr %659, i32 0, i32 7
  %661 = load float, ptr %660, align 4, !tbaa !45
  %662 = fmul float %658, %661
  %663 = fneg float %662
  %664 = call float @llvm.fmuladd.f32(float %654, float %657, float %663)
  store float %664, ptr %92, align 4, !tbaa !17
  %665 = load float, ptr %92, align 4, !tbaa !17
  %666 = load ptr, ptr %12, align 8, !tbaa !5
  %667 = getelementptr inbounds %struct.b2DistanceJoint, ptr %666, i32 0, i32 7
  %668 = load float, ptr %667, align 4, !tbaa !45
  %669 = fadd float %668, %665
  store float %669, ptr %667, align 4, !tbaa !45
  call void @llvm.lifetime.start.p0(i64 8, ptr %93) #8
  %670 = load float, ptr %92, align 4, !tbaa !17
  %671 = load <2 x float>, ptr %26, align 4
  %672 = call <2 x float> @b2MulSV(float noundef %670, <2 x float> %671)
  store <2 x float> %672, ptr %93, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %94) #8
  %673 = load float, ptr %7, align 4, !tbaa !17
  %674 = load <2 x float>, ptr %15, align 4
  %675 = load <2 x float>, ptr %93, align 4
  %676 = call <2 x float> @b2MulSub(<2 x float> %674, float noundef %673, <2 x float> %675)
  store <2 x float> %676, ptr %94, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %94, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %94) #8
  %677 = load float, ptr %9, align 4, !tbaa !17
  %678 = load <2 x float>, ptr %19, align 4
  %679 = load <2 x float>, ptr %93, align 4
  %680 = call float @b2Cross(<2 x float> %678, <2 x float> %679)
  %681 = load float, ptr %16, align 4, !tbaa !17
  %682 = fneg float %677
  %683 = call float @llvm.fmuladd.f32(float %682, float %680, float %681)
  store float %683, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %95) #8
  %684 = load float, ptr %8, align 4, !tbaa !17
  %685 = load <2 x float>, ptr %17, align 4
  %686 = load <2 x float>, ptr %93, align 4
  %687 = call <2 x float> @b2MulAdd(<2 x float> %685, float noundef %684, <2 x float> %686)
  store <2 x float> %687, ptr %95, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %95, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %95) #8
  %688 = load float, ptr %10, align 4, !tbaa !17
  %689 = load <2 x float>, ptr %20, align 4
  %690 = load <2 x float>, ptr %93, align 4
  %691 = call float @b2Cross(<2 x float> %689, <2 x float> %690)
  %692 = load float, ptr %18, align 4, !tbaa !17
  %693 = call float @llvm.fmuladd.f32(float %688, float %691, float %692)
  store float %693, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 8, ptr %93) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %92) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %91) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %90) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %89) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %88) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %87) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %82) #8
  br label %694

694:                                              ; preds = %648, %606
  %695 = load ptr, ptr %13, align 8, !tbaa !5
  %696 = getelementptr inbounds %struct.b2BodyState, ptr %695, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %696, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !29
  %697 = load float, ptr %16, align 4, !tbaa !17
  %698 = load ptr, ptr %13, align 8, !tbaa !5
  %699 = getelementptr inbounds %struct.b2BodyState, ptr %698, i32 0, i32 1
  store float %697, ptr %699, align 4, !tbaa !30
  %700 = load ptr, ptr %14, align 8, !tbaa !5
  %701 = getelementptr inbounds %struct.b2BodyState, ptr %700, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %701, ptr align 4 %17, i64 8, i1 false), !tbaa.struct !29
  %702 = load float, ptr %18, align 4, !tbaa !17
  %703 = load ptr, ptr %14, align 8, !tbaa !5
  %704 = getelementptr inbounds %struct.b2BodyState, ptr %703, i32 0, i32 1
  store float %702, ptr %704, align 4, !tbaa !30
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #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 8, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #8
  ret void
}

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2CrossSV(float noundef, <2 x float>) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Dot(<2 x float>, <2 x float>) #4

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { "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 = { cold noreturn nounwind memory(inaccessiblemem: write) }
attributes #4 = { 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 #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 = { 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 44}
!22 = !{!"b2DistanceJoint", !15, i64 0, !15, i64 4, !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, !13, i64 44, !13, i64 48, !14, i64 52, !14, i64 60, !14, i64 68, !23, i64 76, !15, i64 88, !10, i64 92, !10, i64 93, !10, i64 94}
!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 48}
!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 92}
!34 = !{i8 0, i8 2}
!35 = !{}
!36 = !{!22, !15, i64 12}
!37 = !{!22, !15, i64 16}
!38 = !{!22, !10, i64 93}
!39 = !{!22, !15, i64 4}
!40 = !{!22, !15, i64 0}
!41 = !{!22, !15, i64 76}
!42 = !{!22, !15, i64 80}
!43 = !{!22, !15, i64 88}
!44 = !{!22, !15, i64 84}
!45 = !{!22, !15, i64 28}
!46 = !{!25, !15, i64 12}
!47 = !{!25, !15, i64 20}
!48 = !{!25, !15, i64 24}
!49 = !{!25, !15, i64 28}
!50 = !{!22, !15, i64 32}
!51 = !{!22, !15, i64 36}
!52 = !{!22, !10, i64 94}
!53 = !{!22, !15, i64 24}
!54 = !{!22, !15, i64 40}
!55 = !{!25, !15, i64 8}
!56 = !{!22, !15, i64 20}


; 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.2 = external hidden unnamed_addr constant [31 x i8], align 1
@__const.b2SolveDistanceJoint.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: inlinehint nounwind uwtable
declare hidden float @b2ClampFloat(float noundef, float noundef, float noundef) local_unnamed_addr #1

; 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 @b2MaxFloat(float noundef, float noundef) local_unnamed_addr #1

declare i32 @b2InternalAssertFcn(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #2

; Function Attrs: cold noreturn nounwind memory(inaccessiblemem: write)
declare void @llvm.trap() #3

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Sub(<2 x float>, <2 x float>) local_unnamed_addr #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Length(<2 x float>) local_unnamed_addr #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Normalize(<2 x float>) local_unnamed_addr #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSV(float noundef, <2 x float>) local_unnamed_addr #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RotateVector(<2 x float>, <2 x float>) local_unnamed_addr #4

; 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> @b2Add(<2 x float>, <2 x float>) local_unnamed_addr #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Cross(<2 x float>, <2 x float>) local_unnamed_addr #4

; 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> @b2MulSub(<2 x float>, float noundef, <2 x float>) local_unnamed_addr #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulAdd(<2 x float>, float noundef, <2 x float>) local_unnamed_addr #4

; Function Attrs: nounwind uwtable
define dso_local void @b2SolveDistanceJoint(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, 0
  br i1 %7, label %11, label %8

8:                                                ; preds = %3
  %9 = tail call i32 @b2InternalAssertFcn(ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.1, i32 noundef 314) #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 float, ptr %16, align 4, !tbaa !14
  %18 = getelementptr inbounds i8, ptr %0, i64 44
  %19 = load float, ptr %18, align 4, !tbaa !15
  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.b2SolveDistanceJoint.dummyState, i64 32, i1 false)
  %20 = getelementptr inbounds i8, ptr %0, i64 48
  %21 = getelementptr inbounds i8, ptr %0, i64 92
  %22 = load i32, ptr %21, align 4, !tbaa !16
  %23 = icmp eq i32 %22, -1
  br i1 %23, label %29, label %24

24:                                               ; preds = %11
  %25 = getelementptr inbounds i8, ptr %1, i64 80
  %26 = load ptr, ptr %25, align 8, !tbaa !20
  %27 = sext i32 %22 to i64
  %28 = getelementptr inbounds %struct.b2BodyState, ptr %26, i64 %27
  br label %29

29:                                               ; preds = %11, %24
  %30 = phi ptr [ %28, %24 ], [ %4, %11 ]
  %31 = getelementptr inbounds i8, ptr %0, i64 96
  %32 = load i32, ptr %31, align 4, !tbaa !25
  %33 = icmp eq i32 %32, -1
  br i1 %33, label %39, label %34

34:                                               ; preds = %29
  %35 = getelementptr inbounds i8, ptr %1, i64 80
  %36 = load ptr, ptr %35, align 8, !tbaa !20
  %37 = sext i32 %32 to i64
  %38 = getelementptr inbounds %struct.b2BodyState, ptr %36, i64 %37
  br label %39

39:                                               ; preds = %29, %34
  %40 = phi ptr [ %38, %34 ], [ %4, %29 ]
  %.sroa.0169.0.copyload = load <2 x float>, ptr %30, align 4
  %41 = getelementptr inbounds i8, ptr %30, i64 8
  %42 = load float, ptr %41, align 4, !tbaa !26
  %.sroa.0147.0.copyload = load <2 x float>, ptr %40, align 4
  %43 = getelementptr inbounds i8, ptr %40, i64 8
  %44 = load float, ptr %43, align 4, !tbaa !26
  %45 = getelementptr inbounds i8, ptr %30, i64 24
  %46 = getelementptr inbounds i8, ptr %0, i64 100
  %47 = load <2 x float>, ptr %45, align 4
  %48 = load <2 x float>, ptr %46, align 4
  %49 = tail call <2 x float> @b2RotateVector(<2 x float> %47, <2 x float> %48)
  %50 = getelementptr inbounds i8, ptr %40, i64 24
  %51 = getelementptr inbounds i8, ptr %0, i64 108
  %52 = load <2 x float>, ptr %50, align 4
  %53 = load <2 x float>, ptr %51, align 4
  %54 = tail call <2 x float> @b2RotateVector(<2 x float> %52, <2 x float> %53)
  %55 = getelementptr inbounds i8, ptr %40, i64 16
  %56 = getelementptr inbounds i8, ptr %30, i64 16
  %57 = load <2 x float>, ptr %55, align 4
  %58 = load <2 x float>, ptr %56, align 4
  %59 = tail call <2 x float> @b2Sub(<2 x float> %57, <2 x float> %58)
  %60 = tail call <2 x float> @b2Sub(<2 x float> %54, <2 x float> %49)
  %61 = tail call <2 x float> @b2Add(<2 x float> %59, <2 x float> %60)
  %62 = getelementptr inbounds i8, ptr %0, i64 116
  %63 = load <2 x float>, ptr %62, align 4
  %64 = tail call <2 x float> @b2Add(<2 x float> %63, <2 x float> %61)
  %65 = tail call float @b2Length(<2 x float> %64)
  %66 = tail call <2 x float> @b2Normalize(<2 x float> %64)
  %67 = getelementptr inbounds i8, ptr %0, i64 140
  %68 = load i8, ptr %67, align 4, !tbaa !29, !range !30, !noundef !31
  %69 = trunc nuw i8 %68 to i1
  br i1 %69, label %70, label %258

70:                                               ; preds = %39
  %71 = getelementptr inbounds i8, ptr %0, i64 60
  %72 = load float, ptr %71, align 4, !tbaa !32
  %73 = getelementptr inbounds i8, ptr %0, i64 64
  %74 = load float, ptr %73, align 4, !tbaa !33
  %75 = fcmp olt float %72, %74
  br i1 %75, label %80, label %76

76:                                               ; preds = %70
  %77 = getelementptr inbounds i8, ptr %0, i64 141
  %78 = load i8, ptr %77, align 1, !tbaa !34, !range !30, !noundef !31
  %79 = icmp eq i8 %78, 0
  br i1 %79, label %80, label %258

80:                                               ; preds = %76, %70
  %81 = getelementptr inbounds i8, ptr %0, i64 52
  %82 = load float, ptr %81, align 4, !tbaa !35
  %83 = fcmp ogt float %82, 0.000000e+00
  %84 = insertelement <2 x float> poison, float %44, i64 0
  %85 = insertelement <2 x float> %84, float %42, i64 1
  br i1 %83, label %86, label %124

86:                                               ; preds = %80
  %87 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0147.0.copyload, <2 x float> %.sroa.0169.0.copyload)
  %88 = tail call <2 x float> @b2CrossSV(float noundef %44, <2 x float> %54)
  %89 = tail call <2 x float> @b2CrossSV(float noundef %42, <2 x float> %49)
  %90 = tail call <2 x float> @b2Sub(<2 x float> %88, <2 x float> %89)
  %91 = tail call <2 x float> @b2Add(<2 x float> %87, <2 x float> %90)
  %92 = tail call float @b2Dot(<2 x float> %66, <2 x float> %91)
  %93 = load float, ptr %20, align 4, !tbaa !36
  %94 = fsub float %65, %93
  %95 = getelementptr inbounds i8, ptr %0, i64 124
  %96 = load float, ptr %95, align 4, !tbaa !37
  %97 = fmul float %96, %94
  %98 = getelementptr inbounds i8, ptr %0, i64 128
  %99 = load float, ptr %98, align 4, !tbaa !38
  %100 = getelementptr inbounds i8, ptr %0, i64 136
  %101 = load float, ptr %100, align 4, !tbaa !39
  %102 = fneg float %99
  %103 = fmul float %101, %102
  %104 = fadd float %92, %97
  %105 = getelementptr inbounds i8, ptr %0, i64 132
  %106 = load float, ptr %105, align 4, !tbaa !40
  %107 = getelementptr inbounds i8, ptr %0, i64 76
  %108 = load float, ptr %107, align 4, !tbaa !41
  %109 = fneg float %106
  %110 = fmul float %108, %109
  %111 = tail call float @llvm.fmuladd.f32(float %103, float %104, float %110)
  %112 = fadd float %108, %111
  store float %112, ptr %107, align 4, !tbaa !41
  %113 = tail call <2 x float> @b2MulSV(float noundef %111, <2 x float> %66)
  %114 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0169.0.copyload, float noundef %13, <2 x float> %113)
  %115 = tail call float @b2Cross(<2 x float> %49, <2 x float> %113)
  %116 = fneg float %17
  %117 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0147.0.copyload, float noundef %15, <2 x float> %113)
  %118 = tail call float @b2Cross(<2 x float> %54, <2 x float> %113)
  %119 = insertelement <2 x float> poison, float %19, i64 0
  %120 = insertelement <2 x float> %119, float %116, i64 1
  %121 = insertelement <2 x float> poison, float %118, i64 0
  %122 = insertelement <2 x float> %121, float %115, i64 1
  %123 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %120, <2 x float> %122, <2 x float> %85)
  br label %124

124:                                              ; preds = %86, %80
  %.sroa.0147.0 = phi <2 x float> [ %117, %86 ], [ %.sroa.0147.0.copyload, %80 ]
  %.sroa.0169.0 = phi <2 x float> [ %114, %86 ], [ %.sroa.0169.0.copyload, %80 ]
  %125 = phi <2 x float> [ %123, %86 ], [ %85, %80 ]
  %126 = getelementptr inbounds i8, ptr %0, i64 141
  %127 = load i8, ptr %126, align 1, !tbaa !34, !range !30, !noundef !31
  %128 = trunc nuw i8 %127 to i1
  br i1 %128, label %129, label %227

129:                                              ; preds = %124
  %130 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0147.0, <2 x float> %.sroa.0169.0)
  %131 = extractelement <2 x float> %125, i64 0
  %132 = tail call <2 x float> @b2CrossSV(float noundef %131, <2 x float> %54)
  %133 = extractelement <2 x float> %125, i64 1
  %134 = tail call <2 x float> @b2CrossSV(float noundef %133, <2 x float> %49)
  %135 = tail call <2 x float> @b2Sub(<2 x float> %132, <2 x float> %134)
  %136 = tail call <2 x float> @b2Add(<2 x float> %130, <2 x float> %135)
  %137 = tail call float @b2Dot(<2 x float> %66, <2 x float> %136)
  %138 = load float, ptr %71, align 4, !tbaa !32
  %139 = fsub float %65, %138
  %140 = fcmp ogt float %139, 0.000000e+00
  br i1 %140, label %141, label %145

141:                                              ; preds = %129
  %142 = getelementptr inbounds i8, ptr %1, i64 12
  %143 = load float, ptr %142, align 4, !tbaa !42
  %144 = fmul float %139, %143
  br label %154

145:                                              ; preds = %129
  br i1 %2, label %146, label %154

146:                                              ; preds = %145
  %147 = getelementptr inbounds i8, ptr %1, i64 20
  %148 = load float, ptr %147, align 4, !tbaa !43
  %149 = fmul float %139, %148
  %150 = getelementptr inbounds i8, ptr %1, i64 24
  %151 = load float, ptr %150, align 4, !tbaa !44
  %152 = getelementptr inbounds i8, ptr %1, i64 28
  %153 = load float, ptr %152, align 4, !tbaa !45
  br label %154

154:                                              ; preds = %145, %146, %141
  %.0286 = phi float [ 0.000000e+00, %141 ], [ %153, %146 ], [ 0.000000e+00, %145 ]
  %.0285 = phi float [ 1.000000e+00, %141 ], [ %151, %146 ], [ 1.000000e+00, %145 ]
  %.0284 = phi float [ %144, %141 ], [ %149, %146 ], [ 0.000000e+00, %145 ]
  %155 = fneg float %.0285
  %156 = getelementptr inbounds i8, ptr %0, i64 136
  %157 = load float, ptr %156, align 4, !tbaa !39
  %158 = fmul float %157, %155
  %159 = fadd float %137, %.0284
  %160 = getelementptr inbounds i8, ptr %0, i64 80
  %161 = load float, ptr %160, align 4, !tbaa !46
  %162 = fneg float %.0286
  %163 = fmul float %161, %162
  %164 = tail call float @llvm.fmuladd.f32(float %158, float %159, float %163)
  %165 = fadd float %161, %164
  %166 = tail call float @b2MaxFloat(float noundef 0.000000e+00, float noundef %165)
  %167 = load float, ptr %160, align 4, !tbaa !46
  %168 = fsub float %166, %167
  store float %166, ptr %160, align 4, !tbaa !46
  %169 = tail call <2 x float> @b2MulSV(float noundef %168, <2 x float> %66)
  %170 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0169.0, float noundef %13, <2 x float> %169)
  %171 = tail call float @b2Cross(<2 x float> %49, <2 x float> %169)
  %172 = fneg float %17
  %173 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0147.0, float noundef %15, <2 x float> %169)
  %174 = tail call float @b2Cross(<2 x float> %54, <2 x float> %169)
  %175 = insertelement <2 x float> poison, float %19, i64 0
  %176 = insertelement <2 x float> %175, float %172, i64 1
  %177 = insertelement <2 x float> poison, float %174, i64 0
  %178 = insertelement <2 x float> %177, float %171, i64 1
  %179 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %176, <2 x float> %178, <2 x float> %125)
  %180 = tail call <2 x float> @b2Sub(<2 x float> %170, <2 x float> %173)
  %181 = extractelement <2 x float> %179, i64 1
  %182 = tail call <2 x float> @b2CrossSV(float noundef %181, <2 x float> %49)
  %183 = extractelement <2 x float> %179, i64 0
  %184 = tail call <2 x float> @b2CrossSV(float noundef %183, <2 x float> %54)
  %185 = tail call <2 x float> @b2Sub(<2 x float> %182, <2 x float> %184)
  %186 = tail call <2 x float> @b2Add(<2 x float> %180, <2 x float> %185)
  %187 = tail call float @b2Dot(<2 x float> %66, <2 x float> %186)
  %188 = load float, ptr %73, align 4, !tbaa !33
  %189 = fsub float %188, %65
  %190 = fcmp ogt float %189, 0.000000e+00
  br i1 %190, label %191, label %195

191:                                              ; preds = %154
  %192 = getelementptr inbounds i8, ptr %1, i64 12
  %193 = load float, ptr %192, align 4, !tbaa !42
  %194 = fmul float %189, %193
  br label %204

195:                                              ; preds = %154
  br i1 %2, label %196, label %204

196:                                              ; preds = %195
  %197 = getelementptr inbounds i8, ptr %1, i64 20
  %198 = load float, ptr %197, align 4, !tbaa !43
  %199 = fmul float %189, %198
  %200 = getelementptr inbounds i8, ptr %1, i64 24
  %201 = load float, ptr %200, align 4, !tbaa !44
  %202 = getelementptr inbounds i8, ptr %1, i64 28
  %203 = load float, ptr %202, align 4, !tbaa !45
  br label %204

204:                                              ; preds = %195, %196, %191
  %.0289 = phi float [ 0.000000e+00, %191 ], [ %203, %196 ], [ 0.000000e+00, %195 ]
  %.0288 = phi float [ 1.000000e+00, %191 ], [ %201, %196 ], [ 1.000000e+00, %195 ]
  %.0287 = phi float [ %194, %191 ], [ %199, %196 ], [ 0.000000e+00, %195 ]
  %205 = fneg float %.0288
  %206 = load float, ptr %156, align 4, !tbaa !39
  %207 = fmul float %206, %205
  %208 = fadd float %187, %.0287
  %209 = getelementptr inbounds i8, ptr %0, i64 84
  %210 = load float, ptr %209, align 4, !tbaa !47
  %211 = fneg float %.0289
  %212 = fmul float %210, %211
  %213 = tail call float @llvm.fmuladd.f32(float %207, float %208, float %212)
  %214 = fadd float %210, %213
  %215 = tail call float @b2MaxFloat(float noundef 0.000000e+00, float noundef %214)
  %216 = load float, ptr %209, align 4, !tbaa !47
  %217 = fsub float %215, %216
  store float %215, ptr %209, align 4, !tbaa !47
  %218 = fneg float %217
  %219 = tail call <2 x float> @b2MulSV(float noundef %218, <2 x float> %66)
  %220 = tail call <2 x float> @b2MulSub(<2 x float> %170, float noundef %13, <2 x float> %219)
  %221 = tail call float @b2Cross(<2 x float> %49, <2 x float> %219)
  %222 = tail call <2 x float> @b2MulAdd(<2 x float> %173, float noundef %15, <2 x float> %219)
  %223 = tail call float @b2Cross(<2 x float> %54, <2 x float> %219)
  %224 = insertelement <2 x float> poison, float %223, i64 0
  %225 = insertelement <2 x float> %224, float %221, i64 1
  %226 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %176, <2 x float> %225, <2 x float> %179)
  br label %227

227:                                              ; preds = %204, %124
  %.sroa.0147.1 = phi <2 x float> [ %222, %204 ], [ %.sroa.0147.0, %124 ]
  %.sroa.0169.1 = phi <2 x float> [ %220, %204 ], [ %.sroa.0169.0, %124 ]
  %228 = phi <2 x float> [ %226, %204 ], [ %125, %124 ]
  %229 = getelementptr inbounds i8, ptr %0, i64 142
  %230 = load i8, ptr %229, align 2, !tbaa !48, !range !30, !noundef !31
  %231 = trunc nuw i8 %230 to i1
  br i1 %231, label %232, label %301

232:                                              ; preds = %227
  %233 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0147.1, <2 x float> %.sroa.0169.1)
  %234 = extractelement <2 x float> %228, i64 0
  %235 = tail call <2 x float> @b2CrossSV(float noundef %234, <2 x float> %54)
  %236 = extractelement <2 x float> %228, i64 1
  %237 = tail call <2 x float> @b2CrossSV(float noundef %236, <2 x float> %49)
  %238 = tail call <2 x float> @b2Sub(<2 x float> %235, <2 x float> %237)
  %239 = tail call <2 x float> @b2Add(<2 x float> %233, <2 x float> %238)
  %240 = tail call float @b2Dot(<2 x float> %66, <2 x float> %239)
  %241 = getelementptr inbounds i8, ptr %0, i64 136
  %242 = load float, ptr %241, align 4, !tbaa !39
  %243 = getelementptr inbounds i8, ptr %0, i64 72
  %244 = load float, ptr %243, align 4, !tbaa !49
  %245 = fsub float %244, %240
  %246 = fmul float %242, %245
  %247 = getelementptr inbounds i8, ptr %0, i64 88
  %248 = load float, ptr %247, align 4, !tbaa !50
  %249 = getelementptr inbounds i8, ptr %1, i64 8
  %250 = load float, ptr %249, align 8, !tbaa !51
  %251 = getelementptr inbounds i8, ptr %0, i64 68
  %252 = load float, ptr %251, align 4, !tbaa !52
  %253 = fmul float %250, %252
  %254 = fadd float %248, %246
  %255 = fneg float %253
  %256 = tail call float @b2ClampFloat(float noundef %254, float noundef %255, float noundef %253)
  store float %256, ptr %247, align 4, !tbaa !50
  %257 = fsub float %256, %248
  br label %.sink.split

258:                                              ; preds = %76, %39
  %259 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0147.0.copyload, <2 x float> %.sroa.0169.0.copyload)
  %260 = tail call <2 x float> @b2CrossSV(float noundef %44, <2 x float> %54)
  %261 = tail call <2 x float> @b2CrossSV(float noundef %42, <2 x float> %49)
  %262 = tail call <2 x float> @b2Sub(<2 x float> %260, <2 x float> %261)
  %263 = tail call <2 x float> @b2Add(<2 x float> %259, <2 x float> %262)
  %264 = tail call float @b2Dot(<2 x float> %66, <2 x float> %263)
  br i1 %2, label %265, label %275

265:                                              ; preds = %258
  %266 = load float, ptr %20, align 4, !tbaa !36
  %267 = fsub float %65, %266
  %268 = getelementptr inbounds i8, ptr %1, i64 20
  %269 = load float, ptr %268, align 4, !tbaa !43
  %270 = fmul float %269, %267
  %271 = getelementptr inbounds i8, ptr %1, i64 24
  %272 = load float, ptr %271, align 4, !tbaa !44
  %273 = getelementptr inbounds i8, ptr %1, i64 28
  %274 = load float, ptr %273, align 4, !tbaa !45
  br label %275

275:                                              ; preds = %265, %258
  %.0283 = phi float [ %270, %265 ], [ 0.000000e+00, %258 ]
  %.0282 = phi float [ %272, %265 ], [ 1.000000e+00, %258 ]
  %.0281 = phi float [ %274, %265 ], [ 0.000000e+00, %258 ]
  %276 = fneg float %.0282
  %277 = getelementptr inbounds i8, ptr %0, i64 136
  %278 = load float, ptr %277, align 4, !tbaa !39
  %279 = fmul float %278, %276
  %280 = fadd float %264, %.0283
  %281 = getelementptr inbounds i8, ptr %0, i64 76
  %282 = load float, ptr %281, align 4, !tbaa !41
  %283 = fneg float %.0281
  %284 = fmul float %282, %283
  %285 = tail call float @llvm.fmuladd.f32(float %279, float %280, float %284)
  %286 = fadd float %282, %285
  store float %286, ptr %281, align 4, !tbaa !41
  %287 = insertelement <2 x float> poison, float %44, i64 0
  %288 = insertelement <2 x float> %287, float %42, i64 1
  br label %.sink.split

.sink.split:                                      ; preds = %275, %232
  %.sink301 = phi float [ %257, %232 ], [ %285, %275 ]
  %.sroa.0169.1.sink = phi <2 x float> [ %.sroa.0169.1, %232 ], [ %.sroa.0169.0.copyload, %275 ]
  %.sroa.0147.1.sink = phi <2 x float> [ %.sroa.0147.1, %232 ], [ %.sroa.0147.0.copyload, %275 ]
  %289 = phi <2 x float> [ %228, %232 ], [ %288, %275 ]
  %290 = tail call <2 x float> @b2MulSV(float noundef %.sink301, <2 x float> %66)
  %291 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0169.1.sink, float noundef %13, <2 x float> %290)
  %292 = tail call float @b2Cross(<2 x float> %49, <2 x float> %290)
  %293 = fneg float %17
  %294 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0147.1.sink, float noundef %15, <2 x float> %290)
  %295 = tail call float @b2Cross(<2 x float> %54, <2 x float> %290)
  %296 = insertelement <2 x float> poison, float %19, i64 0
  %297 = insertelement <2 x float> %296, float %293, i64 1
  %298 = insertelement <2 x float> poison, float %295, i64 0
  %299 = insertelement <2 x float> %298, float %292, i64 1
  %300 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %297, <2 x float> %299, <2 x float> %289)
  br label %301

301:                                              ; preds = %.sink.split, %227
  %.sroa.0147.2 = phi <2 x float> [ %.sroa.0147.1, %227 ], [ %294, %.sink.split ]
  %.sroa.0169.2 = phi <2 x float> [ %.sroa.0169.1, %227 ], [ %291, %.sink.split ]
  %302 = phi <2 x float> [ %228, %227 ], [ %300, %.sink.split ]
  store <2 x float> %.sroa.0169.2, ptr %30, align 4
  %303 = extractelement <2 x float> %302, i64 1
  store float %303, ptr %41, align 4, !tbaa !26
  store <2 x float> %.sroa.0147.2, ptr %40, align 4
  %304 = extractelement <2 x float> %302, i64 0
  store float %304, ptr %43, align 4, !tbaa !26
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #9
  ret void
}

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2CrossSV(float noundef, <2 x float>) local_unnamed_addr #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Dot(<2 x float>, <2 x float>) local_unnamed_addr #4

; 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"="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 #2 = { "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 = { cold noreturn nounwind memory(inaccessiblemem: write) }
attributes #4 = { 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 #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 = !{!6, !11, i64 40}
!15 = !{!6, !11, i64 44}
!16 = !{!17, !7, i64 44}
!17 = !{!"b2DistanceJoint", !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, !7, i64 44, !7, i64 48, !10, i64 52, !10, i64 60, !10, i64 68, !18, i64 76, !11, i64 88, !19, i64 92, !19, i64 93, !19, i64 94}
!18 = !{!"b2Softness", !11, i64 0, !11, i64 4, !11, i64 8}
!19 = !{!"_Bool", !8, i64 0}
!20 = !{!21, !22, i64 80}
!21 = !{!"b2StepContext", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !7, i64 16, !18, i64 20, !18, i64 32, !18, i64 44, !11, i64 56, !11, i64 60, !22, i64 64, !22, i64 72, !22, i64 80, !22, i64 88, !22, i64 96, !7, i64 104, !22, i64 112, !23, i64 120, !22, i64 128, !22, i64 136, !22, i64 144, !7, i64 152, !7, i64 156, !22, i64 160, !7, i64 168, !19, i64 172, !8, i64 173, !24, i64 240, !8, i64 244}
!22 = !{!"any pointer", !8, i64 0}
!23 = !{!"b2AtomicInt", !7, i64 0}
!24 = !{!"b2AtomicU32", !7, i64 0}
!25 = !{!17, !7, i64 48}
!26 = !{!27, !11, i64 8}
!27 = !{!"b2BodyState", !10, i64 0, !11, i64 8, !7, i64 12, !10, i64 16, !28, i64 24}
!28 = !{!"b2Rot", !11, i64 0, !11, i64 4}
!29 = !{!17, !19, i64 92}
!30 = !{i8 0, i8 2}
!31 = !{}
!32 = !{!17, !11, i64 12}
!33 = !{!17, !11, i64 16}
!34 = !{!17, !19, i64 93}
!35 = !{!17, !11, i64 4}
!36 = !{!17, !11, i64 0}
!37 = !{!17, !11, i64 76}
!38 = !{!17, !11, i64 80}
!39 = !{!17, !11, i64 88}
!40 = !{!17, !11, i64 84}
!41 = !{!17, !11, i64 28}
!42 = !{!21, !11, i64 12}
!43 = !{!21, !11, i64 20}
!44 = !{!21, !11, i64 24}
!45 = !{!21, !11, i64 28}
!46 = !{!17, !11, i64 32}
!47 = !{!17, !11, i64 36}
!48 = !{!17, !19, i64 94}
!49 = !{!17, !11, i64 24}
!50 = !{!17, !11, i64 40}
!51 = !{!21, !11, i64 8}
!52 = !{!17, !11, i64 20}


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