; LLVM IR from erincatto/box2d :: src (wheel_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.b2WheelJoint = type { %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, 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 [67 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [28 x i8], align 1
@__const.b2SolveWheelJoint.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

declare i32 @b2InternalAssertFcn(ptr noundef, ptr noundef, i32 noundef) #1

; Function Attrs: cold noreturn nounwind memory(inaccessiblemem: write)
declare void @llvm.trap() #2

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2MaxFloat(float noundef, float noundef) #3

; 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) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2LeftPerp(<2 x float>) #5

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSV(float noundef, <2 x float>) #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RotateVector(<2 x float>, <2 x float>) #5

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

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

; 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>) #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulAdd(<2 x float>, float noundef, <2 x float>) #5

; Function Attrs: nounwind uwtable
define dso_local void @b2SolveWheelJoint(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 %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 %struct.b2Vec2, align 4
  %26 = alloca %struct.b2Vec2, align 4
  %27 = alloca float, align 4
  %28 = alloca float, align 4
  %29 = alloca %struct.b2Vec2, 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 %struct.b2Vec2, align 4
  %41 = alloca float, align 4
  %42 = alloca %struct.b2Vec2, 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 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 float, align 4
  %54 = alloca float, align 4
  %55 = alloca %struct.b2Vec2, align 4
  %56 = alloca float, align 4
  %57 = alloca float, 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 %struct.b2Vec2, align 4
  %66 = alloca float, align 4
  %67 = alloca float, align 4
  %68 = alloca %struct.b2Vec2, align 4
  %69 = alloca float, align 4
  %70 = alloca float, align 4
  %71 = alloca %struct.b2Vec2, align 4
  %72 = alloca %struct.b2Vec2, align 4
  %73 = alloca %struct.b2Vec2, align 4
  %74 = alloca float, 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 float, align 4
  %81 = alloca float, align 4
  %82 = alloca %struct.b2Vec2, align 4
  %83 = alloca float, align 4
  %84 = alloca %struct.b2Vec2, align 4
  %85 = alloca float, align 4
  %86 = alloca float, align 4
  %87 = alloca %struct.b2Vec2, align 4
  %88 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %89 = zext i1 %2 to i8
  store i8 %89, ptr %6, align 1, !tbaa !9
  br label %90

90:                                               ; preds = %3
  %91 = load ptr, ptr %4, align 8, !tbaa !5
  %92 = getelementptr inbounds %struct.b2JointSim, ptr %91, i32 0, i32 3
  %93 = load i32, ptr %92, align 4, !tbaa !11
  %94 = icmp eq i32 %93, 7
  br i1 %94, label %99, label %95

95:                                               ; preds = %90
  %96 = call i32 @b2InternalAssertFcn(ptr noundef @.str.2, ptr noundef @.str.1, i32 noundef 308)
  %97 = icmp ne i32 %96, 0
  br i1 %97, label %98, label %99

98:                                               ; preds = %95
  call void @llvm.trap()
  br label %99

99:                                               ; preds = %98, %95, %90
  br label %100

100:                                              ; preds = %99
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #8
  %101 = load ptr, ptr %4, align 8, !tbaa !5
  %102 = getelementptr inbounds %struct.b2JointSim, ptr %101, i32 0, i32 6
  %103 = load float, ptr %102, align 4, !tbaa !16
  store float %103, ptr %7, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #8
  %104 = load ptr, ptr %4, align 8, !tbaa !5
  %105 = getelementptr inbounds %struct.b2JointSim, ptr %104, i32 0, i32 7
  %106 = load float, ptr %105, align 4, !tbaa !18
  store float %106, ptr %8, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #8
  %107 = load ptr, ptr %4, align 8, !tbaa !5
  %108 = getelementptr inbounds %struct.b2JointSim, ptr %107, i32 0, i32 8
  %109 = load float, ptr %108, align 4, !tbaa !19
  store float %109, ptr %9, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #8
  %110 = load ptr, ptr %4, align 8, !tbaa !5
  %111 = getelementptr inbounds %struct.b2JointSim, ptr %110, i32 0, i32 9
  %112 = load float, ptr %111, align 4, !tbaa !20
  store float %112, 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.b2SolveWheelJoint.dummyState, i64 32, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #8
  %113 = load ptr, ptr %4, align 8, !tbaa !5
  %114 = getelementptr inbounds %struct.b2JointSim, ptr %113, i32 0, i32 10
  store ptr %114, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #8
  %115 = load ptr, ptr %12, align 8, !tbaa !5
  %116 = getelementptr inbounds %struct.b2WheelJoint, ptr %115, i32 0, i32 12
  %117 = load i32, ptr %116, align 4, !tbaa !21
  %118 = icmp eq i32 %117, -1
  br i1 %118, label %119, label %120

119:                                              ; preds = %100
  br label %129

120:                                              ; preds = %100
  %121 = load ptr, ptr %5, align 8, !tbaa !5
  %122 = getelementptr inbounds %struct.b2StepContext, ptr %121, i32 0, i32 12
  %123 = load ptr, ptr %122, align 8, !tbaa !24
  %124 = load ptr, ptr %12, align 8, !tbaa !5
  %125 = getelementptr inbounds %struct.b2WheelJoint, ptr %124, i32 0, i32 12
  %126 = load i32, ptr %125, align 4, !tbaa !21
  %127 = sext i32 %126 to i64
  %128 = getelementptr inbounds %struct.b2BodyState, ptr %123, i64 %127
  br label %129

129:                                              ; preds = %120, %119
  %130 = phi ptr [ %11, %119 ], [ %128, %120 ]
  store ptr %130, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #8
  %131 = load ptr, ptr %12, align 8, !tbaa !5
  %132 = getelementptr inbounds %struct.b2WheelJoint, ptr %131, i32 0, i32 13
  %133 = load i32, ptr %132, align 4, !tbaa !28
  %134 = icmp eq i32 %133, -1
  br i1 %134, label %135, label %136

135:                                              ; preds = %129
  br label %145

136:                                              ; preds = %129
  %137 = load ptr, ptr %5, align 8, !tbaa !5
  %138 = getelementptr inbounds %struct.b2StepContext, ptr %137, i32 0, i32 12
  %139 = load ptr, ptr %138, align 8, !tbaa !24
  %140 = load ptr, ptr %12, align 8, !tbaa !5
  %141 = getelementptr inbounds %struct.b2WheelJoint, ptr %140, i32 0, i32 13
  %142 = load i32, ptr %141, align 4, !tbaa !28
  %143 = sext i32 %142 to i64
  %144 = getelementptr inbounds %struct.b2BodyState, ptr %139, i64 %143
  br label %145

145:                                              ; preds = %136, %135
  %146 = phi ptr [ %11, %135 ], [ %144, %136 ]
  store ptr %146, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  %147 = load ptr, ptr %13, align 8, !tbaa !5
  %148 = getelementptr inbounds %struct.b2BodyState, ptr %147, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %148, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #8
  %149 = load ptr, ptr %13, align 8, !tbaa !5
  %150 = getelementptr inbounds %struct.b2BodyState, ptr %149, i32 0, i32 1
  %151 = load float, ptr %150, align 4, !tbaa !30
  store float %151, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #8
  %152 = load ptr, ptr %14, align 8, !tbaa !5
  %153 = getelementptr inbounds %struct.b2BodyState, ptr %152, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %153, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #8
  %154 = load ptr, ptr %14, align 8, !tbaa !5
  %155 = getelementptr inbounds %struct.b2BodyState, ptr %154, i32 0, i32 1
  %156 = load float, ptr %155, align 4, !tbaa !30
  store float %156, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 1, ptr %19) #8
  %157 = load float, ptr %9, align 4, !tbaa !17
  %158 = load float, ptr %10, align 4, !tbaa !17
  %159 = fadd float %157, %158
  %160 = fcmp oeq float %159, 0.000000e+00
  %161 = zext i1 %160 to i8
  store i8 %161, ptr %19, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #8
  %162 = load ptr, ptr %13, align 8, !tbaa !5
  %163 = getelementptr inbounds %struct.b2BodyState, ptr %162, i32 0, i32 4
  %164 = load ptr, ptr %12, align 8, !tbaa !5
  %165 = getelementptr inbounds %struct.b2WheelJoint, ptr %164, i32 0, i32 14
  %166 = load <2 x float>, ptr %163, align 4
  %167 = load <2 x float>, ptr %165, align 4
  %168 = call <2 x float> @b2RotateVector(<2 x float> %166, <2 x float> %167)
  store <2 x float> %168, ptr %20, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  %169 = load ptr, ptr %14, align 8, !tbaa !5
  %170 = getelementptr inbounds %struct.b2BodyState, ptr %169, i32 0, i32 4
  %171 = load ptr, ptr %12, align 8, !tbaa !5
  %172 = getelementptr inbounds %struct.b2WheelJoint, ptr %171, i32 0, i32 15
  %173 = load <2 x float>, ptr %170, align 4
  %174 = load <2 x float>, ptr %172, align 4
  %175 = call <2 x float> @b2RotateVector(<2 x float> %173, <2 x float> %174)
  store <2 x float> %175, ptr %21, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #8
  %176 = load ptr, ptr %14, align 8, !tbaa !5
  %177 = getelementptr inbounds %struct.b2BodyState, ptr %176, i32 0, i32 3
  %178 = load ptr, ptr %13, align 8, !tbaa !5
  %179 = getelementptr inbounds %struct.b2BodyState, ptr %178, i32 0, i32 3
  %180 = load <2 x float>, ptr %177, align 4
  %181 = load <2 x float>, ptr %179, align 4
  %182 = call <2 x float> @b2Sub(<2 x float> %180, <2 x float> %181)
  store <2 x float> %182, ptr %24, align 4
  %183 = load ptr, ptr %12, align 8, !tbaa !5
  %184 = getelementptr inbounds %struct.b2WheelJoint, ptr %183, i32 0, i32 17
  %185 = load <2 x float>, ptr %24, align 4
  %186 = load <2 x float>, ptr %184, align 4
  %187 = call <2 x float> @b2Add(<2 x float> %185, <2 x float> %186)
  store <2 x float> %187, ptr %23, align 4
  %188 = load <2 x float>, ptr %21, align 4
  %189 = load <2 x float>, ptr %20, align 4
  %190 = call <2 x float> @b2Sub(<2 x float> %188, <2 x float> %189)
  store <2 x float> %190, ptr %25, align 4
  %191 = load <2 x float>, ptr %23, align 4
  %192 = load <2 x float>, ptr %25, align 4
  %193 = call <2 x float> @b2Add(<2 x float> %191, <2 x float> %192)
  store <2 x float> %193, ptr %22, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #8
  %194 = load ptr, ptr %13, align 8, !tbaa !5
  %195 = getelementptr inbounds %struct.b2BodyState, ptr %194, i32 0, i32 4
  %196 = load ptr, ptr %12, align 8, !tbaa !5
  %197 = getelementptr inbounds %struct.b2WheelJoint, ptr %196, i32 0, i32 16
  %198 = load <2 x float>, ptr %195, align 4
  %199 = load <2 x float>, ptr %197, align 4
  %200 = call <2 x float> @b2RotateVector(<2 x float> %198, <2 x float> %199)
  store <2 x float> %200, ptr %26, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #8
  %201 = load <2 x float>, ptr %26, align 4
  %202 = load <2 x float>, ptr %22, align 4
  %203 = call float @b2Dot(<2 x float> %201, <2 x float> %202)
  store float %203, ptr %27, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #8
  %204 = load <2 x float>, ptr %22, align 4
  %205 = load <2 x float>, ptr %20, align 4
  %206 = call <2 x float> @b2Add(<2 x float> %204, <2 x float> %205)
  store <2 x float> %206, ptr %29, align 4
  %207 = load <2 x float>, ptr %29, align 4
  %208 = load <2 x float>, ptr %26, align 4
  %209 = call float @b2Cross(<2 x float> %207, <2 x float> %208)
  store float %209, ptr %28, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #8
  %210 = load <2 x float>, ptr %21, align 4
  %211 = load <2 x float>, ptr %26, align 4
  %212 = call float @b2Cross(<2 x float> %210, <2 x float> %211)
  store float %212, ptr %30, align 4, !tbaa !17
  %213 = load ptr, ptr %12, align 8, !tbaa !5
  %214 = getelementptr inbounds %struct.b2WheelJoint, ptr %213, i32 0, i32 23
  %215 = load i8, ptr %214, align 1, !tbaa !33, !range !34, !noundef !35
  %216 = trunc i8 %215 to i1
  br i1 %216, label %217, label %271

217:                                              ; preds = %145
  %218 = load i8, ptr %19, align 1, !tbaa !9, !range !34, !noundef !35
  %219 = trunc i8 %218 to i1
  %220 = zext i1 %219 to i32
  %221 = icmp eq i32 %220, 0
  br i1 %221, label %222, label %271

222:                                              ; preds = %217
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #8
  %223 = load float, ptr %18, align 4, !tbaa !17
  %224 = load float, ptr %16, align 4, !tbaa !17
  %225 = fsub float %223, %224
  %226 = load ptr, ptr %12, align 8, !tbaa !5
  %227 = getelementptr inbounds %struct.b2WheelJoint, ptr %226, i32 0, i32 7
  %228 = load float, ptr %227, align 4, !tbaa !36
  %229 = fsub float %225, %228
  store float %229, ptr %31, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #8
  %230 = load ptr, ptr %12, align 8, !tbaa !5
  %231 = getelementptr inbounds %struct.b2WheelJoint, ptr %230, i32 0, i32 19
  %232 = load float, ptr %231, align 4, !tbaa !37
  %233 = fneg float %232
  %234 = load float, ptr %31, align 4, !tbaa !17
  %235 = fmul float %233, %234
  store float %235, ptr %32, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #8
  %236 = load ptr, ptr %12, align 8, !tbaa !5
  %237 = getelementptr inbounds %struct.b2WheelJoint, ptr %236, i32 0, i32 2
  %238 = load float, ptr %237, align 4, !tbaa !38
  store float %238, ptr %33, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #8
  %239 = load ptr, ptr %5, align 8, !tbaa !5
  %240 = getelementptr inbounds %struct.b2StepContext, ptr %239, i32 0, i32 2
  %241 = load float, ptr %240, align 8, !tbaa !39
  %242 = load ptr, ptr %12, align 8, !tbaa !5
  %243 = getelementptr inbounds %struct.b2WheelJoint, ptr %242, i32 0, i32 6
  %244 = load float, ptr %243, align 4, !tbaa !40
  %245 = fmul float %241, %244
  store float %245, ptr %34, align 4, !tbaa !17
  %246 = load ptr, ptr %12, align 8, !tbaa !5
  %247 = getelementptr inbounds %struct.b2WheelJoint, ptr %246, i32 0, i32 2
  %248 = load float, ptr %247, align 4, !tbaa !38
  %249 = load float, ptr %32, align 4, !tbaa !17
  %250 = fadd float %248, %249
  %251 = load float, ptr %34, align 4, !tbaa !17
  %252 = fneg float %251
  %253 = load float, ptr %34, align 4, !tbaa !17
  %254 = call float @b2ClampFloat(float noundef %250, float noundef %252, float noundef %253)
  %255 = load ptr, ptr %12, align 8, !tbaa !5
  %256 = getelementptr inbounds %struct.b2WheelJoint, ptr %255, i32 0, i32 2
  store float %254, ptr %256, align 4, !tbaa !38
  %257 = load ptr, ptr %12, align 8, !tbaa !5
  %258 = getelementptr inbounds %struct.b2WheelJoint, ptr %257, i32 0, i32 2
  %259 = load float, ptr %258, align 4, !tbaa !38
  %260 = load float, ptr %33, align 4, !tbaa !17
  %261 = fsub float %259, %260
  store float %261, ptr %32, align 4, !tbaa !17
  %262 = load float, ptr %9, align 4, !tbaa !17
  %263 = load float, ptr %32, align 4, !tbaa !17
  %264 = load float, ptr %16, align 4, !tbaa !17
  %265 = fneg float %262
  %266 = call float @llvm.fmuladd.f32(float %265, float %263, float %264)
  store float %266, ptr %16, align 4, !tbaa !17
  %267 = load float, ptr %10, align 4, !tbaa !17
  %268 = load float, ptr %32, align 4, !tbaa !17
  %269 = load float, ptr %18, align 4, !tbaa !17
  %270 = call float @llvm.fmuladd.f32(float %267, float %268, float %269)
  store float %270, ptr %18, align 4, !tbaa !17
  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 4, ptr %31) #8
  br label %271

271:                                              ; preds = %222, %217, %145
  %272 = load ptr, ptr %12, align 8, !tbaa !5
  %273 = getelementptr inbounds %struct.b2WheelJoint, ptr %272, i32 0, i32 22
  %274 = load i8, ptr %273, align 4, !tbaa !41, !range !34, !noundef !35
  %275 = trunc i8 %274 to i1
  br i1 %275, label %276, label %352

276:                                              ; preds = %271
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #8
  %277 = load float, ptr %27, align 4, !tbaa !17
  store float %277, ptr %35, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #8
  %278 = load ptr, ptr %12, align 8, !tbaa !5
  %279 = getelementptr inbounds %struct.b2WheelJoint, ptr %278, i32 0, i32 21
  %280 = getelementptr inbounds %struct.b2Softness, ptr %279, i32 0, i32 0
  %281 = load float, ptr %280, align 4, !tbaa !42
  %282 = load float, ptr %35, align 4, !tbaa !17
  %283 = fmul float %281, %282
  store float %283, ptr %36, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #8
  %284 = load ptr, ptr %12, align 8, !tbaa !5
  %285 = getelementptr inbounds %struct.b2WheelJoint, ptr %284, i32 0, i32 21
  %286 = getelementptr inbounds %struct.b2Softness, ptr %285, i32 0, i32 1
  %287 = load float, ptr %286, align 4, !tbaa !43
  store float %287, ptr %37, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #8
  %288 = load ptr, ptr %12, align 8, !tbaa !5
  %289 = getelementptr inbounds %struct.b2WheelJoint, ptr %288, i32 0, i32 21
  %290 = getelementptr inbounds %struct.b2Softness, ptr %289, i32 0, i32 2
  %291 = load float, ptr %290, align 4, !tbaa !44
  store float %291, ptr %38, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #8
  %292 = load <2 x float>, ptr %17, align 4
  %293 = load <2 x float>, ptr %15, align 4
  %294 = call <2 x float> @b2Sub(<2 x float> %292, <2 x float> %293)
  store <2 x float> %294, ptr %40, align 4
  %295 = load <2 x float>, ptr %26, align 4
  %296 = load <2 x float>, ptr %40, align 4
  %297 = call float @b2Dot(<2 x float> %295, <2 x float> %296)
  %298 = load float, ptr %30, align 4, !tbaa !17
  %299 = load float, ptr %18, align 4, !tbaa !17
  %300 = call float @llvm.fmuladd.f32(float %298, float %299, float %297)
  %301 = load float, ptr %28, align 4, !tbaa !17
  %302 = load float, ptr %16, align 4, !tbaa !17
  %303 = fneg float %301
  %304 = call float @llvm.fmuladd.f32(float %303, float %302, float %300)
  store float %304, ptr %39, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #8
  %305 = load float, ptr %37, align 4, !tbaa !17
  %306 = fneg float %305
  %307 = load ptr, ptr %12, align 8, !tbaa !5
  %308 = getelementptr inbounds %struct.b2WheelJoint, ptr %307, i32 0, i32 20
  %309 = load float, ptr %308, align 4, !tbaa !45
  %310 = fmul float %306, %309
  %311 = load float, ptr %39, align 4, !tbaa !17
  %312 = load float, ptr %36, align 4, !tbaa !17
  %313 = fadd float %311, %312
  %314 = load float, ptr %38, align 4, !tbaa !17
  %315 = load ptr, ptr %12, align 8, !tbaa !5
  %316 = getelementptr inbounds %struct.b2WheelJoint, ptr %315, i32 0, i32 3
  %317 = load float, ptr %316, align 4, !tbaa !46
  %318 = fmul float %314, %317
  %319 = fneg float %318
  %320 = call float @llvm.fmuladd.f32(float %310, float %313, float %319)
  store float %320, ptr %41, align 4, !tbaa !17
  %321 = load float, ptr %41, align 4, !tbaa !17
  %322 = load ptr, ptr %12, align 8, !tbaa !5
  %323 = getelementptr inbounds %struct.b2WheelJoint, ptr %322, i32 0, i32 3
  %324 = load float, ptr %323, align 4, !tbaa !46
  %325 = fadd float %324, %321
  store float %325, ptr %323, align 4, !tbaa !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #8
  %326 = load float, ptr %41, align 4, !tbaa !17
  %327 = load <2 x float>, ptr %26, align 4
  %328 = call <2 x float> @b2MulSV(float noundef %326, <2 x float> %327)
  store <2 x float> %328, ptr %42, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #8
  %329 = load float, ptr %41, align 4, !tbaa !17
  %330 = load float, ptr %28, align 4, !tbaa !17
  %331 = fmul float %329, %330
  store float %331, ptr %43, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #8
  %332 = load float, ptr %41, align 4, !tbaa !17
  %333 = load float, ptr %30, align 4, !tbaa !17
  %334 = fmul float %332, %333
  store float %334, ptr %44, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #8
  %335 = load float, ptr %7, align 4, !tbaa !17
  %336 = load <2 x float>, ptr %15, align 4
  %337 = load <2 x float>, ptr %42, align 4
  %338 = call <2 x float> @b2MulSub(<2 x float> %336, float noundef %335, <2 x float> %337)
  store <2 x float> %338, ptr %45, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %45, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #8
  %339 = load float, ptr %9, align 4, !tbaa !17
  %340 = load float, ptr %43, align 4, !tbaa !17
  %341 = load float, ptr %16, align 4, !tbaa !17
  %342 = fneg float %339
  %343 = call float @llvm.fmuladd.f32(float %342, float %340, float %341)
  store float %343, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #8
  %344 = load float, ptr %8, align 4, !tbaa !17
  %345 = load <2 x float>, ptr %17, align 4
  %346 = load <2 x float>, ptr %42, align 4
  %347 = call <2 x float> @b2MulAdd(<2 x float> %345, float noundef %344, <2 x float> %346)
  store <2 x float> %347, ptr %46, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %46, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #8
  %348 = load float, ptr %10, align 4, !tbaa !17
  %349 = load float, ptr %44, align 4, !tbaa !17
  %350 = load float, ptr %18, align 4, !tbaa !17
  %351 = call float @llvm.fmuladd.f32(float %348, float %349, float %350)
  store float %351, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #8
  call void @llvm.lifetime.end.p0(i64 4, 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
  br label %352

352:                                              ; preds = %276, %271
  %353 = load ptr, ptr %12, align 8, !tbaa !5
  %354 = getelementptr inbounds %struct.b2WheelJoint, ptr %353, i32 0, i32 24
  %355 = load i8, ptr %354, align 2, !tbaa !47, !range !34, !noundef !35
  %356 = trunc i8 %355 to i1
  br i1 %356, label %357, label %562

357:                                              ; preds = %352
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #8
  %358 = load float, ptr %27, align 4, !tbaa !17
  %359 = load ptr, ptr %12, align 8, !tbaa !5
  %360 = getelementptr inbounds %struct.b2WheelJoint, ptr %359, i32 0, i32 8
  %361 = load float, ptr %360, align 4, !tbaa !48
  %362 = fsub float %358, %361
  store float %362, ptr %47, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #8
  store float 0.000000e+00, ptr %48, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #8
  store float 1.000000e+00, ptr %49, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #8
  store float 0.000000e+00, ptr %50, align 4, !tbaa !17
  %363 = load float, ptr %47, align 4, !tbaa !17
  %364 = fcmp ogt float %363, 0.000000e+00
  br i1 %364, label %365, label %371

365:                                              ; preds = %357
  %366 = load float, ptr %47, align 4, !tbaa !17
  %367 = load ptr, ptr %5, align 8, !tbaa !5
  %368 = getelementptr inbounds %struct.b2StepContext, ptr %367, i32 0, i32 3
  %369 = load float, ptr %368, align 4, !tbaa !49
  %370 = fmul float %366, %369
  store float %370, ptr %48, align 4, !tbaa !17
  br label %390

371:                                              ; preds = %357
  %372 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %373 = trunc i8 %372 to i1
  br i1 %373, label %374, label %389

374:                                              ; preds = %371
  %375 = load ptr, ptr %5, align 8, !tbaa !5
  %376 = getelementptr inbounds %struct.b2StepContext, ptr %375, i32 0, i32 5
  %377 = getelementptr inbounds %struct.b2Softness, ptr %376, i32 0, i32 0
  %378 = load float, ptr %377, align 4, !tbaa !50
  %379 = load float, ptr %47, align 4, !tbaa !17
  %380 = fmul float %378, %379
  store float %380, ptr %48, align 4, !tbaa !17
  %381 = load ptr, ptr %5, align 8, !tbaa !5
  %382 = getelementptr inbounds %struct.b2StepContext, ptr %381, i32 0, i32 5
  %383 = getelementptr inbounds %struct.b2Softness, ptr %382, i32 0, i32 1
  %384 = load float, ptr %383, align 4, !tbaa !51
  store float %384, ptr %49, align 4, !tbaa !17
  %385 = load ptr, ptr %5, align 8, !tbaa !5
  %386 = getelementptr inbounds %struct.b2StepContext, ptr %385, i32 0, i32 5
  %387 = getelementptr inbounds %struct.b2Softness, ptr %386, i32 0, i32 2
  %388 = load float, ptr %387, align 4, !tbaa !52
  store float %388, ptr %50, align 4, !tbaa !17
  br label %389

389:                                              ; preds = %374, %371
  br label %390

390:                                              ; preds = %389, %365
  call void @llvm.lifetime.start.p0(i64 4, ptr %51) #8
  %391 = load <2 x float>, ptr %17, align 4
  %392 = load <2 x float>, ptr %15, align 4
  %393 = call <2 x float> @b2Sub(<2 x float> %391, <2 x float> %392)
  store <2 x float> %393, ptr %52, align 4
  %394 = load <2 x float>, ptr %26, align 4
  %395 = load <2 x float>, ptr %52, align 4
  %396 = call float @b2Dot(<2 x float> %394, <2 x float> %395)
  %397 = load float, ptr %30, align 4, !tbaa !17
  %398 = load float, ptr %18, align 4, !tbaa !17
  %399 = call float @llvm.fmuladd.f32(float %397, float %398, float %396)
  %400 = load float, ptr %28, align 4, !tbaa !17
  %401 = load float, ptr %16, align 4, !tbaa !17
  %402 = fneg float %400
  %403 = call float @llvm.fmuladd.f32(float %402, float %401, float %399)
  store float %403, ptr %51, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %53) #8
  %404 = load float, ptr %49, align 4, !tbaa !17
  %405 = fneg float %404
  %406 = load ptr, ptr %12, align 8, !tbaa !5
  %407 = getelementptr inbounds %struct.b2WheelJoint, ptr %406, i32 0, i32 20
  %408 = load float, ptr %407, align 4, !tbaa !45
  %409 = fmul float %405, %408
  %410 = load float, ptr %51, align 4, !tbaa !17
  %411 = load float, ptr %48, align 4, !tbaa !17
  %412 = fadd float %410, %411
  %413 = load float, ptr %50, align 4, !tbaa !17
  %414 = load ptr, ptr %12, align 8, !tbaa !5
  %415 = getelementptr inbounds %struct.b2WheelJoint, ptr %414, i32 0, i32 4
  %416 = load float, ptr %415, align 4, !tbaa !53
  %417 = fmul float %413, %416
  %418 = fneg float %417
  %419 = call float @llvm.fmuladd.f32(float %409, float %412, float %418)
  store float %419, ptr %53, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %54) #8
  %420 = load ptr, ptr %12, align 8, !tbaa !5
  %421 = getelementptr inbounds %struct.b2WheelJoint, ptr %420, i32 0, i32 4
  %422 = load float, ptr %421, align 4, !tbaa !53
  store float %422, ptr %54, align 4, !tbaa !17
  %423 = load float, ptr %54, align 4, !tbaa !17
  %424 = load float, ptr %53, align 4, !tbaa !17
  %425 = fadd float %423, %424
  %426 = call float @b2MaxFloat(float noundef %425, float noundef 0.000000e+00)
  %427 = load ptr, ptr %12, align 8, !tbaa !5
  %428 = getelementptr inbounds %struct.b2WheelJoint, ptr %427, i32 0, i32 4
  store float %426, ptr %428, align 4, !tbaa !53
  %429 = load ptr, ptr %12, align 8, !tbaa !5
  %430 = getelementptr inbounds %struct.b2WheelJoint, ptr %429, i32 0, i32 4
  %431 = load float, ptr %430, align 4, !tbaa !53
  %432 = load float, ptr %54, align 4, !tbaa !17
  %433 = fsub float %431, %432
  store float %433, ptr %53, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #8
  %434 = load float, ptr %53, align 4, !tbaa !17
  %435 = load <2 x float>, ptr %26, align 4
  %436 = call <2 x float> @b2MulSV(float noundef %434, <2 x float> %435)
  store <2 x float> %436, ptr %55, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %56) #8
  %437 = load float, ptr %53, align 4, !tbaa !17
  %438 = load float, ptr %28, align 4, !tbaa !17
  %439 = fmul float %437, %438
  store float %439, ptr %56, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %57) #8
  %440 = load float, ptr %53, align 4, !tbaa !17
  %441 = load float, ptr %30, align 4, !tbaa !17
  %442 = fmul float %440, %441
  store float %442, ptr %57, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %58) #8
  %443 = load float, ptr %7, align 4, !tbaa !17
  %444 = load <2 x float>, ptr %15, align 4
  %445 = load <2 x float>, ptr %55, align 4
  %446 = call <2 x float> @b2MulSub(<2 x float> %444, float noundef %443, <2 x float> %445)
  store <2 x float> %446, ptr %58, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %58, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #8
  %447 = load float, ptr %9, align 4, !tbaa !17
  %448 = load float, ptr %56, align 4, !tbaa !17
  %449 = load float, ptr %16, align 4, !tbaa !17
  %450 = fneg float %447
  %451 = call float @llvm.fmuladd.f32(float %450, float %448, float %449)
  store float %451, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %59) #8
  %452 = load float, ptr %8, align 4, !tbaa !17
  %453 = load <2 x float>, ptr %17, align 4
  %454 = load <2 x float>, ptr %55, align 4
  %455 = call <2 x float> @b2MulAdd(<2 x float> %453, float noundef %452, <2 x float> %454)
  store <2 x float> %455, ptr %59, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %59, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #8
  %456 = load float, ptr %10, align 4, !tbaa !17
  %457 = load float, ptr %57, align 4, !tbaa !17
  %458 = load float, ptr %18, align 4, !tbaa !17
  %459 = call float @llvm.fmuladd.f32(float %456, float %457, float %458)
  store float %459, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %56) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %53) #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.start.p0(i64 4, ptr %60) #8
  %460 = load ptr, ptr %12, align 8, !tbaa !5
  %461 = getelementptr inbounds %struct.b2WheelJoint, ptr %460, i32 0, i32 9
  %462 = load float, ptr %461, align 4, !tbaa !54
  %463 = load float, ptr %27, align 4, !tbaa !17
  %464 = fsub float %462, %463
  store float %464, ptr %60, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %61) #8
  store float 0.000000e+00, ptr %61, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %62) #8
  store float 1.000000e+00, ptr %62, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %63) #8
  store float 0.000000e+00, ptr %63, align 4, !tbaa !17
  %465 = load float, ptr %60, align 4, !tbaa !17
  %466 = fcmp ogt float %465, 0.000000e+00
  br i1 %466, label %467, label %473

467:                                              ; preds = %390
  %468 = load float, ptr %60, align 4, !tbaa !17
  %469 = load ptr, ptr %5, align 8, !tbaa !5
  %470 = getelementptr inbounds %struct.b2StepContext, ptr %469, i32 0, i32 3
  %471 = load float, ptr %470, align 4, !tbaa !49
  %472 = fmul float %468, %471
  store float %472, ptr %61, align 4, !tbaa !17
  br label %492

473:                                              ; preds = %390
  %474 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %475 = trunc i8 %474 to i1
  br i1 %475, label %476, label %491

476:                                              ; preds = %473
  %477 = load ptr, ptr %5, align 8, !tbaa !5
  %478 = getelementptr inbounds %struct.b2StepContext, ptr %477, i32 0, i32 5
  %479 = getelementptr inbounds %struct.b2Softness, ptr %478, i32 0, i32 0
  %480 = load float, ptr %479, align 4, !tbaa !50
  %481 = load float, ptr %60, align 4, !tbaa !17
  %482 = fmul float %480, %481
  store float %482, ptr %61, align 4, !tbaa !17
  %483 = load ptr, ptr %5, align 8, !tbaa !5
  %484 = getelementptr inbounds %struct.b2StepContext, ptr %483, i32 0, i32 5
  %485 = getelementptr inbounds %struct.b2Softness, ptr %484, i32 0, i32 1
  %486 = load float, ptr %485, align 4, !tbaa !51
  store float %486, ptr %62, align 4, !tbaa !17
  %487 = load ptr, ptr %5, align 8, !tbaa !5
  %488 = getelementptr inbounds %struct.b2StepContext, ptr %487, i32 0, i32 5
  %489 = getelementptr inbounds %struct.b2Softness, ptr %488, i32 0, i32 2
  %490 = load float, ptr %489, align 4, !tbaa !52
  store float %490, ptr %63, align 4, !tbaa !17
  br label %491

491:                                              ; preds = %476, %473
  br label %492

492:                                              ; preds = %491, %467
  call void @llvm.lifetime.start.p0(i64 4, ptr %64) #8
  %493 = load <2 x float>, ptr %15, align 4
  %494 = load <2 x float>, ptr %17, align 4
  %495 = call <2 x float> @b2Sub(<2 x float> %493, <2 x float> %494)
  store <2 x float> %495, ptr %65, align 4
  %496 = load <2 x float>, ptr %26, align 4
  %497 = load <2 x float>, ptr %65, align 4
  %498 = call float @b2Dot(<2 x float> %496, <2 x float> %497)
  %499 = load float, ptr %28, align 4, !tbaa !17
  %500 = load float, ptr %16, align 4, !tbaa !17
  %501 = call float @llvm.fmuladd.f32(float %499, float %500, float %498)
  %502 = load float, ptr %30, align 4, !tbaa !17
  %503 = load float, ptr %18, align 4, !tbaa !17
  %504 = fneg float %502
  %505 = call float @llvm.fmuladd.f32(float %504, float %503, float %501)
  store float %505, ptr %64, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %66) #8
  %506 = load float, ptr %62, align 4, !tbaa !17
  %507 = fneg float %506
  %508 = load ptr, ptr %12, align 8, !tbaa !5
  %509 = getelementptr inbounds %struct.b2WheelJoint, ptr %508, i32 0, i32 20
  %510 = load float, ptr %509, align 4, !tbaa !45
  %511 = fmul float %507, %510
  %512 = load float, ptr %64, align 4, !tbaa !17
  %513 = load float, ptr %61, align 4, !tbaa !17
  %514 = fadd float %512, %513
  %515 = load float, ptr %63, align 4, !tbaa !17
  %516 = load ptr, ptr %12, align 8, !tbaa !5
  %517 = getelementptr inbounds %struct.b2WheelJoint, ptr %516, i32 0, i32 5
  %518 = load float, ptr %517, align 4, !tbaa !55
  %519 = fmul float %515, %518
  %520 = fneg float %519
  %521 = call float @llvm.fmuladd.f32(float %511, float %514, float %520)
  store float %521, ptr %66, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %67) #8
  %522 = load ptr, ptr %12, align 8, !tbaa !5
  %523 = getelementptr inbounds %struct.b2WheelJoint, ptr %522, i32 0, i32 5
  %524 = load float, ptr %523, align 4, !tbaa !55
  store float %524, ptr %67, align 4, !tbaa !17
  %525 = load float, ptr %67, align 4, !tbaa !17
  %526 = load float, ptr %66, align 4, !tbaa !17
  %527 = fadd float %525, %526
  %528 = call float @b2MaxFloat(float noundef %527, float noundef 0.000000e+00)
  %529 = load ptr, ptr %12, align 8, !tbaa !5
  %530 = getelementptr inbounds %struct.b2WheelJoint, ptr %529, i32 0, i32 5
  store float %528, ptr %530, align 4, !tbaa !55
  %531 = load ptr, ptr %12, align 8, !tbaa !5
  %532 = getelementptr inbounds %struct.b2WheelJoint, ptr %531, i32 0, i32 5
  %533 = load float, ptr %532, align 4, !tbaa !55
  %534 = load float, ptr %67, align 4, !tbaa !17
  %535 = fsub float %533, %534
  store float %535, ptr %66, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %68) #8
  %536 = load float, ptr %66, align 4, !tbaa !17
  %537 = load <2 x float>, ptr %26, align 4
  %538 = call <2 x float> @b2MulSV(float noundef %536, <2 x float> %537)
  store <2 x float> %538, ptr %68, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %69) #8
  %539 = load float, ptr %66, align 4, !tbaa !17
  %540 = load float, ptr %28, align 4, !tbaa !17
  %541 = fmul float %539, %540
  store float %541, ptr %69, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %70) #8
  %542 = load float, ptr %66, align 4, !tbaa !17
  %543 = load float, ptr %30, align 4, !tbaa !17
  %544 = fmul float %542, %543
  store float %544, ptr %70, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %71) #8
  %545 = load float, ptr %7, align 4, !tbaa !17
  %546 = load <2 x float>, ptr %15, align 4
  %547 = load <2 x float>, ptr %68, align 4
  %548 = call <2 x float> @b2MulAdd(<2 x float> %546, float noundef %545, <2 x float> %547)
  store <2 x float> %548, ptr %71, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %71, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #8
  %549 = load float, ptr %9, align 4, !tbaa !17
  %550 = load float, ptr %69, align 4, !tbaa !17
  %551 = load float, ptr %16, align 4, !tbaa !17
  %552 = call float @llvm.fmuladd.f32(float %549, float %550, float %551)
  store float %552, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %72) #8
  %553 = load float, ptr %8, align 4, !tbaa !17
  %554 = load <2 x float>, ptr %17, align 4
  %555 = load <2 x float>, ptr %68, align 4
  %556 = call <2 x float> @b2MulSub(<2 x float> %554, float noundef %553, <2 x float> %555)
  store <2 x float> %556, ptr %72, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %72, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %72) #8
  %557 = load float, ptr %10, align 4, !tbaa !17
  %558 = load float, ptr %70, align 4, !tbaa !17
  %559 = load float, ptr %18, align 4, !tbaa !17
  %560 = fneg float %557
  %561 = call float @llvm.fmuladd.f32(float %560, float %558, float %559)
  store float %561, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %70) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %69) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %68) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %67) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %66) #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
  br label %562

562:                                              ; preds = %492, %352
  call void @llvm.lifetime.start.p0(i64 8, ptr %73) #8
  %563 = load <2 x float>, ptr %26, align 4
  %564 = call <2 x float> @b2LeftPerp(<2 x float> %563)
  store <2 x float> %564, ptr %73, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %74) #8
  store float 0.000000e+00, ptr %74, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %75) #8
  store float 1.000000e+00, ptr %75, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #8
  store float 0.000000e+00, ptr %76, align 4, !tbaa !17
  %565 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %566 = trunc i8 %565 to i1
  br i1 %566, label %567, label %585

567:                                              ; preds = %562
  call void @llvm.lifetime.start.p0(i64 4, ptr %77) #8
  %568 = load <2 x float>, ptr %73, align 4
  %569 = load <2 x float>, ptr %22, align 4
  %570 = call float @b2Dot(<2 x float> %568, <2 x float> %569)
  store float %570, ptr %77, align 4, !tbaa !17
  %571 = load ptr, ptr %5, align 8, !tbaa !5
  %572 = getelementptr inbounds %struct.b2StepContext, ptr %571, i32 0, i32 5
  %573 = getelementptr inbounds %struct.b2Softness, ptr %572, i32 0, i32 0
  %574 = load float, ptr %573, align 4, !tbaa !50
  %575 = load float, ptr %77, align 4, !tbaa !17
  %576 = fmul float %574, %575
  store float %576, ptr %74, align 4, !tbaa !17
  %577 = load ptr, ptr %5, align 8, !tbaa !5
  %578 = getelementptr inbounds %struct.b2StepContext, ptr %577, i32 0, i32 5
  %579 = getelementptr inbounds %struct.b2Softness, ptr %578, i32 0, i32 1
  %580 = load float, ptr %579, align 4, !tbaa !51
  store float %580, ptr %75, align 4, !tbaa !17
  %581 = load ptr, ptr %5, align 8, !tbaa !5
  %582 = getelementptr inbounds %struct.b2StepContext, ptr %581, i32 0, i32 5
  %583 = getelementptr inbounds %struct.b2Softness, ptr %582, i32 0, i32 2
  %584 = load float, ptr %583, align 4, !tbaa !52
  store float %584, ptr %76, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %77) #8
  br label %585

585:                                              ; preds = %567, %562
  call void @llvm.lifetime.start.p0(i64 4, ptr %78) #8
  %586 = load <2 x float>, ptr %22, align 4
  %587 = load <2 x float>, ptr %20, align 4
  %588 = call <2 x float> @b2Add(<2 x float> %586, <2 x float> %587)
  store <2 x float> %588, ptr %79, align 4
  %589 = load <2 x float>, ptr %79, align 4
  %590 = load <2 x float>, ptr %73, align 4
  %591 = call float @b2Cross(<2 x float> %589, <2 x float> %590)
  store float %591, ptr %78, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %80) #8
  %592 = load <2 x float>, ptr %21, align 4
  %593 = load <2 x float>, ptr %73, align 4
  %594 = call float @b2Cross(<2 x float> %592, <2 x float> %593)
  store float %594, ptr %80, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %81) #8
  %595 = load <2 x float>, ptr %17, align 4
  %596 = load <2 x float>, ptr %15, align 4
  %597 = call <2 x float> @b2Sub(<2 x float> %595, <2 x float> %596)
  store <2 x float> %597, ptr %82, align 4
  %598 = load <2 x float>, ptr %73, align 4
  %599 = load <2 x float>, ptr %82, align 4
  %600 = call float @b2Dot(<2 x float> %598, <2 x float> %599)
  %601 = load float, ptr %80, align 4, !tbaa !17
  %602 = load float, ptr %18, align 4, !tbaa !17
  %603 = call float @llvm.fmuladd.f32(float %601, float %602, float %600)
  %604 = load float, ptr %78, align 4, !tbaa !17
  %605 = load float, ptr %16, align 4, !tbaa !17
  %606 = fneg float %604
  %607 = call float @llvm.fmuladd.f32(float %606, float %605, float %603)
  store float %607, ptr %81, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %83) #8
  %608 = load float, ptr %75, align 4, !tbaa !17
  %609 = fneg float %608
  %610 = load ptr, ptr %12, align 8, !tbaa !5
  %611 = getelementptr inbounds %struct.b2WheelJoint, ptr %610, i32 0, i32 18
  %612 = load float, ptr %611, align 4, !tbaa !56
  %613 = fmul float %609, %612
  %614 = load float, ptr %81, align 4, !tbaa !17
  %615 = load float, ptr %74, align 4, !tbaa !17
  %616 = fadd float %614, %615
  %617 = load float, ptr %76, align 4, !tbaa !17
  %618 = load ptr, ptr %12, align 8, !tbaa !5
  %619 = getelementptr inbounds %struct.b2WheelJoint, ptr %618, i32 0, i32 1
  %620 = load float, ptr %619, align 4, !tbaa !57
  %621 = fmul float %617, %620
  %622 = fneg float %621
  %623 = call float @llvm.fmuladd.f32(float %613, float %616, float %622)
  store float %623, ptr %83, align 4, !tbaa !17
  %624 = load float, ptr %83, align 4, !tbaa !17
  %625 = load ptr, ptr %12, align 8, !tbaa !5
  %626 = getelementptr inbounds %struct.b2WheelJoint, ptr %625, i32 0, i32 1
  %627 = load float, ptr %626, align 4, !tbaa !57
  %628 = fadd float %627, %624
  store float %628, ptr %626, align 4, !tbaa !57
  call void @llvm.lifetime.start.p0(i64 8, ptr %84) #8
  %629 = load float, ptr %83, align 4, !tbaa !17
  %630 = load <2 x float>, ptr %73, align 4
  %631 = call <2 x float> @b2MulSV(float noundef %629, <2 x float> %630)
  store <2 x float> %631, ptr %84, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %85) #8
  %632 = load float, ptr %83, align 4, !tbaa !17
  %633 = load float, ptr %78, align 4, !tbaa !17
  %634 = fmul float %632, %633
  store float %634, ptr %85, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %86) #8
  %635 = load float, ptr %83, align 4, !tbaa !17
  %636 = load float, ptr %80, align 4, !tbaa !17
  %637 = fmul float %635, %636
  store float %637, ptr %86, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %87) #8
  %638 = load float, ptr %7, align 4, !tbaa !17
  %639 = load <2 x float>, ptr %15, align 4
  %640 = load <2 x float>, ptr %84, align 4
  %641 = call <2 x float> @b2MulSub(<2 x float> %639, float noundef %638, <2 x float> %640)
  store <2 x float> %641, ptr %87, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %87, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %87) #8
  %642 = load float, ptr %9, align 4, !tbaa !17
  %643 = load float, ptr %85, align 4, !tbaa !17
  %644 = load float, ptr %16, align 4, !tbaa !17
  %645 = fneg float %642
  %646 = call float @llvm.fmuladd.f32(float %645, float %643, float %644)
  store float %646, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %88) #8
  %647 = load float, ptr %8, align 4, !tbaa !17
  %648 = load <2 x float>, ptr %17, align 4
  %649 = load <2 x float>, ptr %84, align 4
  %650 = call <2 x float> @b2MulAdd(<2 x float> %648, float noundef %647, <2 x float> %649)
  store <2 x float> %650, ptr %88, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %88, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %88) #8
  %651 = load float, ptr %10, align 4, !tbaa !17
  %652 = load float, ptr %86, align 4, !tbaa !17
  %653 = load float, ptr %18, align 4, !tbaa !17
  %654 = call float @llvm.fmuladd.f32(float %651, float %652, float %653)
  store float %654, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %86) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %85) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %84) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %83) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %81) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %80) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %78) #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 4, ptr %74) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %73) #8
  %655 = load ptr, ptr %13, align 8, !tbaa !5
  %656 = getelementptr inbounds %struct.b2BodyState, ptr %655, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %656, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !29
  %657 = load float, ptr %16, align 4, !tbaa !17
  %658 = load ptr, ptr %13, align 8, !tbaa !5
  %659 = getelementptr inbounds %struct.b2BodyState, ptr %658, i32 0, i32 1
  store float %657, ptr %659, align 4, !tbaa !30
  %660 = load ptr, ptr %14, align 8, !tbaa !5
  %661 = getelementptr inbounds %struct.b2BodyState, ptr %660, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %661, ptr align 4 %17, i64 8, i1 false), !tbaa.struct !29
  %662 = load float, ptr %18, align 4, !tbaa !17
  %663 = load ptr, ptr %14, align 8, !tbaa !5
  %664 = getelementptr inbounds %struct.b2BodyState, ptr %663, i32 0, i32 1
  store float %662, ptr %664, align 4, !tbaa !30
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 1, 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 float @b2Dot(<2 x float>, <2 x float>) #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2ClampFloat(float noundef, float noundef, float noundef) #3

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { cold noreturn nounwind memory(inaccessiblemem: write) }
attributes #3 = { 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 #4 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { inlinehint nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 52}
!22 = !{!"b2WheelJoint", !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, !14, i64 84, !15, i64 92, !15, i64 96, !15, i64 100, !23, i64 104, !10, i64 116, !10, i64 117, !10, i64 118}
!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 117}
!34 = !{i8 0, i8 2}
!35 = !{}
!36 = !{!22, !15, i64 32}
!37 = !{!22, !15, i64 96}
!38 = !{!22, !15, i64 12}
!39 = !{!25, !15, i64 8}
!40 = !{!22, !15, i64 28}
!41 = !{!22, !10, i64 116}
!42 = !{!22, !15, i64 104}
!43 = !{!22, !15, i64 108}
!44 = !{!22, !15, i64 112}
!45 = !{!22, !15, i64 100}
!46 = !{!22, !15, i64 16}
!47 = !{!22, !10, i64 118}
!48 = !{!22, !15, i64 36}
!49 = !{!25, !15, i64 12}
!50 = !{!25, !15, i64 20}
!51 = !{!25, !15, i64 24}
!52 = !{!25, !15, i64 28}
!53 = !{!22, !15, i64 20}
!54 = !{!22, !15, i64 40}
!55 = !{!22, !15, i64 24}
!56 = !{!22, !15, i64 92}
!57 = !{!22, !15, i64 8}


; 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 [67 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [28 x i8], align 1
@__const.b2SolveWheelJoint.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

declare i32 @b2InternalAssertFcn(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: cold noreturn nounwind memory(inaccessiblemem: write)
declare void @llvm.trap() #2

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2MaxFloat(float noundef, float noundef) local_unnamed_addr #3

; 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) #4

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2LeftPerp(<2 x float>) local_unnamed_addr #5

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSV(float noundef, <2 x float>) local_unnamed_addr #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RotateVector(<2 x float>, <2 x float>) local_unnamed_addr #5

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

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

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulSub(<2 x float>, float noundef, <2 x float>) local_unnamed_addr #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulAdd(<2 x float>, float noundef, <2 x float>) local_unnamed_addr #5

; Function Attrs: nounwind uwtable
define dso_local void @b2SolveWheelJoint(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, 7
  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 308) #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.b2SolveWheelJoint.dummyState, i64 32, i1 false)
  %20 = getelementptr inbounds i8, ptr %0, i64 100
  %21 = load i32, ptr %20, align 4, !tbaa !16
  %22 = icmp eq i32 %21, -1
  br i1 %22, label %28, label %23

23:                                               ; preds = %11
  %24 = getelementptr inbounds i8, ptr %1, i64 80
  %25 = load ptr, ptr %24, align 8, !tbaa !20
  %26 = sext i32 %21 to i64
  %27 = getelementptr inbounds %struct.b2BodyState, ptr %25, i64 %26
  br label %28

28:                                               ; preds = %11, %23
  %29 = phi ptr [ %27, %23 ], [ %4, %11 ]
  %30 = getelementptr inbounds i8, ptr %0, i64 104
  %31 = load i32, ptr %30, align 4, !tbaa !25
  %32 = icmp eq i32 %31, -1
  br i1 %32, label %38, label %33

33:                                               ; preds = %28
  %34 = getelementptr inbounds i8, ptr %1, i64 80
  %35 = load ptr, ptr %34, align 8, !tbaa !20
  %36 = sext i32 %31 to i64
  %37 = getelementptr inbounds %struct.b2BodyState, ptr %35, i64 %36
  br label %38

38:                                               ; preds = %28, %33
  %39 = phi ptr [ %37, %33 ], [ %4, %28 ]
  %.sroa.0158.0.copyload = load <2 x float>, ptr %29, align 4
  %40 = getelementptr inbounds i8, ptr %29, i64 8
  %41 = load float, ptr %40, align 4, !tbaa !26
  %.sroa.0138.0.copyload = load <2 x float>, ptr %39, align 4
  %42 = getelementptr inbounds i8, ptr %39, i64 8
  %43 = load float, ptr %42, align 4, !tbaa !26
  %44 = getelementptr inbounds i8, ptr %29, i64 24
  %45 = getelementptr inbounds i8, ptr %0, i64 108
  %46 = load <2 x float>, ptr %44, align 4
  %47 = load <2 x float>, ptr %45, align 4
  %48 = tail call <2 x float> @b2RotateVector(<2 x float> %46, <2 x float> %47)
  %49 = getelementptr inbounds i8, ptr %39, i64 24
  %50 = getelementptr inbounds i8, ptr %0, i64 116
  %51 = load <2 x float>, ptr %49, align 4
  %52 = load <2 x float>, ptr %50, align 4
  %53 = tail call <2 x float> @b2RotateVector(<2 x float> %51, <2 x float> %52)
  %54 = getelementptr inbounds i8, ptr %39, i64 16
  %55 = getelementptr inbounds i8, ptr %29, i64 16
  %56 = load <2 x float>, ptr %54, align 4
  %57 = load <2 x float>, ptr %55, align 4
  %58 = tail call <2 x float> @b2Sub(<2 x float> %56, <2 x float> %57)
  %59 = getelementptr inbounds i8, ptr %0, i64 132
  %60 = load <2 x float>, ptr %59, align 4
  %61 = tail call <2 x float> @b2Add(<2 x float> %58, <2 x float> %60)
  %62 = tail call <2 x float> @b2Sub(<2 x float> %53, <2 x float> %48)
  %63 = tail call <2 x float> @b2Add(<2 x float> %61, <2 x float> %62)
  %64 = getelementptr inbounds i8, ptr %0, i64 124
  %65 = load <2 x float>, ptr %44, align 4
  %66 = load <2 x float>, ptr %64, align 4
  %67 = tail call <2 x float> @b2RotateVector(<2 x float> %65, <2 x float> %66)
  %68 = tail call float @b2Dot(<2 x float> %67, <2 x float> %63)
  %69 = tail call <2 x float> @b2Add(<2 x float> %63, <2 x float> %48)
  %70 = tail call float @b2Cross(<2 x float> %69, <2 x float> %67)
  %71 = tail call float @b2Cross(<2 x float> %53, <2 x float> %67)
  %72 = getelementptr inbounds i8, ptr %0, i64 165
  %73 = load i8, ptr %72, align 1, !tbaa !29, !range !30, !noundef !31
  %74 = trunc nuw i8 %73 to i1
  %75 = fadd float %17, %19
  %76 = fcmp une float %75, 0.000000e+00
  %or.cond = select i1 %74, i1 %76, i1 false
  %77 = insertelement <2 x float> poison, float %43, i64 0
  %78 = insertelement <2 x float> %77, float %41, i64 1
  br i1 %or.cond, label %79, label %104

79:                                               ; preds = %38
  %80 = fsub float %43, %41
  %81 = getelementptr inbounds i8, ptr %0, i64 80
  %82 = load float, ptr %81, align 4, !tbaa !32
  %83 = fsub float %80, %82
  %84 = getelementptr inbounds i8, ptr %0, i64 144
  %85 = load float, ptr %84, align 4, !tbaa !33
  %86 = getelementptr inbounds i8, ptr %0, i64 60
  %87 = load float, ptr %86, align 4, !tbaa !34
  %88 = getelementptr inbounds i8, ptr %1, i64 8
  %89 = load float, ptr %88, align 8, !tbaa !35
  %90 = getelementptr inbounds i8, ptr %0, i64 76
  %91 = load float, ptr %90, align 4, !tbaa !36
  %92 = fmul float %89, %91
  %93 = fmul float %85, %83
  %94 = fsub float %87, %93
  %95 = fneg float %92
  %96 = tail call float @b2ClampFloat(float noundef %94, float noundef %95, float noundef %92)
  store float %96, ptr %86, align 4, !tbaa !34
  %97 = fsub float %96, %87
  %98 = fneg float %17
  %99 = insertelement <2 x float> poison, float %19, i64 0
  %100 = insertelement <2 x float> %99, float %98, i64 1
  %101 = insertelement <2 x float> poison, float %97, i64 0
  %102 = shufflevector <2 x float> %101, <2 x float> poison, <2 x i32> zeroinitializer
  %103 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %100, <2 x float> %102, <2 x float> %78)
  br label %104

104:                                              ; preds = %79, %38
  %105 = phi <2 x float> [ %103, %79 ], [ %78, %38 ]
  %106 = getelementptr inbounds i8, ptr %0, i64 164
  %107 = load i8, ptr %106, align 4, !tbaa !37, !range !30, !noundef !31
  %108 = trunc nuw i8 %107 to i1
  br i1 %108, label %109, label %147

109:                                              ; preds = %104
  %110 = getelementptr inbounds i8, ptr %0, i64 152
  %111 = load float, ptr %110, align 4, !tbaa !38
  %112 = fmul float %68, %111
  %113 = getelementptr inbounds i8, ptr %0, i64 156
  %114 = load float, ptr %113, align 4, !tbaa !39
  %115 = getelementptr inbounds i8, ptr %0, i64 160
  %116 = load float, ptr %115, align 4, !tbaa !40
  %117 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0138.0.copyload, <2 x float> %.sroa.0158.0.copyload)
  %118 = tail call float @b2Dot(<2 x float> %67, <2 x float> %117)
  %119 = extractelement <2 x float> %105, i64 0
  %120 = tail call float @llvm.fmuladd.f32(float %71, float %119, float %118)
  %121 = fneg float %70
  %122 = extractelement <2 x float> %105, i64 1
  %123 = tail call float @llvm.fmuladd.f32(float %121, float %122, float %120)
  %124 = fneg float %114
  %125 = getelementptr inbounds i8, ptr %0, i64 148
  %126 = load float, ptr %125, align 4, !tbaa !41
  %127 = fmul float %126, %124
  %128 = fadd float %112, %123
  %129 = getelementptr inbounds i8, ptr %0, i64 64
  %130 = load float, ptr %129, align 4, !tbaa !42
  %131 = fneg float %116
  %132 = fmul float %130, %131
  %133 = tail call float @llvm.fmuladd.f32(float %127, float %128, float %132)
  %134 = fadd float %130, %133
  store float %134, ptr %129, align 4, !tbaa !42
  %135 = tail call <2 x float> @b2MulSV(float noundef %133, <2 x float> %67)
  %136 = insertelement <2 x float> poison, float %71, i64 0
  %137 = insertelement <2 x float> %136, float %70, i64 1
  %138 = insertelement <2 x float> poison, float %133, i64 0
  %139 = shufflevector <2 x float> %138, <2 x float> poison, <2 x i32> zeroinitializer
  %140 = fmul <2 x float> %137, %139
  %141 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0158.0.copyload, float noundef %13, <2 x float> %135)
  %142 = fneg float %17
  %143 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0138.0.copyload, float noundef %15, <2 x float> %135)
  %144 = insertelement <2 x float> poison, float %19, i64 0
  %145 = insertelement <2 x float> %144, float %142, i64 1
  %146 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %145, <2 x float> %140, <2 x float> %105)
  br label %147

147:                                              ; preds = %109, %104
  %.sroa.0138.0 = phi <2 x float> [ %143, %109 ], [ %.sroa.0138.0.copyload, %104 ]
  %.sroa.0158.0 = phi <2 x float> [ %141, %109 ], [ %.sroa.0158.0.copyload, %104 ]
  %148 = phi <2 x float> [ %146, %109 ], [ %105, %104 ]
  %149 = getelementptr inbounds i8, ptr %0, i64 166
  %150 = load i8, ptr %149, align 2, !tbaa !43, !range !30, !noundef !31
  %151 = trunc nuw i8 %150 to i1
  br i1 %151, label %152, label %250

152:                                              ; preds = %147
  %153 = getelementptr inbounds i8, ptr %0, i64 84
  %154 = load float, ptr %153, align 4, !tbaa !44
  %155 = fsub float %68, %154
  %156 = fcmp ogt float %155, 0.000000e+00
  br i1 %156, label %157, label %161

157:                                              ; preds = %152
  %158 = getelementptr inbounds i8, ptr %1, i64 12
  %159 = load float, ptr %158, align 4, !tbaa !45
  %160 = fmul float %155, %159
  br label %170

161:                                              ; preds = %152
  br i1 %2, label %162, label %170

162:                                              ; preds = %161
  %163 = getelementptr inbounds i8, ptr %1, i64 20
  %164 = load float, ptr %163, align 4, !tbaa !46
  %165 = fmul float %155, %164
  %166 = getelementptr inbounds i8, ptr %1, i64 24
  %167 = load float, ptr %166, align 4, !tbaa !47
  %168 = getelementptr inbounds i8, ptr %1, i64 28
  %169 = load float, ptr %168, align 4, !tbaa !48
  br label %170

170:                                              ; preds = %161, %162, %157
  %.0267 = phi float [ 0.000000e+00, %157 ], [ %169, %162 ], [ 0.000000e+00, %161 ]
  %.0266 = phi float [ 1.000000e+00, %157 ], [ %167, %162 ], [ 1.000000e+00, %161 ]
  %.0265 = phi float [ %160, %157 ], [ %165, %162 ], [ 0.000000e+00, %161 ]
  %171 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0138.0, <2 x float> %.sroa.0158.0)
  %172 = tail call float @b2Dot(<2 x float> %67, <2 x float> %171)
  %173 = extractelement <2 x float> %148, i64 0
  %174 = tail call float @llvm.fmuladd.f32(float %71, float %173, float %172)
  %175 = fneg float %70
  %176 = extractelement <2 x float> %148, i64 1
  %177 = tail call float @llvm.fmuladd.f32(float %175, float %176, float %174)
  %178 = fneg float %.0266
  %179 = getelementptr inbounds i8, ptr %0, i64 148
  %180 = load float, ptr %179, align 4, !tbaa !41
  %181 = fmul float %180, %178
  %182 = fadd float %.0265, %177
  %183 = getelementptr inbounds i8, ptr %0, i64 68
  %184 = load float, ptr %183, align 4, !tbaa !49
  %185 = fneg float %.0267
  %186 = fmul float %184, %185
  %187 = tail call float @llvm.fmuladd.f32(float %181, float %182, float %186)
  %188 = fadd float %184, %187
  %189 = tail call float @b2MaxFloat(float noundef %188, float noundef 0.000000e+00)
  store float %189, ptr %183, align 4, !tbaa !49
  %190 = fsub float %189, %184
  %191 = tail call <2 x float> @b2MulSV(float noundef %190, <2 x float> %67)
  %192 = insertelement <2 x float> poison, float %71, i64 0
  %193 = insertelement <2 x float> %192, float %70, i64 1
  %194 = insertelement <2 x float> poison, float %190, i64 0
  %195 = shufflevector <2 x float> %194, <2 x float> poison, <2 x i32> zeroinitializer
  %196 = fmul <2 x float> %193, %195
  %197 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0158.0, float noundef %13, <2 x float> %191)
  %198 = fneg float %17
  %199 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0138.0, float noundef %15, <2 x float> %191)
  %200 = insertelement <2 x float> poison, float %19, i64 0
  %201 = insertelement <2 x float> %200, float %198, i64 1
  %202 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %201, <2 x float> %196, <2 x float> %148)
  %203 = getelementptr inbounds i8, ptr %0, i64 88
  %204 = load float, ptr %203, align 4, !tbaa !50
  %205 = fsub float %204, %68
  %206 = fcmp ogt float %205, 0.000000e+00
  br i1 %206, label %207, label %211

207:                                              ; preds = %170
  %208 = getelementptr inbounds i8, ptr %1, i64 12
  %209 = load float, ptr %208, align 4, !tbaa !45
  %210 = fmul float %205, %209
  br label %220

211:                                              ; preds = %170
  br i1 %2, label %212, label %220

212:                                              ; preds = %211
  %213 = getelementptr inbounds i8, ptr %1, i64 20
  %214 = load float, ptr %213, align 4, !tbaa !46
  %215 = fmul float %205, %214
  %216 = getelementptr inbounds i8, ptr %1, i64 24
  %217 = load float, ptr %216, align 4, !tbaa !47
  %218 = getelementptr inbounds i8, ptr %1, i64 28
  %219 = load float, ptr %218, align 4, !tbaa !48
  br label %220

220:                                              ; preds = %211, %212, %207
  %.0270 = phi float [ 0.000000e+00, %207 ], [ %219, %212 ], [ 0.000000e+00, %211 ]
  %.0269 = phi float [ 1.000000e+00, %207 ], [ %217, %212 ], [ 1.000000e+00, %211 ]
  %.0268 = phi float [ %210, %207 ], [ %215, %212 ], [ 0.000000e+00, %211 ]
  %221 = tail call <2 x float> @b2Sub(<2 x float> %197, <2 x float> %199)
  %222 = tail call float @b2Dot(<2 x float> %67, <2 x float> %221)
  %223 = extractelement <2 x float> %202, i64 1
  %224 = tail call float @llvm.fmuladd.f32(float %70, float %223, float %222)
  %225 = fneg float %71
  %226 = extractelement <2 x float> %202, i64 0
  %227 = tail call float @llvm.fmuladd.f32(float %225, float %226, float %224)
  %228 = fneg float %.0269
  %229 = load float, ptr %179, align 4, !tbaa !41
  %230 = fmul float %229, %228
  %231 = fadd float %.0268, %227
  %232 = getelementptr inbounds i8, ptr %0, i64 72
  %233 = load float, ptr %232, align 4, !tbaa !51
  %234 = fneg float %.0270
  %235 = fmul float %233, %234
  %236 = tail call float @llvm.fmuladd.f32(float %230, float %231, float %235)
  %237 = fadd float %233, %236
  %238 = tail call float @b2MaxFloat(float noundef %237, float noundef 0.000000e+00)
  store float %238, ptr %232, align 4, !tbaa !51
  %239 = fsub float %238, %233
  %240 = tail call <2 x float> @b2MulSV(float noundef %239, <2 x float> %67)
  %241 = insertelement <2 x float> poison, float %239, i64 0
  %242 = shufflevector <2 x float> %241, <2 x float> poison, <2 x i32> zeroinitializer
  %243 = fmul <2 x float> %193, %242
  %244 = tail call <2 x float> @b2MulAdd(<2 x float> %197, float noundef %13, <2 x float> %240)
  %245 = tail call <2 x float> @b2MulSub(<2 x float> %199, float noundef %15, <2 x float> %240)
  %246 = fneg float %19
  %247 = insertelement <2 x float> poison, float %246, i64 0
  %248 = insertelement <2 x float> %247, float %17, i64 1
  %249 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %248, <2 x float> %243, <2 x float> %202)
  br label %250

250:                                              ; preds = %220, %147
  %.sroa.0138.1 = phi <2 x float> [ %245, %220 ], [ %.sroa.0138.0, %147 ]
  %.sroa.0158.1 = phi <2 x float> [ %244, %220 ], [ %.sroa.0158.0, %147 ]
  %251 = phi <2 x float> [ %249, %220 ], [ %148, %147 ]
  %252 = tail call <2 x float> @b2LeftPerp(<2 x float> %67)
  br i1 %2, label %253, label %262

253:                                              ; preds = %250
  %254 = tail call float @b2Dot(<2 x float> %252, <2 x float> %63)
  %255 = getelementptr inbounds i8, ptr %1, i64 20
  %256 = load float, ptr %255, align 4, !tbaa !46
  %257 = fmul float %254, %256
  %258 = getelementptr inbounds i8, ptr %1, i64 24
  %259 = load float, ptr %258, align 4, !tbaa !47
  %260 = getelementptr inbounds i8, ptr %1, i64 28
  %261 = load float, ptr %260, align 4, !tbaa !48
  br label %262

262:                                              ; preds = %253, %250
  %.0273 = phi float [ %261, %253 ], [ 0.000000e+00, %250 ]
  %.0272 = phi float [ %259, %253 ], [ 1.000000e+00, %250 ]
  %.0271 = phi float [ %257, %253 ], [ 0.000000e+00, %250 ]
  %263 = tail call <2 x float> @b2Add(<2 x float> %63, <2 x float> %48)
  %264 = tail call float @b2Cross(<2 x float> %263, <2 x float> %252)
  %265 = tail call float @b2Cross(<2 x float> %53, <2 x float> %252)
  %266 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0138.1, <2 x float> %.sroa.0158.1)
  %267 = tail call float @b2Dot(<2 x float> %252, <2 x float> %266)
  %268 = extractelement <2 x float> %251, i64 0
  %269 = tail call float @llvm.fmuladd.f32(float %265, float %268, float %267)
  %270 = fneg float %264
  %271 = extractelement <2 x float> %251, i64 1
  %272 = tail call float @llvm.fmuladd.f32(float %270, float %271, float %269)
  %273 = fneg float %.0272
  %274 = getelementptr inbounds i8, ptr %0, i64 140
  %275 = load float, ptr %274, align 4, !tbaa !52
  %276 = fmul float %275, %273
  %277 = fadd float %.0271, %272
  %278 = getelementptr inbounds i8, ptr %0, i64 56
  %279 = load float, ptr %278, align 4, !tbaa !53
  %280 = fneg float %.0273
  %281 = fmul float %279, %280
  %282 = tail call float @llvm.fmuladd.f32(float %276, float %277, float %281)
  %283 = fadd float %279, %282
  store float %283, ptr %278, align 4, !tbaa !53
  %284 = tail call <2 x float> @b2MulSV(float noundef %282, <2 x float> %252)
  %285 = fmul float %264, %282
  %286 = fmul float %265, %282
  %287 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0158.1, float noundef %13, <2 x float> %284)
  %288 = fneg float %17
  %289 = tail call float @llvm.fmuladd.f32(float %288, float %285, float %271)
  %290 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0138.1, float noundef %15, <2 x float> %284)
  %291 = tail call float @llvm.fmuladd.f32(float %19, float %286, float %268)
  store <2 x float> %287, ptr %29, align 4
  store float %289, ptr %40, align 4, !tbaa !26
  store <2 x float> %290, ptr %39, align 4
  store float %291, ptr %42, 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 float @b2Dot(<2 x float>, <2 x float>) local_unnamed_addr #5

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2ClampFloat(float noundef, float noundef, float noundef) local_unnamed_addr #3

; 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 = { "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 = { cold noreturn nounwind memory(inaccessiblemem: write) }
attributes #3 = { 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 #4 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { inlinehint nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { nounwind 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 52}
!17 = !{!"b2WheelJoint", !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, !10, i64 84, !11, i64 92, !11, i64 96, !11, i64 100, !18, i64 104, !19, i64 116, !19, i64 117, !19, i64 118}
!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 56}
!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 117}
!30 = !{i8 0, i8 2}
!31 = !{}
!32 = !{!17, !11, i64 32}
!33 = !{!17, !11, i64 96}
!34 = !{!17, !11, i64 12}
!35 = !{!21, !11, i64 8}
!36 = !{!17, !11, i64 28}
!37 = !{!17, !19, i64 116}
!38 = !{!17, !11, i64 104}
!39 = !{!17, !11, i64 108}
!40 = !{!17, !11, i64 112}
!41 = !{!17, !11, i64 100}
!42 = !{!17, !11, i64 16}
!43 = !{!17, !19, i64 118}
!44 = !{!17, !11, i64 36}
!45 = !{!21, !11, i64 12}
!46 = !{!21, !11, i64 20}
!47 = !{!21, !11, i64 24}
!48 = !{!21, !11, i64 28}
!49 = !{!17, !11, i64 20}
!50 = !{!17, !11, i64 40}
!51 = !{!17, !11, i64 24}
!52 = !{!17, !11, i64 92}
!53 = !{!17, !11, i64 8}


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