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

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

%struct.b2BodyState = type { %struct.b2Vec2, float, i32, %struct.b2Vec2, %struct.b2Rot }
%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2JointSim = type { i32, i32, i32, i32, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %union.anon }
%union.anon = type { %struct.b2PrismaticJoint }
%struct.b2PrismaticJoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, float, i32, i32, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, %struct.b2Softness, i8, i8, i8 }
%struct.b2Softness = type { float, float, float }
%struct.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 [71 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [32 x i8], align 1
@__const.b2SolvePrismaticJoint.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: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RotateVector(<2 x float>, <2 x float>) #4

; 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 @b2Dot(<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 <2 x float> @b2LeftPerp(<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 float @b2RelativeAngle(<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 @b2SolvePrismaticJoint(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 %struct.b2Vec2, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca %struct.b2Vec2, align 4
  %29 = alloca float, align 4
  %30 = alloca float, align 4
  %31 = alloca float, align 4
  %32 = alloca float, align 4
  %33 = alloca float, align 4
  %34 = alloca float, align 4
  %35 = alloca %struct.b2Vec2, align 4
  %36 = alloca float, align 4
  %37 = alloca %struct.b2Vec2, align 4
  %38 = alloca float, align 4
  %39 = alloca float, align 4
  %40 = alloca %struct.b2Vec2, align 4
  %41 = alloca %struct.b2Vec2, align 4
  %42 = alloca float, align 4
  %43 = alloca %struct.b2Vec2, align 4
  %44 = alloca float, align 4
  %45 = alloca float, align 4
  %46 = alloca float, align 4
  %47 = alloca %struct.b2Vec2, align 4
  %48 = alloca float, align 4
  %49 = alloca float, align 4
  %50 = alloca %struct.b2Vec2, align 4
  %51 = alloca %struct.b2Vec2, align 4
  %52 = alloca float, align 4
  %53 = alloca float, align 4
  %54 = alloca float, align 4
  %55 = alloca float, align 4
  %56 = alloca float, align 4
  %57 = alloca float, align 4
  %58 = alloca %struct.b2Vec2, align 4
  %59 = alloca float, align 4
  %60 = alloca %struct.b2Vec2, align 4
  %61 = alloca float, align 4
  %62 = alloca float, align 4
  %63 = alloca %struct.b2Vec2, align 4
  %64 = alloca %struct.b2Vec2, align 4
  %65 = alloca float, align 4
  %66 = alloca float, align 4
  %67 = alloca float, align 4
  %68 = alloca float, align 4
  %69 = alloca float, align 4
  %70 = alloca float, align 4
  %71 = alloca %struct.b2Vec2, align 4
  %72 = alloca float, align 4
  %73 = alloca %struct.b2Vec2, align 4
  %74 = alloca float, align 4
  %75 = alloca float, align 4
  %76 = alloca %struct.b2Vec2, align 4
  %77 = alloca %struct.b2Vec2, align 4
  %78 = alloca %struct.b2Vec2, align 4
  %79 = alloca float, align 4
  %80 = alloca %struct.b2Vec2, align 4
  %81 = alloca float, align 4
  %82 = alloca %struct.b2Vec2, align 4
  %83 = alloca %struct.b2Vec2, 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
  %89 = alloca float, align 4
  %90 = alloca float, align 4
  %91 = alloca float, align 4
  %92 = alloca %struct.b2Mat22, align 4
  %93 = alloca %struct.b2Vec2, align 4
  %94 = alloca %struct.b2Vec2, align 4
  %95 = alloca %struct.b2Vec2, align 4
  %96 = alloca %struct.b2Vec2, align 4
  %97 = alloca float, align 4
  %98 = alloca float, align 4
  %99 = alloca %struct.b2Vec2, align 4
  %100 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %101 = zext i1 %2 to i8
  store i8 %101, ptr %6, align 1, !tbaa !9
  br label %102

102:                                              ; preds = %3
  %103 = load ptr, ptr %4, align 8, !tbaa !5
  %104 = getelementptr inbounds %struct.b2JointSim, ptr %103, i32 0, i32 3
  %105 = load i32, ptr %104, align 4, !tbaa !11
  %106 = icmp eq i32 %105, 4
  br i1 %106, label %111, label %107

107:                                              ; preds = %102
  %108 = call i32 @b2InternalAssertFcn(ptr noundef @.str.4, ptr noundef @.str.1, i32 noundef 384)
  %109 = icmp ne i32 %108, 0
  br i1 %109, label %110, label %111

110:                                              ; preds = %107
  call void @llvm.trap()
  br label %111

111:                                              ; preds = %110, %107, %102
  br label %112

112:                                              ; preds = %111
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #9
  %113 = load ptr, ptr %4, align 8, !tbaa !5
  %114 = getelementptr inbounds %struct.b2JointSim, ptr %113, i32 0, i32 6
  %115 = load float, ptr %114, align 4, !tbaa !16
  store float %115, ptr %7, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  %116 = load ptr, ptr %4, align 8, !tbaa !5
  %117 = getelementptr inbounds %struct.b2JointSim, ptr %116, i32 0, i32 7
  %118 = load float, ptr %117, align 4, !tbaa !18
  store float %118, ptr %8, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #9
  %119 = load ptr, ptr %4, align 8, !tbaa !5
  %120 = getelementptr inbounds %struct.b2JointSim, ptr %119, i32 0, i32 8
  %121 = load float, ptr %120, align 4, !tbaa !19
  store float %121, ptr %9, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #9
  %122 = load ptr, ptr %4, align 8, !tbaa !5
  %123 = getelementptr inbounds %struct.b2JointSim, ptr %122, i32 0, i32 9
  %124 = load float, ptr %123, align 4, !tbaa !20
  store float %124, ptr %10, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 4 @__const.b2SolvePrismaticJoint.dummyState, i64 32, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #9
  %125 = load ptr, ptr %4, align 8, !tbaa !5
  %126 = getelementptr inbounds %struct.b2JointSim, ptr %125, i32 0, i32 10
  store ptr %126, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #9
  %127 = load ptr, ptr %12, align 8, !tbaa !5
  %128 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %127, i32 0, i32 13
  %129 = load i32, ptr %128, align 4, !tbaa !21
  %130 = icmp eq i32 %129, -1
  br i1 %130, label %131, label %132

131:                                              ; preds = %112
  br label %141

132:                                              ; preds = %112
  %133 = load ptr, ptr %5, align 8, !tbaa !5
  %134 = getelementptr inbounds %struct.b2StepContext, ptr %133, i32 0, i32 12
  %135 = load ptr, ptr %134, align 8, !tbaa !24
  %136 = load ptr, ptr %12, align 8, !tbaa !5
  %137 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %136, i32 0, i32 13
  %138 = load i32, ptr %137, align 4, !tbaa !21
  %139 = sext i32 %138 to i64
  %140 = getelementptr inbounds %struct.b2BodyState, ptr %135, i64 %139
  br label %141

141:                                              ; preds = %132, %131
  %142 = phi ptr [ %11, %131 ], [ %140, %132 ]
  store ptr %142, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #9
  %143 = load ptr, ptr %12, align 8, !tbaa !5
  %144 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %143, i32 0, i32 14
  %145 = load i32, ptr %144, align 4, !tbaa !28
  %146 = icmp eq i32 %145, -1
  br i1 %146, label %147, label %148

147:                                              ; preds = %141
  br label %157

148:                                              ; preds = %141
  %149 = load ptr, ptr %5, align 8, !tbaa !5
  %150 = getelementptr inbounds %struct.b2StepContext, ptr %149, i32 0, i32 12
  %151 = load ptr, ptr %150, align 8, !tbaa !24
  %152 = load ptr, ptr %12, align 8, !tbaa !5
  %153 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %152, i32 0, i32 14
  %154 = load i32, ptr %153, align 4, !tbaa !28
  %155 = sext i32 %154 to i64
  %156 = getelementptr inbounds %struct.b2BodyState, ptr %151, i64 %155
  br label %157

157:                                              ; preds = %148, %147
  %158 = phi ptr [ %11, %147 ], [ %156, %148 ]
  store ptr %158, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #9
  %159 = load ptr, ptr %13, 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 %15, ptr align 4 %160, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #9
  %161 = load ptr, ptr %13, 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 %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #9
  %164 = load ptr, ptr %14, align 8, !tbaa !5
  %165 = getelementptr inbounds %struct.b2BodyState, ptr %164, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %165, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #9
  %166 = load ptr, ptr %14, align 8, !tbaa !5
  %167 = getelementptr inbounds %struct.b2BodyState, ptr %166, i32 0, i32 1
  %168 = load float, ptr %167, align 4, !tbaa !30
  store float %168, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #9
  %169 = load ptr, ptr %13, 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.b2PrismaticJoint, 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 %19, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #9
  %176 = load ptr, ptr %14, align 8, !tbaa !5
  %177 = getelementptr inbounds %struct.b2BodyState, ptr %176, i32 0, i32 4
  %178 = load ptr, ptr %12, align 8, !tbaa !5
  %179 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %178, i32 0, i32 16
  %180 = load <2 x float>, ptr %177, align 4
  %181 = load <2 x float>, ptr %179, align 4
  %182 = call <2 x float> @b2RotateVector(<2 x float> %180, <2 x float> %181)
  store <2 x float> %182, ptr %20, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #9
  %183 = load ptr, ptr %14, align 8, !tbaa !5
  %184 = getelementptr inbounds %struct.b2BodyState, ptr %183, i32 0, i32 3
  %185 = load ptr, ptr %13, align 8, !tbaa !5
  %186 = getelementptr inbounds %struct.b2BodyState, ptr %185, i32 0, i32 3
  %187 = load <2 x float>, ptr %184, align 4
  %188 = load <2 x float>, ptr %186, align 4
  %189 = call <2 x float> @b2Sub(<2 x float> %187, <2 x float> %188)
  store <2 x float> %189, ptr %23, align 4
  %190 = load ptr, ptr %12, align 8, !tbaa !5
  %191 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %190, i32 0, i32 18
  %192 = load <2 x float>, ptr %23, align 4
  %193 = load <2 x float>, ptr %191, align 4
  %194 = call <2 x float> @b2Add(<2 x float> %192, <2 x float> %193)
  store <2 x float> %194, ptr %22, align 4
  %195 = load <2 x float>, ptr %20, align 4
  %196 = load <2 x float>, ptr %19, align 4
  %197 = call <2 x float> @b2Sub(<2 x float> %195, <2 x float> %196)
  store <2 x float> %197, ptr %24, align 4
  %198 = load <2 x float>, ptr %22, align 4
  %199 = load <2 x float>, ptr %24, align 4
  %200 = call <2 x float> @b2Add(<2 x float> %198, <2 x float> %199)
  store <2 x float> %200, ptr %21, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #9
  %201 = load ptr, ptr %13, align 8, !tbaa !5
  %202 = getelementptr inbounds %struct.b2BodyState, ptr %201, i32 0, i32 4
  %203 = load ptr, ptr %12, align 8, !tbaa !5
  %204 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %203, i32 0, i32 17
  %205 = load <2 x float>, ptr %202, align 4
  %206 = load <2 x float>, ptr %204, align 4
  %207 = call <2 x float> @b2RotateVector(<2 x float> %205, <2 x float> %206)
  store <2 x float> %207, ptr %25, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  %208 = load <2 x float>, ptr %25, align 4
  %209 = load <2 x float>, ptr %21, align 4
  %210 = call float @b2Dot(<2 x float> %208, <2 x float> %209)
  store float %210, ptr %26, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  %211 = load <2 x float>, ptr %21, align 4
  %212 = load <2 x float>, ptr %19, align 4
  %213 = call <2 x float> @b2Add(<2 x float> %211, <2 x float> %212)
  store <2 x float> %213, ptr %28, align 4
  %214 = load <2 x float>, ptr %28, align 4
  %215 = load <2 x float>, ptr %25, align 4
  %216 = call float @b2Cross(<2 x float> %214, <2 x float> %215)
  store float %216, ptr %27, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  %217 = load <2 x float>, ptr %20, align 4
  %218 = load <2 x float>, ptr %25, align 4
  %219 = call float @b2Cross(<2 x float> %217, <2 x float> %218)
  store float %219, ptr %29, align 4, !tbaa !17
  %220 = load ptr, ptr %12, align 8, !tbaa !5
  %221 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %220, i32 0, i32 22
  %222 = load i8, ptr %221, align 4, !tbaa !33, !range !34, !noundef !35
  %223 = trunc i8 %222 to i1
  br i1 %223, label %224, label %300

224:                                              ; preds = %157
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #9
  %225 = load float, ptr %26, align 4, !tbaa !17
  store float %225, ptr %30, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #9
  %226 = load ptr, ptr %12, align 8, !tbaa !5
  %227 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %226, i32 0, i32 21
  %228 = getelementptr inbounds %struct.b2Softness, ptr %227, i32 0, i32 0
  %229 = load float, ptr %228, align 4, !tbaa !36
  %230 = load float, ptr %30, align 4, !tbaa !17
  %231 = fmul float %229, %230
  store float %231, ptr %31, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #9
  %232 = load ptr, ptr %12, align 8, !tbaa !5
  %233 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %232, i32 0, i32 21
  %234 = getelementptr inbounds %struct.b2Softness, ptr %233, i32 0, i32 1
  %235 = load float, ptr %234, align 4, !tbaa !37
  store float %235, ptr %32, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #9
  %236 = load ptr, ptr %12, align 8, !tbaa !5
  %237 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %236, i32 0, i32 21
  %238 = getelementptr inbounds %struct.b2Softness, ptr %237, i32 0, i32 2
  %239 = load float, ptr %238, align 4, !tbaa !38
  store float %239, ptr %33, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #9
  %240 = load <2 x float>, ptr %17, align 4
  %241 = load <2 x float>, ptr %15, align 4
  %242 = call <2 x float> @b2Sub(<2 x float> %240, <2 x float> %241)
  store <2 x float> %242, ptr %35, align 4
  %243 = load <2 x float>, ptr %25, align 4
  %244 = load <2 x float>, ptr %35, align 4
  %245 = call float @b2Dot(<2 x float> %243, <2 x float> %244)
  %246 = load float, ptr %29, align 4, !tbaa !17
  %247 = load float, ptr %18, align 4, !tbaa !17
  %248 = call float @llvm.fmuladd.f32(float %246, float %247, float %245)
  %249 = load float, ptr %27, align 4, !tbaa !17
  %250 = load float, ptr %16, align 4, !tbaa !17
  %251 = fneg float %249
  %252 = call float @llvm.fmuladd.f32(float %251, float %250, float %248)
  store float %252, ptr %34, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #9
  %253 = load float, ptr %32, align 4, !tbaa !17
  %254 = fneg float %253
  %255 = load ptr, ptr %12, align 8, !tbaa !5
  %256 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %255, i32 0, i32 20
  %257 = load float, ptr %256, align 4, !tbaa !39
  %258 = fmul float %254, %257
  %259 = load float, ptr %34, align 4, !tbaa !17
  %260 = load float, ptr %31, align 4, !tbaa !17
  %261 = fadd float %259, %260
  %262 = load float, ptr %33, align 4, !tbaa !17
  %263 = load ptr, ptr %12, align 8, !tbaa !5
  %264 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %263, i32 0, i32 2
  %265 = load float, ptr %264, align 4, !tbaa !40
  %266 = fmul float %262, %265
  %267 = fneg float %266
  %268 = call float @llvm.fmuladd.f32(float %258, float %261, float %267)
  store float %268, ptr %36, align 4, !tbaa !17
  %269 = load float, ptr %36, align 4, !tbaa !17
  %270 = load ptr, ptr %12, align 8, !tbaa !5
  %271 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %270, i32 0, i32 2
  %272 = load float, ptr %271, align 4, !tbaa !40
  %273 = fadd float %272, %269
  store float %273, ptr %271, align 4, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #9
  %274 = load float, ptr %36, align 4, !tbaa !17
  %275 = load <2 x float>, ptr %25, align 4
  %276 = call <2 x float> @b2MulSV(float noundef %274, <2 x float> %275)
  store <2 x float> %276, ptr %37, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #9
  %277 = load float, ptr %36, align 4, !tbaa !17
  %278 = load float, ptr %27, align 4, !tbaa !17
  %279 = fmul float %277, %278
  store float %279, ptr %38, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #9
  %280 = load float, ptr %36, align 4, !tbaa !17
  %281 = load float, ptr %29, align 4, !tbaa !17
  %282 = fmul float %280, %281
  store float %282, ptr %39, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #9
  %283 = load float, ptr %7, align 4, !tbaa !17
  %284 = load <2 x float>, ptr %15, align 4
  %285 = load <2 x float>, ptr %37, align 4
  %286 = call <2 x float> @b2MulSub(<2 x float> %284, float noundef %283, <2 x float> %285)
  store <2 x float> %286, ptr %40, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %40, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #9
  %287 = load float, ptr %9, align 4, !tbaa !17
  %288 = load float, ptr %38, align 4, !tbaa !17
  %289 = load float, ptr %16, align 4, !tbaa !17
  %290 = fneg float %287
  %291 = call float @llvm.fmuladd.f32(float %290, float %288, float %289)
  store float %291, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #9
  %292 = load float, ptr %8, align 4, !tbaa !17
  %293 = load <2 x float>, ptr %17, align 4
  %294 = load <2 x float>, ptr %37, align 4
  %295 = call <2 x float> @b2MulAdd(<2 x float> %293, float noundef %292, <2 x float> %294)
  store <2 x float> %295, ptr %41, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %41, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #9
  %296 = load float, ptr %10, align 4, !tbaa !17
  %297 = load float, ptr %39, align 4, !tbaa !17
  %298 = load float, ptr %18, align 4, !tbaa !17
  %299 = call float @llvm.fmuladd.f32(float %296, float %297, float %298)
  store float %299, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #9
  br label %300

300:                                              ; preds = %224, %157
  %301 = load ptr, ptr %12, align 8, !tbaa !5
  %302 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %301, i32 0, i32 24
  %303 = load i8, ptr %302, align 2, !tbaa !41, !range !34, !noundef !35
  %304 = trunc i8 %303 to i1
  br i1 %304, label %305, label %380

305:                                              ; preds = %300
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #9
  %306 = load <2 x float>, ptr %17, align 4
  %307 = load <2 x float>, ptr %15, align 4
  %308 = call <2 x float> @b2Sub(<2 x float> %306, <2 x float> %307)
  store <2 x float> %308, ptr %43, align 4
  %309 = load <2 x float>, ptr %25, align 4
  %310 = load <2 x float>, ptr %43, align 4
  %311 = call float @b2Dot(<2 x float> %309, <2 x float> %310)
  %312 = load float, ptr %29, align 4, !tbaa !17
  %313 = load float, ptr %18, align 4, !tbaa !17
  %314 = call float @llvm.fmuladd.f32(float %312, float %313, float %311)
  %315 = load float, ptr %27, align 4, !tbaa !17
  %316 = load float, ptr %16, align 4, !tbaa !17
  %317 = fneg float %315
  %318 = call float @llvm.fmuladd.f32(float %317, float %316, float %314)
  store float %318, ptr %42, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #9
  %319 = load ptr, ptr %12, align 8, !tbaa !5
  %320 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %319, i32 0, i32 20
  %321 = load float, ptr %320, align 4, !tbaa !39
  %322 = load ptr, ptr %12, align 8, !tbaa !5
  %323 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %322, i32 0, i32 9
  %324 = load float, ptr %323, align 4, !tbaa !42
  %325 = load float, ptr %42, align 4, !tbaa !17
  %326 = fsub float %324, %325
  %327 = fmul float %321, %326
  store float %327, ptr %44, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #9
  %328 = load ptr, ptr %12, align 8, !tbaa !5
  %329 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %328, i32 0, i32 3
  %330 = load float, ptr %329, align 4, !tbaa !43
  store float %330, ptr %45, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %46) #9
  %331 = load ptr, ptr %5, align 8, !tbaa !5
  %332 = getelementptr inbounds %struct.b2StepContext, ptr %331, i32 0, i32 2
  %333 = load float, ptr %332, align 8, !tbaa !44
  %334 = load ptr, ptr %12, align 8, !tbaa !5
  %335 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %334, i32 0, i32 8
  %336 = load float, ptr %335, align 4, !tbaa !45
  %337 = fmul float %333, %336
  store float %337, ptr %46, align 4, !tbaa !17
  %338 = load ptr, ptr %12, align 8, !tbaa !5
  %339 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %338, i32 0, i32 3
  %340 = load float, ptr %339, align 4, !tbaa !43
  %341 = load float, ptr %44, align 4, !tbaa !17
  %342 = fadd float %340, %341
  %343 = load float, ptr %46, align 4, !tbaa !17
  %344 = fneg float %343
  %345 = load float, ptr %46, align 4, !tbaa !17
  %346 = call float @b2ClampFloat(float noundef %342, float noundef %344, float noundef %345)
  %347 = load ptr, ptr %12, align 8, !tbaa !5
  %348 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %347, i32 0, i32 3
  store float %346, ptr %348, align 4, !tbaa !43
  %349 = load ptr, ptr %12, align 8, !tbaa !5
  %350 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %349, i32 0, i32 3
  %351 = load float, ptr %350, align 4, !tbaa !43
  %352 = load float, ptr %45, align 4, !tbaa !17
  %353 = fsub float %351, %352
  store float %353, ptr %44, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #9
  %354 = load float, ptr %44, align 4, !tbaa !17
  %355 = load <2 x float>, ptr %25, align 4
  %356 = call <2 x float> @b2MulSV(float noundef %354, <2 x float> %355)
  store <2 x float> %356, ptr %47, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #9
  %357 = load float, ptr %44, align 4, !tbaa !17
  %358 = load float, ptr %27, align 4, !tbaa !17
  %359 = fmul float %357, %358
  store float %359, ptr %48, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #9
  %360 = load float, ptr %44, align 4, !tbaa !17
  %361 = load float, ptr %29, align 4, !tbaa !17
  %362 = fmul float %360, %361
  store float %362, ptr %49, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #9
  %363 = load float, ptr %7, align 4, !tbaa !17
  %364 = load <2 x float>, ptr %15, align 4
  %365 = load <2 x float>, ptr %47, align 4
  %366 = call <2 x float> @b2MulSub(<2 x float> %364, float noundef %363, <2 x float> %365)
  store <2 x float> %366, ptr %50, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %50, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #9
  %367 = load float, ptr %9, align 4, !tbaa !17
  %368 = load float, ptr %48, align 4, !tbaa !17
  %369 = load float, ptr %16, align 4, !tbaa !17
  %370 = fneg float %367
  %371 = call float @llvm.fmuladd.f32(float %370, float %368, float %369)
  store float %371, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #9
  %372 = load float, ptr %8, align 4, !tbaa !17
  %373 = load <2 x float>, ptr %17, align 4
  %374 = load <2 x float>, ptr %47, align 4
  %375 = call <2 x float> @b2MulAdd(<2 x float> %373, float noundef %372, <2 x float> %374)
  store <2 x float> %375, ptr %51, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %51, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #9
  %376 = load float, ptr %10, align 4, !tbaa !17
  %377 = load float, ptr %49, align 4, !tbaa !17
  %378 = load float, ptr %18, align 4, !tbaa !17
  %379 = call float @llvm.fmuladd.f32(float %376, float %377, float %378)
  store float %379, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #9
  br label %380

380:                                              ; preds = %305, %300
  %381 = load ptr, ptr %12, align 8, !tbaa !5
  %382 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %381, i32 0, i32 23
  %383 = load i8, ptr %382, align 1, !tbaa !46, !range !34, !noundef !35
  %384 = trunc i8 %383 to i1
  br i1 %384, label %385, label %586

385:                                              ; preds = %380
  call void @llvm.lifetime.start.p0(i64 4, ptr %52) #9
  %386 = load float, ptr %26, align 4, !tbaa !17
  %387 = load ptr, ptr %12, align 8, !tbaa !5
  %388 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %387, i32 0, i32 11
  %389 = load float, ptr %388, align 4, !tbaa !47
  %390 = fsub float %386, %389
  store float %390, ptr %52, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %53) #9
  store float 0.000000e+00, ptr %53, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %54) #9
  store float 1.000000e+00, ptr %54, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %55) #9
  store float 0.000000e+00, ptr %55, align 4, !tbaa !17
  %391 = load float, ptr %52, align 4, !tbaa !17
  %392 = fcmp ogt float %391, 0.000000e+00
  br i1 %392, label %393, label %399

393:                                              ; preds = %385
  %394 = load float, ptr %52, align 4, !tbaa !17
  %395 = load ptr, ptr %5, align 8, !tbaa !5
  %396 = getelementptr inbounds %struct.b2StepContext, ptr %395, i32 0, i32 3
  %397 = load float, ptr %396, align 4, !tbaa !48
  %398 = fmul float %394, %397
  store float %398, ptr %53, align 4, !tbaa !17
  br label %418

399:                                              ; preds = %385
  %400 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %401 = trunc i8 %400 to i1
  br i1 %401, label %402, label %417

402:                                              ; preds = %399
  %403 = load ptr, ptr %5, align 8, !tbaa !5
  %404 = getelementptr inbounds %struct.b2StepContext, ptr %403, i32 0, i32 5
  %405 = getelementptr inbounds %struct.b2Softness, ptr %404, i32 0, i32 0
  %406 = load float, ptr %405, align 4, !tbaa !49
  %407 = load float, ptr %52, align 4, !tbaa !17
  %408 = fmul float %406, %407
  store float %408, ptr %53, align 4, !tbaa !17
  %409 = load ptr, ptr %5, align 8, !tbaa !5
  %410 = getelementptr inbounds %struct.b2StepContext, ptr %409, i32 0, i32 5
  %411 = getelementptr inbounds %struct.b2Softness, ptr %410, i32 0, i32 1
  %412 = load float, ptr %411, align 4, !tbaa !50
  store float %412, ptr %54, align 4, !tbaa !17
  %413 = load ptr, ptr %5, align 8, !tbaa !5
  %414 = getelementptr inbounds %struct.b2StepContext, ptr %413, i32 0, i32 5
  %415 = getelementptr inbounds %struct.b2Softness, ptr %414, i32 0, i32 2
  %416 = load float, ptr %415, align 4, !tbaa !51
  store float %416, ptr %55, align 4, !tbaa !17
  br label %417

417:                                              ; preds = %402, %399
  br label %418

418:                                              ; preds = %417, %393
  call void @llvm.lifetime.start.p0(i64 4, ptr %56) #9
  %419 = load ptr, ptr %12, align 8, !tbaa !5
  %420 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %419, i32 0, i32 4
  %421 = load float, ptr %420, align 4, !tbaa !52
  store float %421, ptr %56, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %57) #9
  %422 = load <2 x float>, ptr %17, align 4
  %423 = load <2 x float>, ptr %15, align 4
  %424 = call <2 x float> @b2Sub(<2 x float> %422, <2 x float> %423)
  store <2 x float> %424, ptr %58, align 4
  %425 = load <2 x float>, ptr %25, align 4
  %426 = load <2 x float>, ptr %58, align 4
  %427 = call float @b2Dot(<2 x float> %425, <2 x float> %426)
  %428 = load float, ptr %29, align 4, !tbaa !17
  %429 = load float, ptr %18, align 4, !tbaa !17
  %430 = call float @llvm.fmuladd.f32(float %428, float %429, float %427)
  %431 = load float, ptr %27, align 4, !tbaa !17
  %432 = load float, ptr %16, align 4, !tbaa !17
  %433 = fneg float %431
  %434 = call float @llvm.fmuladd.f32(float %433, float %432, float %430)
  store float %434, ptr %57, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %59) #9
  %435 = load ptr, ptr %12, align 8, !tbaa !5
  %436 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %435, i32 0, i32 20
  %437 = load float, ptr %436, align 4, !tbaa !39
  %438 = fneg float %437
  %439 = load float, ptr %54, align 4, !tbaa !17
  %440 = fmul float %438, %439
  %441 = load float, ptr %57, align 4, !tbaa !17
  %442 = load float, ptr %53, align 4, !tbaa !17
  %443 = fadd float %441, %442
  %444 = load float, ptr %55, align 4, !tbaa !17
  %445 = load float, ptr %56, align 4, !tbaa !17
  %446 = fmul float %444, %445
  %447 = fneg float %446
  %448 = call float @llvm.fmuladd.f32(float %440, float %443, float %447)
  store float %448, ptr %59, align 4, !tbaa !17
  %449 = load float, ptr %56, align 4, !tbaa !17
  %450 = load float, ptr %59, align 4, !tbaa !17
  %451 = fadd float %449, %450
  %452 = call float @b2MaxFloat(float noundef %451, float noundef 0.000000e+00)
  %453 = load ptr, ptr %12, align 8, !tbaa !5
  %454 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %453, i32 0, i32 4
  store float %452, ptr %454, align 4, !tbaa !52
  %455 = load ptr, ptr %12, align 8, !tbaa !5
  %456 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %455, i32 0, i32 4
  %457 = load float, ptr %456, align 4, !tbaa !52
  %458 = load float, ptr %56, align 4, !tbaa !17
  %459 = fsub float %457, %458
  store float %459, ptr %59, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %60) #9
  %460 = load float, ptr %59, align 4, !tbaa !17
  %461 = load <2 x float>, ptr %25, align 4
  %462 = call <2 x float> @b2MulSV(float noundef %460, <2 x float> %461)
  store <2 x float> %462, ptr %60, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %61) #9
  %463 = load float, ptr %59, align 4, !tbaa !17
  %464 = load float, ptr %27, align 4, !tbaa !17
  %465 = fmul float %463, %464
  store float %465, ptr %61, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %62) #9
  %466 = load float, ptr %59, align 4, !tbaa !17
  %467 = load float, ptr %29, align 4, !tbaa !17
  %468 = fmul float %466, %467
  store float %468, ptr %62, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %63) #9
  %469 = load float, ptr %7, align 4, !tbaa !17
  %470 = load <2 x float>, ptr %15, align 4
  %471 = load <2 x float>, ptr %60, align 4
  %472 = call <2 x float> @b2MulSub(<2 x float> %470, float noundef %469, <2 x float> %471)
  store <2 x float> %472, ptr %63, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %63, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #9
  %473 = load float, ptr %9, align 4, !tbaa !17
  %474 = load float, ptr %61, align 4, !tbaa !17
  %475 = load float, ptr %16, align 4, !tbaa !17
  %476 = fneg float %473
  %477 = call float @llvm.fmuladd.f32(float %476, float %474, float %475)
  store float %477, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #9
  %478 = load float, ptr %8, align 4, !tbaa !17
  %479 = load <2 x float>, ptr %17, align 4
  %480 = load <2 x float>, ptr %60, align 4
  %481 = call <2 x float> @b2MulAdd(<2 x float> %479, float noundef %478, <2 x float> %480)
  store <2 x float> %481, ptr %64, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %64, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #9
  %482 = load float, ptr %10, align 4, !tbaa !17
  %483 = load float, ptr %62, align 4, !tbaa !17
  %484 = load float, ptr %18, align 4, !tbaa !17
  %485 = call float @llvm.fmuladd.f32(float %482, float %483, float %484)
  store float %485, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %62) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %61) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %59) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %56) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %55) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %53) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %52) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %65) #9
  %486 = load ptr, ptr %12, align 8, !tbaa !5
  %487 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %486, i32 0, i32 12
  %488 = load float, ptr %487, align 4, !tbaa !53
  %489 = load float, ptr %26, align 4, !tbaa !17
  %490 = fsub float %488, %489
  store float %490, ptr %65, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %66) #9
  store float 0.000000e+00, ptr %66, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %67) #9
  store float 1.000000e+00, ptr %67, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %68) #9
  store float 0.000000e+00, ptr %68, align 4, !tbaa !17
  %491 = load float, ptr %65, align 4, !tbaa !17
  %492 = fcmp ogt float %491, 0.000000e+00
  br i1 %492, label %493, label %499

493:                                              ; preds = %418
  %494 = load float, ptr %65, align 4, !tbaa !17
  %495 = load ptr, ptr %5, align 8, !tbaa !5
  %496 = getelementptr inbounds %struct.b2StepContext, ptr %495, i32 0, i32 3
  %497 = load float, ptr %496, align 4, !tbaa !48
  %498 = fmul float %494, %497
  store float %498, ptr %66, align 4, !tbaa !17
  br label %518

499:                                              ; preds = %418
  %500 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %501 = trunc i8 %500 to i1
  br i1 %501, label %502, label %517

502:                                              ; preds = %499
  %503 = load ptr, ptr %5, align 8, !tbaa !5
  %504 = getelementptr inbounds %struct.b2StepContext, ptr %503, i32 0, i32 5
  %505 = getelementptr inbounds %struct.b2Softness, ptr %504, i32 0, i32 0
  %506 = load float, ptr %505, align 4, !tbaa !49
  %507 = load float, ptr %65, align 4, !tbaa !17
  %508 = fmul float %506, %507
  store float %508, ptr %66, align 4, !tbaa !17
  %509 = load ptr, ptr %5, align 8, !tbaa !5
  %510 = getelementptr inbounds %struct.b2StepContext, ptr %509, i32 0, i32 5
  %511 = getelementptr inbounds %struct.b2Softness, ptr %510, i32 0, i32 1
  %512 = load float, ptr %511, align 4, !tbaa !50
  store float %512, ptr %67, align 4, !tbaa !17
  %513 = load ptr, ptr %5, align 8, !tbaa !5
  %514 = getelementptr inbounds %struct.b2StepContext, ptr %513, i32 0, i32 5
  %515 = getelementptr inbounds %struct.b2Softness, ptr %514, i32 0, i32 2
  %516 = load float, ptr %515, align 4, !tbaa !51
  store float %516, ptr %68, align 4, !tbaa !17
  br label %517

517:                                              ; preds = %502, %499
  br label %518

518:                                              ; preds = %517, %493
  call void @llvm.lifetime.start.p0(i64 4, ptr %69) #9
  %519 = load ptr, ptr %12, align 8, !tbaa !5
  %520 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %519, i32 0, i32 5
  %521 = load float, ptr %520, align 4, !tbaa !54
  store float %521, ptr %69, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %70) #9
  %522 = load <2 x float>, ptr %15, align 4
  %523 = load <2 x float>, ptr %17, align 4
  %524 = call <2 x float> @b2Sub(<2 x float> %522, <2 x float> %523)
  store <2 x float> %524, ptr %71, align 4
  %525 = load <2 x float>, ptr %25, align 4
  %526 = load <2 x float>, ptr %71, align 4
  %527 = call float @b2Dot(<2 x float> %525, <2 x float> %526)
  %528 = load float, ptr %27, align 4, !tbaa !17
  %529 = load float, ptr %16, align 4, !tbaa !17
  %530 = call float @llvm.fmuladd.f32(float %528, float %529, float %527)
  %531 = load float, ptr %29, align 4, !tbaa !17
  %532 = load float, ptr %18, align 4, !tbaa !17
  %533 = fneg float %531
  %534 = call float @llvm.fmuladd.f32(float %533, float %532, float %530)
  store float %534, ptr %70, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %72) #9
  %535 = load ptr, ptr %12, align 8, !tbaa !5
  %536 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %535, i32 0, i32 20
  %537 = load float, ptr %536, align 4, !tbaa !39
  %538 = fneg float %537
  %539 = load float, ptr %67, align 4, !tbaa !17
  %540 = fmul float %538, %539
  %541 = load float, ptr %70, align 4, !tbaa !17
  %542 = load float, ptr %66, align 4, !tbaa !17
  %543 = fadd float %541, %542
  %544 = load float, ptr %68, align 4, !tbaa !17
  %545 = load float, ptr %69, align 4, !tbaa !17
  %546 = fmul float %544, %545
  %547 = fneg float %546
  %548 = call float @llvm.fmuladd.f32(float %540, float %543, float %547)
  store float %548, ptr %72, align 4, !tbaa !17
  %549 = load float, ptr %69, align 4, !tbaa !17
  %550 = load float, ptr %72, align 4, !tbaa !17
  %551 = fadd float %549, %550
  %552 = call float @b2MaxFloat(float noundef %551, float noundef 0.000000e+00)
  %553 = load ptr, ptr %12, align 8, !tbaa !5
  %554 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %553, i32 0, i32 5
  store float %552, ptr %554, align 4, !tbaa !54
  %555 = load ptr, ptr %12, align 8, !tbaa !5
  %556 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %555, i32 0, i32 5
  %557 = load float, ptr %556, align 4, !tbaa !54
  %558 = load float, ptr %69, align 4, !tbaa !17
  %559 = fsub float %557, %558
  store float %559, ptr %72, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %73) #9
  %560 = load float, ptr %72, align 4, !tbaa !17
  %561 = load <2 x float>, ptr %25, align 4
  %562 = call <2 x float> @b2MulSV(float noundef %560, <2 x float> %561)
  store <2 x float> %562, ptr %73, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %74) #9
  %563 = load float, ptr %72, align 4, !tbaa !17
  %564 = load float, ptr %27, align 4, !tbaa !17
  %565 = fmul float %563, %564
  store float %565, ptr %74, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %75) #9
  %566 = load float, ptr %72, align 4, !tbaa !17
  %567 = load float, ptr %29, align 4, !tbaa !17
  %568 = fmul float %566, %567
  store float %568, ptr %75, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %76) #9
  %569 = load float, ptr %7, align 4, !tbaa !17
  %570 = load <2 x float>, ptr %15, align 4
  %571 = load <2 x float>, ptr %73, align 4
  %572 = call <2 x float> @b2MulAdd(<2 x float> %570, float noundef %569, <2 x float> %571)
  store <2 x float> %572, ptr %76, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %76, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %76) #9
  %573 = load float, ptr %9, align 4, !tbaa !17
  %574 = load float, ptr %74, align 4, !tbaa !17
  %575 = load float, ptr %16, align 4, !tbaa !17
  %576 = call float @llvm.fmuladd.f32(float %573, float %574, float %575)
  store float %576, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %77) #9
  %577 = load float, ptr %8, align 4, !tbaa !17
  %578 = load <2 x float>, ptr %17, align 4
  %579 = load <2 x float>, ptr %73, align 4
  %580 = call <2 x float> @b2MulSub(<2 x float> %578, float noundef %577, <2 x float> %579)
  store <2 x float> %580, ptr %77, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %77, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %77) #9
  %581 = load float, ptr %10, align 4, !tbaa !17
  %582 = load float, ptr %75, align 4, !tbaa !17
  %583 = load float, ptr %18, align 4, !tbaa !17
  %584 = fneg float %581
  %585 = call float @llvm.fmuladd.f32(float %584, float %582, float %583)
  store float %585, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %75) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %74) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %73) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %72) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %70) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %69) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %68) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %67) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %66) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #9
  br label %586

586:                                              ; preds = %518, %380
  call void @llvm.lifetime.start.p0(i64 8, ptr %78) #9
  %587 = load <2 x float>, ptr %25, align 4
  %588 = call <2 x float> @b2LeftPerp(<2 x float> %587)
  store <2 x float> %588, ptr %78, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %79) #9
  %589 = load <2 x float>, ptr %21, align 4
  %590 = load <2 x float>, ptr %19, align 4
  %591 = call <2 x float> @b2Add(<2 x float> %589, <2 x float> %590)
  store <2 x float> %591, ptr %80, align 4
  %592 = load <2 x float>, ptr %80, align 4
  %593 = load <2 x float>, ptr %78, align 4
  %594 = call float @b2Cross(<2 x float> %592, <2 x float> %593)
  store float %594, ptr %79, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %81) #9
  %595 = load <2 x float>, ptr %20, align 4
  %596 = load <2 x float>, ptr %78, align 4
  %597 = call float @b2Cross(<2 x float> %595, <2 x float> %596)
  store float %597, ptr %81, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %82) #9
  %598 = load <2 x float>, ptr %17, align 4
  %599 = load <2 x float>, ptr %15, align 4
  %600 = call <2 x float> @b2Sub(<2 x float> %598, <2 x float> %599)
  store <2 x float> %600, ptr %83, align 4
  %601 = load <2 x float>, ptr %78, align 4
  %602 = load <2 x float>, ptr %83, align 4
  %603 = call float @b2Dot(<2 x float> %601, <2 x float> %602)
  %604 = load float, ptr %81, align 4, !tbaa !17
  %605 = load float, ptr %18, align 4, !tbaa !17
  %606 = call float @llvm.fmuladd.f32(float %604, float %605, float %603)
  %607 = load float, ptr %79, align 4, !tbaa !17
  %608 = load float, ptr %16, align 4, !tbaa !17
  %609 = fneg float %607
  %610 = call float @llvm.fmuladd.f32(float %609, float %608, float %606)
  %611 = getelementptr inbounds %struct.b2Vec2, ptr %82, i32 0, i32 0
  store float %610, ptr %611, align 4, !tbaa !55
  %612 = load float, ptr %18, align 4, !tbaa !17
  %613 = load float, ptr %16, align 4, !tbaa !17
  %614 = fsub float %612, %613
  %615 = getelementptr inbounds %struct.b2Vec2, ptr %82, i32 0, i32 1
  store float %614, ptr %615, align 4, !tbaa !56
  call void @llvm.lifetime.start.p0(i64 8, ptr %84) #9
  call void @llvm.memset.p0.i64(ptr align 4 %84, i8 0, i64 8, i1 false)
  call void @llvm.lifetime.start.p0(i64 4, ptr %85) #9
  store float 1.000000e+00, ptr %85, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %86) #9
  store float 0.000000e+00, ptr %86, align 4, !tbaa !17
  %616 = load i8, ptr %6, align 1, !tbaa !9, !range !34, !noundef !35
  %617 = trunc i8 %616 to i1
  br i1 %617, label %618, label %649

618:                                              ; preds = %586
  call void @llvm.lifetime.start.p0(i64 8, ptr %87) #9
  %619 = load <2 x float>, ptr %78, align 4
  %620 = load <2 x float>, ptr %21, align 4
  %621 = call float @b2Dot(<2 x float> %619, <2 x float> %620)
  %622 = getelementptr inbounds %struct.b2Vec2, ptr %87, i32 0, i32 0
  store float %621, ptr %622, align 4, !tbaa !55
  %623 = load ptr, ptr %14, align 8, !tbaa !5
  %624 = getelementptr inbounds %struct.b2BodyState, ptr %623, i32 0, i32 4
  %625 = load ptr, ptr %13, align 8, !tbaa !5
  %626 = getelementptr inbounds %struct.b2BodyState, ptr %625, i32 0, i32 4
  %627 = load <2 x float>, ptr %624, align 4
  %628 = load <2 x float>, ptr %626, align 4
  %629 = call float @b2RelativeAngle(<2 x float> %627, <2 x float> %628)
  %630 = load ptr, ptr %12, align 8, !tbaa !5
  %631 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %630, i32 0, i32 19
  %632 = load float, ptr %631, align 4, !tbaa !57
  %633 = fadd float %629, %632
  %634 = getelementptr inbounds %struct.b2Vec2, ptr %87, i32 0, i32 1
  store float %633, ptr %634, align 4, !tbaa !56
  call void @llvm.lifetime.start.p0(i64 8, ptr %88) #9
  %635 = load ptr, ptr %5, align 8, !tbaa !5
  %636 = getelementptr inbounds %struct.b2StepContext, ptr %635, i32 0, i32 5
  %637 = getelementptr inbounds %struct.b2Softness, ptr %636, i32 0, i32 0
  %638 = load float, ptr %637, align 4, !tbaa !49
  %639 = load <2 x float>, ptr %87, align 4
  %640 = call <2 x float> @b2MulSV(float noundef %638, <2 x float> %639)
  store <2 x float> %640, ptr %88, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %84, ptr align 4 %88, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %88) #9
  %641 = load ptr, ptr %5, align 8, !tbaa !5
  %642 = getelementptr inbounds %struct.b2StepContext, ptr %641, i32 0, i32 5
  %643 = getelementptr inbounds %struct.b2Softness, ptr %642, i32 0, i32 1
  %644 = load float, ptr %643, align 4, !tbaa !50
  store float %644, ptr %85, align 4, !tbaa !17
  %645 = load ptr, ptr %5, align 8, !tbaa !5
  %646 = getelementptr inbounds %struct.b2StepContext, ptr %645, i32 0, i32 5
  %647 = getelementptr inbounds %struct.b2Softness, ptr %646, i32 0, i32 2
  %648 = load float, ptr %647, align 4, !tbaa !51
  store float %648, ptr %86, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 8, ptr %87) #9
  br label %649

649:                                              ; preds = %618, %586
  call void @llvm.lifetime.start.p0(i64 4, ptr %89) #9
  %650 = load float, ptr %7, align 4, !tbaa !17
  %651 = load float, ptr %8, align 4, !tbaa !17
  %652 = fadd float %650, %651
  %653 = load float, ptr %9, align 4, !tbaa !17
  %654 = load float, ptr %79, align 4, !tbaa !17
  %655 = fmul float %653, %654
  %656 = load float, ptr %79, align 4, !tbaa !17
  %657 = call float @llvm.fmuladd.f32(float %655, float %656, float %652)
  %658 = load float, ptr %10, align 4, !tbaa !17
  %659 = load float, ptr %81, align 4, !tbaa !17
  %660 = fmul float %658, %659
  %661 = load float, ptr %81, align 4, !tbaa !17
  %662 = call float @llvm.fmuladd.f32(float %660, float %661, float %657)
  store float %662, ptr %89, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %90) #9
  %663 = load float, ptr %9, align 4, !tbaa !17
  %664 = load float, ptr %79, align 4, !tbaa !17
  %665 = load float, ptr %10, align 4, !tbaa !17
  %666 = load float, ptr %81, align 4, !tbaa !17
  %667 = fmul float %665, %666
  %668 = call float @llvm.fmuladd.f32(float %663, float %664, float %667)
  store float %668, ptr %90, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %91) #9
  %669 = load float, ptr %9, align 4, !tbaa !17
  %670 = load float, ptr %10, align 4, !tbaa !17
  %671 = fadd float %669, %670
  store float %671, ptr %91, align 4, !tbaa !17
  %672 = load float, ptr %91, align 4, !tbaa !17
  %673 = fcmp oeq float %672, 0.000000e+00
  br i1 %673, label %674, label %675

674:                                              ; preds = %649
  store float 1.000000e+00, ptr %91, align 4, !tbaa !17
  br label %675

675:                                              ; preds = %674, %649
  call void @llvm.lifetime.start.p0(i64 16, ptr %92) #9
  %676 = getelementptr inbounds %struct.b2Mat22, ptr %92, i32 0, i32 0
  %677 = getelementptr inbounds %struct.b2Vec2, ptr %676, i32 0, i32 0
  %678 = load float, ptr %89, align 4, !tbaa !17
  store float %678, ptr %677, align 4, !tbaa !55
  %679 = getelementptr inbounds %struct.b2Vec2, ptr %676, i32 0, i32 1
  %680 = load float, ptr %90, align 4, !tbaa !17
  store float %680, ptr %679, align 4, !tbaa !56
  %681 = getelementptr inbounds %struct.b2Mat22, ptr %92, i32 0, i32 1
  %682 = getelementptr inbounds %struct.b2Vec2, ptr %681, i32 0, i32 0
  %683 = load float, ptr %90, align 4, !tbaa !17
  store float %683, ptr %682, align 4, !tbaa !55
  %684 = getelementptr inbounds %struct.b2Vec2, ptr %681, i32 0, i32 1
  %685 = load float, ptr %91, align 4, !tbaa !17
  store float %685, ptr %684, align 4, !tbaa !56
  call void @llvm.lifetime.start.p0(i64 8, ptr %93) #9
  %686 = load <2 x float>, ptr %82, align 4
  %687 = load <2 x float>, ptr %84, align 4
  %688 = call <2 x float> @b2Add(<2 x float> %686, <2 x float> %687)
  store <2 x float> %688, ptr %94, align 4
  %689 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %92, i32 0, i32 0
  %690 = load <2 x float>, ptr %689, align 4
  %691 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %92, i32 0, i32 1
  %692 = load <2 x float>, ptr %691, align 4
  %693 = load <2 x float>, ptr %94, align 4
  %694 = call <2 x float> @b2Solve22(<2 x float> %690, <2 x float> %692, <2 x float> %693)
  store <2 x float> %694, ptr %93, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %95) #9
  %695 = load float, ptr %85, align 4, !tbaa !17
  %696 = fneg float %695
  %697 = getelementptr inbounds %struct.b2Vec2, ptr %93, i32 0, i32 0
  %698 = load float, ptr %697, align 4, !tbaa !55
  %699 = load float, ptr %86, align 4, !tbaa !17
  %700 = load ptr, ptr %12, align 8, !tbaa !5
  %701 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %700, i32 0, i32 1
  %702 = getelementptr inbounds %struct.b2Vec2, ptr %701, i32 0, i32 0
  %703 = load float, ptr %702, align 4, !tbaa !58
  %704 = fmul float %699, %703
  %705 = fneg float %704
  %706 = call float @llvm.fmuladd.f32(float %696, float %698, float %705)
  %707 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 0
  store float %706, ptr %707, align 4, !tbaa !55
  %708 = load float, ptr %85, align 4, !tbaa !17
  %709 = fneg float %708
  %710 = getelementptr inbounds %struct.b2Vec2, ptr %93, i32 0, i32 1
  %711 = load float, ptr %710, align 4, !tbaa !56
  %712 = load float, ptr %86, align 4, !tbaa !17
  %713 = load ptr, ptr %12, align 8, !tbaa !5
  %714 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %713, i32 0, i32 1
  %715 = getelementptr inbounds %struct.b2Vec2, ptr %714, i32 0, i32 1
  %716 = load float, ptr %715, align 4, !tbaa !59
  %717 = fmul float %712, %716
  %718 = fneg float %717
  %719 = call float @llvm.fmuladd.f32(float %709, float %711, float %718)
  %720 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 1
  store float %719, ptr %720, align 4, !tbaa !56
  %721 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 0
  %722 = load float, ptr %721, align 4, !tbaa !55
  %723 = load ptr, ptr %12, align 8, !tbaa !5
  %724 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %723, i32 0, i32 1
  %725 = getelementptr inbounds %struct.b2Vec2, ptr %724, i32 0, i32 0
  %726 = load float, ptr %725, align 4, !tbaa !58
  %727 = fadd float %726, %722
  store float %727, ptr %725, align 4, !tbaa !58
  %728 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 1
  %729 = load float, ptr %728, align 4, !tbaa !56
  %730 = load ptr, ptr %12, align 8, !tbaa !5
  %731 = getelementptr inbounds %struct.b2PrismaticJoint, ptr %730, i32 0, i32 1
  %732 = getelementptr inbounds %struct.b2Vec2, ptr %731, i32 0, i32 1
  %733 = load float, ptr %732, align 4, !tbaa !59
  %734 = fadd float %733, %729
  store float %734, ptr %732, align 4, !tbaa !59
  call void @llvm.lifetime.start.p0(i64 8, ptr %96) #9
  %735 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 0
  %736 = load float, ptr %735, align 4, !tbaa !55
  %737 = load <2 x float>, ptr %78, align 4
  %738 = call <2 x float> @b2MulSV(float noundef %736, <2 x float> %737)
  store <2 x float> %738, ptr %96, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %97) #9
  %739 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 0
  %740 = load float, ptr %739, align 4, !tbaa !55
  %741 = load float, ptr %79, align 4, !tbaa !17
  %742 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 1
  %743 = load float, ptr %742, align 4, !tbaa !56
  %744 = call float @llvm.fmuladd.f32(float %740, float %741, float %743)
  store float %744, ptr %97, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 4, ptr %98) #9
  %745 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 0
  %746 = load float, ptr %745, align 4, !tbaa !55
  %747 = load float, ptr %81, align 4, !tbaa !17
  %748 = getelementptr inbounds %struct.b2Vec2, ptr %95, i32 0, i32 1
  %749 = load float, ptr %748, align 4, !tbaa !56
  %750 = call float @llvm.fmuladd.f32(float %746, float %747, float %749)
  store float %750, ptr %98, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %99) #9
  %751 = load float, ptr %7, align 4, !tbaa !17
  %752 = load <2 x float>, ptr %15, align 4
  %753 = load <2 x float>, ptr %96, align 4
  %754 = call <2 x float> @b2MulSub(<2 x float> %752, float noundef %751, <2 x float> %753)
  store <2 x float> %754, ptr %99, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %99, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %99) #9
  %755 = load float, ptr %9, align 4, !tbaa !17
  %756 = load float, ptr %97, align 4, !tbaa !17
  %757 = load float, ptr %16, align 4, !tbaa !17
  %758 = fneg float %755
  %759 = call float @llvm.fmuladd.f32(float %758, float %756, float %757)
  store float %759, ptr %16, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 8, ptr %100) #9
  %760 = load float, ptr %8, align 4, !tbaa !17
  %761 = load <2 x float>, ptr %17, align 4
  %762 = load <2 x float>, ptr %96, align 4
  %763 = call <2 x float> @b2MulAdd(<2 x float> %761, float noundef %760, <2 x float> %762)
  store <2 x float> %763, ptr %100, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %100, i64 8, i1 false), !tbaa.struct !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %100) #9
  %764 = load float, ptr %10, align 4, !tbaa !17
  %765 = load float, ptr %98, align 4, !tbaa !17
  %766 = load float, ptr %18, align 4, !tbaa !17
  %767 = call float @llvm.fmuladd.f32(float %764, float %765, float %766)
  store float %767, ptr %18, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 4, ptr %98) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %97) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %96) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %95) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %93) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %92) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %91) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %90) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %89) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %86) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %85) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %84) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %82) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %81) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %79) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %78) #9
  %768 = load ptr, ptr %13, align 8, !tbaa !5
  %769 = getelementptr inbounds %struct.b2BodyState, ptr %768, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %769, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !29
  %770 = load float, ptr %16, align 4, !tbaa !17
  %771 = load ptr, ptr %13, align 8, !tbaa !5
  %772 = getelementptr inbounds %struct.b2BodyState, ptr %771, i32 0, i32 1
  store float %770, ptr %772, align 4, !tbaa !30
  %773 = load ptr, ptr %14, align 8, !tbaa !5
  %774 = getelementptr inbounds %struct.b2BodyState, ptr %773, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %774, ptr align 4 %17, i64 8, i1 false), !tbaa.struct !29
  %775 = load float, ptr %18, align 4, !tbaa !17
  %776 = load ptr, ptr %14, align 8, !tbaa !5
  %777 = getelementptr inbounds %struct.b2BodyState, ptr %776, i32 0, i32 1
  store float %775, ptr %777, align 4, !tbaa !30
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #9
  ret void
}

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

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Solve22(<2 x float>, <2 x float>, <2 x float>) #4

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 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"_Bool", !7, i64 0}
!11 = !{!12, !13, i64 12}
!12 = !{!"b2JointSim", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !14, i64 16, !14, i64 24, !15, i64 32, !15, i64 36, !15, i64 40, !15, i64 44, !7, i64 48}
!13 = !{!"int", !7, i64 0}
!14 = !{!"b2Vec2", !15, i64 0, !15, i64 4}
!15 = !{!"float", !7, i64 0}
!16 = !{!12, !15, i64 32}
!17 = !{!15, !15, i64 0}
!18 = !{!12, !15, i64 36}
!19 = !{!12, !15, i64 40}
!20 = !{!12, !15, i64 44}
!21 = !{!22, !13, i64 60}
!22 = !{!"b2PrismaticJoint", !14, i64 0, !14, i64 8, !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, !15, i64 52, !15, i64 56, !13, i64 60, !13, i64 64, !14, i64 68, !14, i64 76, !14, i64 84, !14, i64 92, !15, i64 100, !15, i64 104, !23, i64 108, !10, i64 120, !10, i64 121, !10, i64 122}
!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 64}
!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 120}
!34 = !{i8 0, i8 2}
!35 = !{}
!36 = !{!22, !15, i64 108}
!37 = !{!22, !15, i64 112}
!38 = !{!22, !15, i64 116}
!39 = !{!22, !15, i64 104}
!40 = !{!22, !15, i64 16}
!41 = !{!22, !10, i64 122}
!42 = !{!22, !15, i64 44}
!43 = !{!22, !15, i64 20}
!44 = !{!25, !15, i64 8}
!45 = !{!22, !15, i64 40}
!46 = !{!22, !10, i64 121}
!47 = !{!22, !15, i64 52}
!48 = !{!25, !15, i64 12}
!49 = !{!25, !15, i64 20}
!50 = !{!25, !15, i64 24}
!51 = !{!25, !15, i64 28}
!52 = !{!22, !15, i64 24}
!53 = !{!22, !15, i64 56}
!54 = !{!22, !15, i64 28}
!55 = !{!14, !15, i64 0}
!56 = !{!14, !15, i64 4}
!57 = !{!22, !15, i64 100}
!58 = !{!22, !15, i64 8}
!59 = !{!22, !15, i64 12}


; 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 [71 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [32 x i8], align 1
@__const.b2SolvePrismaticJoint.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: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RotateVector(<2 x float>, <2 x float>) local_unnamed_addr #4

; 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 @b2Dot(<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 <2 x float> @b2LeftPerp(<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 float @b2RelativeAngle(<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 @b2SolvePrismaticJoint(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, 4
  br i1 %7, label %11, label %8

8:                                                ; preds = %3
  %9 = tail call i32 @b2InternalAssertFcn(ptr noundef nonnull @.str.4, ptr noundef nonnull @.str.1, i32 noundef 384) #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.b2SolvePrismaticJoint.dummyState, i64 32, i1 false)
  %20 = getelementptr inbounds i8, ptr %0, i64 108
  %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 112
  %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.0201.0.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.0178.0.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 116
  %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 124
  %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 140
  %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 132
  %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 168
  %73 = load i8, ptr %72, align 4, !tbaa !29, !range !30, !noundef !31
  %74 = trunc nuw i8 %73 to i1
  %75 = insertelement <2 x float> poison, float %43, i64 0
  %76 = insertelement <2 x float> %75, float %41, i64 1
  br i1 %74, label %77, label %113

77:                                               ; preds = %38
  %78 = getelementptr inbounds i8, ptr %0, i64 156
  %79 = load float, ptr %78, align 4, !tbaa !32
  %80 = fmul float %68, %79
  %81 = getelementptr inbounds i8, ptr %0, i64 160
  %82 = load float, ptr %81, align 4, !tbaa !33
  %83 = getelementptr inbounds i8, ptr %0, i64 164
  %84 = load float, ptr %83, align 4, !tbaa !34
  %85 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0178.0.copyload, <2 x float> %.sroa.0201.0.copyload)
  %86 = tail call float @b2Dot(<2 x float> %67, <2 x float> %85)
  %87 = tail call float @llvm.fmuladd.f32(float %71, float %43, float %86)
  %88 = fneg float %70
  %89 = tail call float @llvm.fmuladd.f32(float %88, float %41, float %87)
  %90 = fneg float %82
  %91 = getelementptr inbounds i8, ptr %0, i64 152
  %92 = load float, ptr %91, align 4, !tbaa !35
  %93 = fmul float %92, %90
  %94 = fadd float %80, %89
  %95 = getelementptr inbounds i8, ptr %0, i64 64
  %96 = load float, ptr %95, align 4, !tbaa !36
  %97 = fneg float %84
  %98 = fmul float %96, %97
  %99 = tail call float @llvm.fmuladd.f32(float %93, float %94, float %98)
  %100 = fadd float %96, %99
  store float %100, ptr %95, align 4, !tbaa !36
  %101 = tail call <2 x float> @b2MulSV(float noundef %99, <2 x float> %67)
  %102 = insertelement <2 x float> poison, float %71, i64 0
  %103 = insertelement <2 x float> %102, float %70, i64 1
  %104 = insertelement <2 x float> poison, float %99, i64 0
  %105 = shufflevector <2 x float> %104, <2 x float> poison, <2 x i32> zeroinitializer
  %106 = fmul <2 x float> %103, %105
  %107 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0201.0.copyload, float noundef %13, <2 x float> %101)
  %108 = fneg float %17
  %109 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0178.0.copyload, float noundef %15, <2 x float> %101)
  %110 = insertelement <2 x float> poison, float %19, i64 0
  %111 = insertelement <2 x float> %110, float %108, i64 1
  %112 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %111, <2 x float> %106, <2 x float> %76)
  br label %113

113:                                              ; preds = %77, %38
  %.sroa.0178.0 = phi <2 x float> [ %109, %77 ], [ %.sroa.0178.0.copyload, %38 ]
  %.sroa.0201.0 = phi <2 x float> [ %107, %77 ], [ %.sroa.0201.0.copyload, %38 ]
  %114 = phi <2 x float> [ %112, %77 ], [ %76, %38 ]
  %115 = getelementptr inbounds i8, ptr %0, i64 170
  %116 = load i8, ptr %115, align 2, !tbaa !37, !range !30, !noundef !31
  %117 = trunc nuw i8 %116 to i1
  br i1 %117, label %118, label %155

118:                                              ; preds = %113
  %119 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0178.0, <2 x float> %.sroa.0201.0)
  %120 = tail call float @b2Dot(<2 x float> %67, <2 x float> %119)
  %121 = extractelement <2 x float> %114, i64 0
  %122 = tail call float @llvm.fmuladd.f32(float %71, float %121, float %120)
  %123 = fneg float %70
  %124 = extractelement <2 x float> %114, i64 1
  %125 = tail call float @llvm.fmuladd.f32(float %123, float %124, float %122)
  %126 = getelementptr inbounds i8, ptr %0, i64 152
  %127 = load float, ptr %126, align 4, !tbaa !35
  %128 = getelementptr inbounds i8, ptr %0, i64 92
  %129 = load float, ptr %128, align 4, !tbaa !38
  %130 = fsub float %129, %125
  %131 = fmul float %127, %130
  %132 = getelementptr inbounds i8, ptr %0, i64 68
  %133 = load float, ptr %132, align 4, !tbaa !39
  %134 = getelementptr inbounds i8, ptr %1, i64 8
  %135 = load float, ptr %134, align 8, !tbaa !40
  %136 = getelementptr inbounds i8, ptr %0, i64 88
  %137 = load float, ptr %136, align 4, !tbaa !41
  %138 = fmul float %135, %137
  %139 = fadd float %133, %131
  %140 = fneg float %138
  %141 = tail call float @b2ClampFloat(float noundef %139, float noundef %140, float noundef %138)
  store float %141, ptr %132, align 4, !tbaa !39
  %142 = fsub float %141, %133
  %143 = tail call <2 x float> @b2MulSV(float noundef %142, <2 x float> %67)
  %144 = insertelement <2 x float> poison, float %71, i64 0
  %145 = insertelement <2 x float> %144, float %70, i64 1
  %146 = insertelement <2 x float> poison, float %142, i64 0
  %147 = shufflevector <2 x float> %146, <2 x float> poison, <2 x i32> zeroinitializer
  %148 = fmul <2 x float> %145, %147
  %149 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0201.0, float noundef %13, <2 x float> %143)
  %150 = fneg float %17
  %151 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0178.0, float noundef %15, <2 x float> %143)
  %152 = insertelement <2 x float> poison, float %19, i64 0
  %153 = insertelement <2 x float> %152, float %150, i64 1
  %154 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %153, <2 x float> %148, <2 x float> %114)
  br label %155

155:                                              ; preds = %118, %113
  %.sroa.0178.1 = phi <2 x float> [ %151, %118 ], [ %.sroa.0178.0, %113 ]
  %.sroa.0201.1 = phi <2 x float> [ %149, %118 ], [ %.sroa.0201.0, %113 ]
  %156 = phi <2 x float> [ %154, %118 ], [ %114, %113 ]
  %157 = getelementptr inbounds i8, ptr %0, i64 169
  %158 = load i8, ptr %157, align 1, !tbaa !42, !range !30, !noundef !31
  %159 = trunc nuw i8 %158 to i1
  br i1 %159, label %160, label %258

160:                                              ; preds = %155
  %161 = getelementptr inbounds i8, ptr %0, i64 100
  %162 = load float, ptr %161, align 4, !tbaa !43
  %163 = fsub float %68, %162
  %164 = fcmp ogt float %163, 0.000000e+00
  br i1 %164, label %165, label %169

165:                                              ; preds = %160
  %166 = getelementptr inbounds i8, ptr %1, i64 12
  %167 = load float, ptr %166, align 4, !tbaa !44
  %168 = fmul float %163, %167
  br label %178

169:                                              ; preds = %160
  br i1 %2, label %170, label %178

170:                                              ; preds = %169
  %171 = getelementptr inbounds i8, ptr %1, i64 20
  %172 = load float, ptr %171, align 4, !tbaa !45
  %173 = fmul float %163, %172
  %174 = getelementptr inbounds i8, ptr %1, i64 24
  %175 = load float, ptr %174, align 4, !tbaa !46
  %176 = getelementptr inbounds i8, ptr %1, i64 28
  %177 = load float, ptr %176, align 4, !tbaa !47
  br label %178

178:                                              ; preds = %169, %170, %165
  %.0321 = phi float [ 0.000000e+00, %165 ], [ %177, %170 ], [ 0.000000e+00, %169 ]
  %.0320 = phi float [ 1.000000e+00, %165 ], [ %175, %170 ], [ 1.000000e+00, %169 ]
  %.0319 = phi float [ %168, %165 ], [ %173, %170 ], [ 0.000000e+00, %169 ]
  %179 = getelementptr inbounds i8, ptr %0, i64 72
  %180 = load float, ptr %179, align 4, !tbaa !48
  %181 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0178.1, <2 x float> %.sroa.0201.1)
  %182 = tail call float @b2Dot(<2 x float> %67, <2 x float> %181)
  %183 = extractelement <2 x float> %156, i64 0
  %184 = tail call float @llvm.fmuladd.f32(float %71, float %183, float %182)
  %185 = fneg float %70
  %186 = extractelement <2 x float> %156, i64 1
  %187 = tail call float @llvm.fmuladd.f32(float %185, float %186, float %184)
  %188 = getelementptr inbounds i8, ptr %0, i64 152
  %189 = load float, ptr %188, align 4, !tbaa !35
  %190 = fneg float %189
  %191 = fmul float %.0320, %190
  %192 = fadd float %.0319, %187
  %193 = fneg float %.0321
  %194 = fmul float %180, %193
  %195 = tail call float @llvm.fmuladd.f32(float %191, float %192, float %194)
  %196 = fadd float %180, %195
  %197 = tail call float @b2MaxFloat(float noundef %196, float noundef 0.000000e+00)
  store float %197, ptr %179, align 4, !tbaa !48
  %198 = fsub float %197, %180
  %199 = tail call <2 x float> @b2MulSV(float noundef %198, <2 x float> %67)
  %200 = insertelement <2 x float> poison, float %71, i64 0
  %201 = insertelement <2 x float> %200, float %70, i64 1
  %202 = insertelement <2 x float> poison, float %198, i64 0
  %203 = shufflevector <2 x float> %202, <2 x float> poison, <2 x i32> zeroinitializer
  %204 = fmul <2 x float> %201, %203
  %205 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0201.1, float noundef %13, <2 x float> %199)
  %206 = fneg float %17
  %207 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0178.1, float noundef %15, <2 x float> %199)
  %208 = insertelement <2 x float> poison, float %19, i64 0
  %209 = insertelement <2 x float> %208, float %206, i64 1
  %210 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %209, <2 x float> %204, <2 x float> %156)
  %211 = getelementptr inbounds i8, ptr %0, i64 104
  %212 = load float, ptr %211, align 4, !tbaa !49
  %213 = fsub float %212, %68
  %214 = fcmp ogt float %213, 0.000000e+00
  br i1 %214, label %215, label %219

215:                                              ; preds = %178
  %216 = getelementptr inbounds i8, ptr %1, i64 12
  %217 = load float, ptr %216, align 4, !tbaa !44
  %218 = fmul float %213, %217
  br label %228

219:                                              ; preds = %178
  br i1 %2, label %220, label %228

220:                                              ; preds = %219
  %221 = getelementptr inbounds i8, ptr %1, i64 20
  %222 = load float, ptr %221, align 4, !tbaa !45
  %223 = fmul float %213, %222
  %224 = getelementptr inbounds i8, ptr %1, i64 24
  %225 = load float, ptr %224, align 4, !tbaa !46
  %226 = getelementptr inbounds i8, ptr %1, i64 28
  %227 = load float, ptr %226, align 4, !tbaa !47
  br label %228

228:                                              ; preds = %219, %220, %215
  %.0325 = phi float [ 0.000000e+00, %215 ], [ %227, %220 ], [ 0.000000e+00, %219 ]
  %.0323 = phi float [ 1.000000e+00, %215 ], [ %225, %220 ], [ 1.000000e+00, %219 ]
  %.0322 = phi float [ %218, %215 ], [ %223, %220 ], [ 0.000000e+00, %219 ]
  %229 = getelementptr inbounds i8, ptr %0, i64 76
  %230 = load float, ptr %229, align 4, !tbaa !50
  %231 = tail call <2 x float> @b2Sub(<2 x float> %205, <2 x float> %207)
  %232 = tail call float @b2Dot(<2 x float> %67, <2 x float> %231)
  %233 = extractelement <2 x float> %210, i64 1
  %234 = tail call float @llvm.fmuladd.f32(float %70, float %233, float %232)
  %235 = fneg float %71
  %236 = extractelement <2 x float> %210, i64 0
  %237 = tail call float @llvm.fmuladd.f32(float %235, float %236, float %234)
  %238 = load float, ptr %188, align 4, !tbaa !35
  %239 = fneg float %238
  %240 = fmul float %.0323, %239
  %241 = fadd float %.0322, %237
  %242 = fneg float %.0325
  %243 = fmul float %230, %242
  %244 = tail call float @llvm.fmuladd.f32(float %240, float %241, float %243)
  %245 = fadd float %230, %244
  %246 = tail call float @b2MaxFloat(float noundef %245, float noundef 0.000000e+00)
  store float %246, ptr %229, align 4, !tbaa !50
  %247 = fsub float %246, %230
  %248 = tail call <2 x float> @b2MulSV(float noundef %247, <2 x float> %67)
  %249 = insertelement <2 x float> poison, float %247, i64 0
  %250 = shufflevector <2 x float> %249, <2 x float> poison, <2 x i32> zeroinitializer
  %251 = fmul <2 x float> %201, %250
  %252 = tail call <2 x float> @b2MulAdd(<2 x float> %205, float noundef %13, <2 x float> %248)
  %253 = tail call <2 x float> @b2MulSub(<2 x float> %207, float noundef %15, <2 x float> %248)
  %254 = fneg float %19
  %255 = insertelement <2 x float> poison, float %254, i64 0
  %256 = insertelement <2 x float> %255, float %17, i64 1
  %257 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %256, <2 x float> %251, <2 x float> %210)
  br label %258

258:                                              ; preds = %228, %155
  %.sroa.0178.2 = phi <2 x float> [ %253, %228 ], [ %.sroa.0178.1, %155 ]
  %.sroa.0201.2 = phi <2 x float> [ %252, %228 ], [ %.sroa.0201.1, %155 ]
  %259 = phi <2 x float> [ %257, %228 ], [ %156, %155 ]
  %260 = tail call <2 x float> @b2LeftPerp(<2 x float> %67)
  %261 = tail call <2 x float> @b2Add(<2 x float> %63, <2 x float> %48)
  %262 = tail call float @b2Cross(<2 x float> %261, <2 x float> %260)
  %263 = tail call float @b2Cross(<2 x float> %53, <2 x float> %260)
  %264 = tail call <2 x float> @b2Sub(<2 x float> %.sroa.0178.2, <2 x float> %.sroa.0201.2)
  %265 = tail call float @b2Dot(<2 x float> %260, <2 x float> %264)
  br i1 %2, label %266, label %281

266:                                              ; preds = %258
  %267 = tail call float @b2Dot(<2 x float> %260, <2 x float> %63)
  %.sroa.022.0.vec.insert = insertelement <2 x float> poison, float %267, i64 0
  %268 = load <2 x float>, ptr %49, align 4
  %269 = load <2 x float>, ptr %44, align 4
  %270 = tail call float @b2RelativeAngle(<2 x float> %268, <2 x float> %269)
  %271 = getelementptr inbounds i8, ptr %0, i64 148
  %272 = load float, ptr %271, align 4, !tbaa !51
  %273 = fadd float %270, %272
  %.sroa.022.4.vec.insert = insertelement <2 x float> %.sroa.022.0.vec.insert, float %273, i64 1
  %274 = getelementptr inbounds i8, ptr %1, i64 20
  %275 = load float, ptr %274, align 4, !tbaa !45
  %276 = tail call <2 x float> @b2MulSV(float noundef %275, <2 x float> %.sroa.022.4.vec.insert)
  %277 = getelementptr inbounds i8, ptr %1, i64 24
  %278 = load float, ptr %277, align 4, !tbaa !46
  %279 = getelementptr inbounds i8, ptr %1, i64 28
  %280 = load float, ptr %279, align 4, !tbaa !47
  br label %281

281:                                              ; preds = %266, %258
  %.0327 = phi float [ %278, %266 ], [ 1.000000e+00, %258 ]
  %.0326 = phi float [ %280, %266 ], [ 0.000000e+00, %258 ]
  %.sroa.028.0 = phi <2 x float> [ %276, %266 ], [ zeroinitializer, %258 ]
  %282 = fadd float %17, %19
  %283 = fcmp oeq float %282, 0.000000e+00
  %.0324 = select i1 %283, float 1.000000e+00, float %282
  %284 = fmul float %19, %263
  %285 = tail call float @llvm.fmuladd.f32(float %17, float %262, float %284)
  %286 = fmul float %17, %262
  %287 = fadd float %13, %15
  %288 = tail call float @llvm.fmuladd.f32(float %286, float %262, float %287)
  %289 = tail call float @llvm.fmuladd.f32(float %284, float %263, float %288)
  %290 = fneg float %262
  %291 = extractelement <2 x float> %259, i64 0
  %292 = tail call float @llvm.fmuladd.f32(float %263, float %291, float %265)
  %293 = extractelement <2 x float> %259, i64 1
  %294 = tail call float @llvm.fmuladd.f32(float %290, float %293, float %292)
  %.sroa.030.0.vec.insert = insertelement <2 x float> poison, float %294, i64 0
  %295 = fsub float %291, %293
  %.sroa.030.4.vec.insert = insertelement <2 x float> %.sroa.030.0.vec.insert, float %295, i64 1
  %.sroa.013.0.vec.insert = insertelement <2 x float> poison, float %289, i64 0
  %.sroa.013.4.vec.insert = insertelement <2 x float> %.sroa.013.0.vec.insert, float %285, i64 1
  %.sroa.5.8.vec.insert = insertelement <2 x float> poison, float %285, i64 0
  %.sroa.5.12.vec.insert = insertelement <2 x float> %.sroa.5.8.vec.insert, float %.0324, i64 1
  %296 = tail call <2 x float> @b2Add(<2 x float> %.sroa.030.4.vec.insert, <2 x float> %.sroa.028.0)
  %297 = tail call <2 x float> @b2Solve22(<2 x float> %.sroa.013.4.vec.insert, <2 x float> %.sroa.5.12.vec.insert, <2 x float> %296)
  %298 = fneg float %.0327
  %299 = getelementptr inbounds i8, ptr %0, i64 56
  %300 = fneg float %.0326
  %301 = load <2 x float>, ptr %299, align 4, !tbaa !52
  %302 = insertelement <2 x float> poison, float %300, i64 0
  %303 = shufflevector <2 x float> %302, <2 x float> poison, <2 x i32> zeroinitializer
  %304 = fmul <2 x float> %301, %303
  %305 = insertelement <2 x float> poison, float %298, i64 0
  %306 = shufflevector <2 x float> %305, <2 x float> poison, <2 x i32> zeroinitializer
  %307 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %306, <2 x float> %297, <2 x float> %304)
  %308 = fadd <2 x float> %301, %307
  store <2 x float> %308, ptr %299, align 4, !tbaa !52
  %309 = extractelement <2 x float> %307, i64 0
  %310 = tail call <2 x float> @b2MulSV(float noundef %309, <2 x float> %260)
  %311 = extractelement <2 x float> %307, i64 1
  %312 = tail call float @llvm.fmuladd.f32(float %309, float %262, float %311)
  %313 = tail call float @llvm.fmuladd.f32(float %309, float %263, float %311)
  %314 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0201.2, float noundef %13, <2 x float> %310)
  %315 = fneg float %17
  %316 = tail call float @llvm.fmuladd.f32(float %315, float %312, float %293)
  %317 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0178.2, float noundef %15, <2 x float> %310)
  %318 = tail call float @llvm.fmuladd.f32(float %19, float %313, float %291)
  store <2 x float> %314, ptr %29, align 4
  store float %316, ptr %40, align 4, !tbaa !26
  store <2 x float> %317, ptr %39, align 4
  store float %318, 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 @b2ClampFloat(float noundef, float noundef, float noundef) local_unnamed_addr #3

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Solve22(<2 x float>, <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 = { "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 = { 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 60}
!17 = !{!"b2PrismaticJoint", !10, i64 0, !10, i64 8, !11, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !11, i64 44, !11, i64 48, !11, i64 52, !11, i64 56, !7, i64 60, !7, i64 64, !10, i64 68, !10, i64 76, !10, i64 84, !10, i64 92, !11, i64 100, !11, i64 104, !18, i64 108, !19, i64 120, !19, i64 121, !19, i64 122}
!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 64}
!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 120}
!30 = !{i8 0, i8 2}
!31 = !{}
!32 = !{!17, !11, i64 108}
!33 = !{!17, !11, i64 112}
!34 = !{!17, !11, i64 116}
!35 = !{!17, !11, i64 104}
!36 = !{!17, !11, i64 16}
!37 = !{!17, !19, i64 122}
!38 = !{!17, !11, i64 44}
!39 = !{!17, !11, i64 20}
!40 = !{!21, !11, i64 8}
!41 = !{!17, !11, i64 40}
!42 = !{!17, !19, i64 121}
!43 = !{!17, !11, i64 52}
!44 = !{!21, !11, i64 12}
!45 = !{!21, !11, i64 20}
!46 = !{!21, !11, i64 24}
!47 = !{!21, !11, i64 28}
!48 = !{!17, !11, i64 24}
!49 = !{!17, !11, i64 56}
!50 = !{!17, !11, i64 28}
!51 = !{!17, !11, i64 100}
!52 = !{!11, !11, i64 0}


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