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

; 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.b2ContactRegister = type { ptr, i8 }
%struct.b2Transform = type { %struct.b2Vec2, %struct.b2Rot }
%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%struct.b2Manifold = type { %struct.b2Vec2, float, [2 x %struct.b2ManifoldPoint], i32 }
%struct.b2ManifoldPoint = type { %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, i16, i8 }
%struct.b2ShapeId = type { i32, i16, i16 }
%struct.b2ContactSim = type { i32, i32, i32, i32, i32, float, float, float, float, %struct.b2Manifold, float, float, float, float, i32, %struct.b2SimplexCache }
%struct.b2SimplexCache = type { i16, [3 x i8], [3 x i8] }
%struct.b2Shape = type { i32, i32, i32, i32, i32, i32, float, float, float, float, float, i32, %struct.b2AABB, %struct.b2AABB, %struct.b2Vec2, i32, %struct.b2Filter, ptr, i32, %union.anon, i16, i8, i8, i8, i8, i8 }
%struct.b2AABB = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2Filter = type { i64, i64, i32 }
%union.anon = type { %struct.b2Polygon }
%struct.b2Polygon = type { [8 x %struct.b2Vec2], [8 x %struct.b2Vec2], %struct.b2Vec2, float, i32 }
%struct.b2World = type { %struct.b2ArenaAllocator, %struct.b2BroadPhase, %struct.b2ConstraintGraph, %struct.b2IdPool, %struct.b2BodyArray, %struct.b2IdPool, %struct.b2SolverSetArray, %struct.b2IdPool, %struct.b2JointArray, %struct.b2IdPool, %struct.b2ContactArray, %struct.b2IdPool, %struct.b2IslandArray, %struct.b2IdPool, %struct.b2IdPool, %struct.b2ShapeArray, %struct.b2ChainShapeArray, %struct.b2SensorArray, %struct.b2TaskContextArray, %struct.b2SensorTaskContextArray, %struct.b2BodyMoveEventArray, %struct.b2SensorBeginTouchEventArray, %struct.b2ContactBeginTouchEventArray, [2 x %struct.b2SensorEndTouchEventArray], [2 x %struct.b2ContactEndTouchEventArray], i32, %struct.b2ContactHitEventArray, %struct.b2BitSet, %struct.b2BitSet, %struct.b2BitSet, %struct.b2BitSet, i64, i32, %struct.b2Vec2, float, float, float, float, float, float, float, float, ptr, ptr, i16, %struct.b2Profile, ptr, ptr, ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, float, i32, i32, i16, i8, i8, i8, i8, i8, i8 }
%struct.b2ArenaAllocator = type { ptr, i32, i32, i32, i32, %struct.b2ArenaEntryArray }
%struct.b2ArenaEntryArray = type { ptr, i32, i32 }
%struct.b2BroadPhase = type { [3 x %struct.b2DynamicTree], i32, %struct.b2HashSet, %struct.b2IntArray, ptr, ptr, i32, %struct.b2AtomicInt, %struct.b2HashSet }
%struct.b2DynamicTree = type { ptr, i32, i32, i32, i32, i32, ptr, ptr, ptr, ptr, i32 }
%struct.b2IntArray = type { ptr, i32, i32 }
%struct.b2AtomicInt = type { i32 }
%struct.b2HashSet = type { ptr, i32, i32 }
%struct.b2ConstraintGraph = type { [12 x %struct.b2GraphColor] }
%struct.b2GraphColor = type { %struct.b2BitSet, %struct.b2ContactSimArray, %struct.b2JointSimArray, %union.anon.0 }
%struct.b2ContactSimArray = type { ptr, i32, i32 }
%struct.b2JointSimArray = type { ptr, i32, i32 }
%union.anon.0 = type { ptr }
%struct.b2BodyArray = type { ptr, i32, i32 }
%struct.b2SolverSetArray = type { ptr, i32, i32 }
%struct.b2JointArray = type { ptr, i32, i32 }
%struct.b2ContactArray = type { ptr, i32, i32 }
%struct.b2IslandArray = type { ptr, i32, i32 }
%struct.b2IdPool = type { %struct.b2IntArray, i32 }
%struct.b2ShapeArray = type { ptr, i32, i32 }
%struct.b2ChainShapeArray = type { ptr, i32, i32 }
%struct.b2SensorArray = type { ptr, i32, i32 }
%struct.b2TaskContextArray = type { ptr, i32, i32 }
%struct.b2SensorTaskContextArray = type { ptr, i32, i32 }
%struct.b2BodyMoveEventArray = type { ptr, i32, i32 }
%struct.b2SensorBeginTouchEventArray = type { ptr, i32, i32 }
%struct.b2ContactBeginTouchEventArray = type { ptr, i32, i32 }
%struct.b2SensorEndTouchEventArray = type { ptr, i32, i32 }
%struct.b2ContactEndTouchEventArray = type { ptr, i32, i32 }
%struct.b2ContactHitEventArray = type { ptr, i32, i32 }
%struct.b2BitSet = type { ptr, i32, i32 }
%struct.b2Profile = type { float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float }

@s_registers = external hidden global [5 x [5 x %struct.b2ContactRegister]], align 16
@b2_lengthUnitsPerMeter = external global float, align 4

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

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

; Function Attrs: 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) #1

; Function Attrs: nounwind uwtable
define dso_local zeroext i1 @b2UpdateContact(ptr noundef %0, ptr noundef %1, ptr noundef %2, <2 x float> %3, <2 x float> %4, <2 x float> %5, ptr noundef %6, <2 x float> %7, <2 x float> %8, <2 x float> %9) #2 {
  %11 = alloca %struct.b2Transform, align 4
  %12 = alloca %struct.b2Vec2, align 4
  %13 = alloca %struct.b2Transform, align 4
  %14 = alloca %struct.b2Vec2, align 4
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca %struct.b2Manifold, align 4
  %20 = alloca ptr, align 8
  %21 = alloca %struct.b2Manifold, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca i32, align 4
  %26 = alloca i8, align 1
  %27 = alloca %struct.b2ShapeId, align 4
  %28 = alloca %struct.b2ShapeId, align 4
  %29 = alloca i32, align 4
  %30 = alloca i32, align 4
  %31 = alloca i32, align 4
  %32 = alloca ptr, align 8
  %33 = alloca %struct.b2Vec2, align 4
  %34 = alloca %struct.b2Vec2, align 4
  %35 = alloca i16, align 2
  %36 = alloca i32, align 4
  %37 = alloca ptr, align 8
  %38 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %11, i32 0, i32 0
  store <2 x float> %3, ptr %38, align 4
  %39 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %11, i32 0, i32 1
  store <2 x float> %4, ptr %39, align 4
  store <2 x float> %5, ptr %12, align 4
  %40 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %13, i32 0, i32 0
  store <2 x float> %7, ptr %40, align 4
  %41 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %13, i32 0, i32 1
  store <2 x float> %8, ptr %41, align 4
  store <2 x float> %9, ptr %14, align 4
  store ptr %0, ptr %15, align 8, !tbaa !5
  store ptr %1, ptr %16, align 8, !tbaa !5
  store ptr %2, ptr %17, align 8, !tbaa !5
  store ptr %6, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 112, ptr %19) #5
  %42 = load ptr, ptr %16, align 8, !tbaa !5
  %43 = getelementptr inbounds %struct.b2ContactSim, ptr %42, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %19, ptr align 4 %43, i64 112, i1 false), !tbaa.struct !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #5
  %44 = load ptr, ptr %17, align 8, !tbaa !5
  %45 = getelementptr inbounds %struct.b2Shape, ptr %44, i32 0, i32 5
  %46 = load i32, ptr %45, align 4, !tbaa !15
  %47 = zext i32 %46 to i64
  %48 = getelementptr inbounds [5 x [5 x %struct.b2ContactRegister]], ptr @s_registers, i64 0, i64 %47
  %49 = load ptr, ptr %18, align 8, !tbaa !5
  %50 = getelementptr inbounds %struct.b2Shape, ptr %49, i32 0, i32 5
  %51 = load i32, ptr %50, align 4, !tbaa !15
  %52 = zext i32 %51 to i64
  %53 = getelementptr inbounds [5 x %struct.b2ContactRegister], ptr %48, i64 0, i64 %52
  %54 = getelementptr inbounds %struct.b2ContactRegister, ptr %53, i32 0, i32 0
  %55 = load ptr, ptr %54, align 16, !tbaa !23
  store ptr %55, ptr %20, align 8, !tbaa !5
  %56 = load ptr, ptr %16, align 8, !tbaa !5
  %57 = getelementptr inbounds %struct.b2ContactSim, ptr %56, i32 0, i32 9
  call void @llvm.lifetime.start.p0(i64 112, ptr %21) #5
  %58 = load ptr, ptr %20, align 8, !tbaa !5
  %59 = load ptr, ptr %17, align 8, !tbaa !5
  %60 = load ptr, ptr %18, align 8, !tbaa !5
  %61 = load ptr, ptr %16, align 8, !tbaa !5
  %62 = getelementptr inbounds %struct.b2ContactSim, ptr %61, i32 0, i32 15
  %63 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %11, i32 0, i32 0
  %64 = load <2 x float>, ptr %63, align 4
  %65 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %11, i32 0, i32 1
  %66 = load <2 x float>, ptr %65, align 4
  %67 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %13, i32 0, i32 0
  %68 = load <2 x float>, ptr %67, align 4
  %69 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %13, i32 0, i32 1
  %70 = load <2 x float>, ptr %69, align 4
  call void %58(ptr dead_on_unwind writable sret(%struct.b2Manifold) align 4 %21, ptr noundef %59, <2 x float> %64, <2 x float> %66, ptr noundef %60, <2 x float> %68, <2 x float> %70, ptr noundef %62)
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %57, ptr align 4 %21, i64 112, i1 false), !tbaa.struct !9
  call void @llvm.lifetime.end.p0(i64 112, ptr %21) #5
  %71 = load ptr, ptr %15, align 8, !tbaa !5
  %72 = getelementptr inbounds %struct.b2World, ptr %71, i32 0, i32 42
  %73 = load ptr, ptr %72, align 8, !tbaa !25
  %74 = load ptr, ptr %17, align 8, !tbaa !5
  %75 = getelementptr inbounds %struct.b2Shape, ptr %74, i32 0, i32 7
  %76 = load float, ptr %75, align 4, !tbaa !36
  %77 = load ptr, ptr %17, align 8, !tbaa !5
  %78 = getelementptr inbounds %struct.b2Shape, ptr %77, i32 0, i32 11
  %79 = load i32, ptr %78, align 4, !tbaa !37
  %80 = load ptr, ptr %18, align 8, !tbaa !5
  %81 = getelementptr inbounds %struct.b2Shape, ptr %80, i32 0, i32 7
  %82 = load float, ptr %81, align 4, !tbaa !36
  %83 = load ptr, ptr %18, align 8, !tbaa !5
  %84 = getelementptr inbounds %struct.b2Shape, ptr %83, i32 0, i32 11
  %85 = load i32, ptr %84, align 4, !tbaa !37
  %86 = call float %73(float noundef %76, i32 noundef %79, float noundef %82, i32 noundef %85)
  %87 = load ptr, ptr %16, align 8, !tbaa !5
  %88 = getelementptr inbounds %struct.b2ContactSim, ptr %87, i32 0, i32 10
  store float %86, ptr %88, align 4, !tbaa !38
  %89 = load ptr, ptr %15, align 8, !tbaa !5
  %90 = getelementptr inbounds %struct.b2World, ptr %89, i32 0, i32 43
  %91 = load ptr, ptr %90, align 8, !tbaa !42
  %92 = load ptr, ptr %17, align 8, !tbaa !5
  %93 = getelementptr inbounds %struct.b2Shape, ptr %92, i32 0, i32 8
  %94 = load float, ptr %93, align 8, !tbaa !43
  %95 = load ptr, ptr %17, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct.b2Shape, ptr %95, i32 0, i32 11
  %97 = load i32, ptr %96, align 4, !tbaa !37
  %98 = load ptr, ptr %18, align 8, !tbaa !5
  %99 = getelementptr inbounds %struct.b2Shape, ptr %98, i32 0, i32 8
  %100 = load float, ptr %99, align 8, !tbaa !43
  %101 = load ptr, ptr %18, align 8, !tbaa !5
  %102 = getelementptr inbounds %struct.b2Shape, ptr %101, i32 0, i32 11
  %103 = load i32, ptr %102, align 4, !tbaa !37
  %104 = call float %91(float noundef %94, i32 noundef %97, float noundef %100, i32 noundef %103)
  %105 = load ptr, ptr %16, align 8, !tbaa !5
  %106 = getelementptr inbounds %struct.b2ContactSim, ptr %105, i32 0, i32 11
  store float %104, ptr %106, align 4, !tbaa !44
  %107 = load ptr, ptr %17, align 8, !tbaa !5
  %108 = getelementptr inbounds %struct.b2Shape, ptr %107, i32 0, i32 9
  %109 = load float, ptr %108, align 4, !tbaa !45
  %110 = fcmp ogt float %109, 0.000000e+00
  br i1 %110, label %116, label %111

111:                                              ; preds = %10
  %112 = load ptr, ptr %18, align 8, !tbaa !5
  %113 = getelementptr inbounds %struct.b2Shape, ptr %112, i32 0, i32 9
  %114 = load float, ptr %113, align 4, !tbaa !45
  %115 = fcmp ogt float %114, 0.000000e+00
  br i1 %115, label %116, label %135

116:                                              ; preds = %111, %10
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #5
  %117 = load ptr, ptr %17, align 8, !tbaa !5
  %118 = call float @b2GetShapeRadius(ptr noundef %117)
  store float %118, ptr %22, align 4, !tbaa !10
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #5
  %119 = load ptr, ptr %18, align 8, !tbaa !5
  %120 = call float @b2GetShapeRadius(ptr noundef %119)
  store float %120, ptr %23, align 4, !tbaa !10
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #5
  %121 = load float, ptr %22, align 4, !tbaa !10
  %122 = load float, ptr %23, align 4, !tbaa !10
  %123 = call float @b2MaxFloat(float noundef %121, float noundef %122)
  store float %123, ptr %24, align 4, !tbaa !10
  %124 = load ptr, ptr %17, align 8, !tbaa !5
  %125 = getelementptr inbounds %struct.b2Shape, ptr %124, i32 0, i32 9
  %126 = load float, ptr %125, align 4, !tbaa !45
  %127 = load ptr, ptr %18, align 8, !tbaa !5
  %128 = getelementptr inbounds %struct.b2Shape, ptr %127, i32 0, i32 9
  %129 = load float, ptr %128, align 4, !tbaa !45
  %130 = call float @b2MaxFloat(float noundef %126, float noundef %129)
  %131 = load float, ptr %24, align 4, !tbaa !10
  %132 = fmul float %130, %131
  %133 = load ptr, ptr %16, align 8, !tbaa !5
  %134 = getelementptr inbounds %struct.b2ContactSim, ptr %133, i32 0, i32 12
  store float %132, ptr %134, align 4, !tbaa !46
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #5
  br label %138

135:                                              ; preds = %111
  %136 = load ptr, ptr %16, align 8, !tbaa !5
  %137 = getelementptr inbounds %struct.b2ContactSim, ptr %136, i32 0, i32 12
  store float 0.000000e+00, ptr %137, align 4, !tbaa !46
  br label %138

138:                                              ; preds = %135, %116
  %139 = load ptr, ptr %17, align 8, !tbaa !5
  %140 = getelementptr inbounds %struct.b2Shape, ptr %139, i32 0, i32 10
  %141 = load float, ptr %140, align 8, !tbaa !47
  %142 = load ptr, ptr %18, align 8, !tbaa !5
  %143 = getelementptr inbounds %struct.b2Shape, ptr %142, i32 0, i32 10
  %144 = load float, ptr %143, align 8, !tbaa !47
  %145 = fadd float %141, %144
  %146 = load ptr, ptr %16, align 8, !tbaa !5
  %147 = getelementptr inbounds %struct.b2ContactSim, ptr %146, i32 0, i32 13
  store float %145, ptr %147, align 4, !tbaa !48
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #5
  %148 = load ptr, ptr %16, align 8, !tbaa !5
  %149 = getelementptr inbounds %struct.b2ContactSim, ptr %148, i32 0, i32 9
  %150 = getelementptr inbounds %struct.b2Manifold, ptr %149, i32 0, i32 3
  %151 = load i32, ptr %150, align 4, !tbaa !49
  store i32 %151, ptr %25, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 1, ptr %26) #5
  %152 = load i32, ptr %25, align 4, !tbaa !13
  %153 = icmp sgt i32 %152, 0
  %154 = zext i1 %153 to i8
  store i8 %154, ptr %26, align 1, !tbaa !50
  %155 = load i8, ptr %26, align 1, !tbaa !50, !range !51, !noundef !52
  %156 = trunc i8 %155 to i1
  br i1 %156, label %157, label %216

157:                                              ; preds = %138
  %158 = load ptr, ptr %15, align 8, !tbaa !5
  %159 = getelementptr inbounds %struct.b2World, ptr %158, i32 0, i32 46
  %160 = load ptr, ptr %159, align 8, !tbaa !53
  %161 = icmp ne ptr %160, null
  br i1 %161, label %162, label %216

162:                                              ; preds = %157
  %163 = load ptr, ptr %16, align 8, !tbaa !5
  %164 = getelementptr inbounds %struct.b2ContactSim, ptr %163, i32 0, i32 14
  %165 = load i32, ptr %164, align 4, !tbaa !54
  %166 = and i32 %165, 2097152
  %167 = icmp ne i32 %166, 0
  br i1 %167, label %168, label %216

168:                                              ; preds = %162
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #5
  %169 = getelementptr inbounds %struct.b2ShapeId, ptr %27, i32 0, i32 0
  %170 = load ptr, ptr %17, align 8, !tbaa !5
  %171 = getelementptr inbounds %struct.b2Shape, ptr %170, i32 0, i32 0
  %172 = load i32, ptr %171, align 8, !tbaa !55
  %173 = add nsw i32 %172, 1
  store i32 %173, ptr %169, align 4, !tbaa !56
  %174 = getelementptr inbounds %struct.b2ShapeId, ptr %27, i32 0, i32 1
  %175 = load ptr, ptr %15, align 8, !tbaa !5
  %176 = getelementptr inbounds %struct.b2World, ptr %175, i32 0, i32 59
  %177 = load i16, ptr %176, align 4, !tbaa !58
  store i16 %177, ptr %174, align 4, !tbaa !59
  %178 = getelementptr inbounds %struct.b2ShapeId, ptr %27, i32 0, i32 2
  %179 = load ptr, ptr %17, align 8, !tbaa !5
  %180 = getelementptr inbounds %struct.b2Shape, ptr %179, i32 0, i32 20
  %181 = load i16, ptr %180, align 4, !tbaa !60
  store i16 %181, ptr %178, align 2, !tbaa !61
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #5
  %182 = getelementptr inbounds %struct.b2ShapeId, ptr %28, i32 0, i32 0
  %183 = load ptr, ptr %18, align 8, !tbaa !5
  %184 = getelementptr inbounds %struct.b2Shape, ptr %183, i32 0, i32 0
  %185 = load i32, ptr %184, align 8, !tbaa !55
  %186 = add nsw i32 %185, 1
  store i32 %186, ptr %182, align 4, !tbaa !56
  %187 = getelementptr inbounds %struct.b2ShapeId, ptr %28, i32 0, i32 1
  %188 = load ptr, ptr %15, align 8, !tbaa !5
  %189 = getelementptr inbounds %struct.b2World, ptr %188, i32 0, i32 59
  %190 = load i16, ptr %189, align 4, !tbaa !58
  store i16 %190, ptr %187, align 4, !tbaa !59
  %191 = getelementptr inbounds %struct.b2ShapeId, ptr %28, i32 0, i32 2
  %192 = load ptr, ptr %18, align 8, !tbaa !5
  %193 = getelementptr inbounds %struct.b2Shape, ptr %192, i32 0, i32 20
  %194 = load i16, ptr %193, align 4, !tbaa !60
  store i16 %194, ptr %191, align 2, !tbaa !61
  %195 = load ptr, ptr %15, align 8, !tbaa !5
  %196 = getelementptr inbounds %struct.b2World, ptr %195, i32 0, i32 46
  %197 = load ptr, ptr %196, align 8, !tbaa !53
  %198 = load ptr, ptr %16, align 8, !tbaa !5
  %199 = getelementptr inbounds %struct.b2ContactSim, ptr %198, i32 0, i32 9
  %200 = load ptr, ptr %15, align 8, !tbaa !5
  %201 = getelementptr inbounds %struct.b2World, ptr %200, i32 0, i32 47
  %202 = load ptr, ptr %201, align 8, !tbaa !62
  %203 = load i64, ptr %27, align 4
  %204 = load i64, ptr %28, align 4
  %205 = call zeroext i1 %197(i64 %203, i64 %204, ptr noundef %199, ptr noundef %202)
  %206 = zext i1 %205 to i8
  store i8 %206, ptr %26, align 1, !tbaa !50
  %207 = load i8, ptr %26, align 1, !tbaa !50, !range !51, !noundef !52
  %208 = trunc i8 %207 to i1
  %209 = zext i1 %208 to i32
  %210 = icmp eq i32 %209, 0
  br i1 %210, label %211, label %215

211:                                              ; preds = %168
  store i32 0, ptr %25, align 4, !tbaa !13
  %212 = load ptr, ptr %16, align 8, !tbaa !5
  %213 = getelementptr inbounds %struct.b2ContactSim, ptr %212, i32 0, i32 9
  %214 = getelementptr inbounds %struct.b2Manifold, ptr %213, i32 0, i32 3
  store i32 0, ptr %214, align 4, !tbaa !49
  br label %215

215:                                              ; preds = %211, %168
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #5
  br label %216

216:                                              ; preds = %215, %162, %157, %138
  %217 = load ptr, ptr %15, align 8, !tbaa !5
  %218 = getelementptr inbounds %struct.b2World, ptr %217, i32 0, i32 64
  %219 = load i8, ptr %218, align 2, !tbaa !63, !range !51, !noundef !52
  %220 = trunc i8 %219 to i1
  %221 = zext i1 %220 to i32
  %222 = icmp eq i32 %221, 0
  br i1 %222, label %223, label %270

223:                                              ; preds = %216
  %224 = load i32, ptr %25, align 4, !tbaa !13
  %225 = icmp eq i32 %224, 2
  br i1 %225, label %226, label %270

226:                                              ; preds = %223
  %227 = load ptr, ptr %16, align 8, !tbaa !5
  %228 = getelementptr inbounds %struct.b2ContactSim, ptr %227, i32 0, i32 9
  %229 = getelementptr inbounds %struct.b2Manifold, ptr %228, i32 0, i32 2
  %230 = getelementptr inbounds [2 x %struct.b2ManifoldPoint], ptr %229, i64 0, i64 0
  %231 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %230, i32 0, i32 3
  %232 = load float, ptr %231, align 4, !tbaa !64
  %233 = load float, ptr @b2_lengthUnitsPerMeter, align 4, !tbaa !10
  %234 = fmul float 0x3F747AE140000000, %233
  %235 = fmul float 1.500000e+00, %234
  %236 = fcmp ogt float %232, %235
  br i1 %236, label %237, label %249

237:                                              ; preds = %226
  %238 = load ptr, ptr %16, align 8, !tbaa !5
  %239 = getelementptr inbounds %struct.b2ContactSim, ptr %238, i32 0, i32 9
  %240 = getelementptr inbounds %struct.b2Manifold, ptr %239, i32 0, i32 2
  %241 = getelementptr inbounds [2 x %struct.b2ManifoldPoint], ptr %240, i64 0, i64 0
  %242 = load ptr, ptr %16, align 8, !tbaa !5
  %243 = getelementptr inbounds %struct.b2ContactSim, ptr %242, i32 0, i32 9
  %244 = getelementptr inbounds %struct.b2Manifold, ptr %243, i32 0, i32 2
  %245 = getelementptr inbounds [2 x %struct.b2ManifoldPoint], ptr %244, i64 0, i64 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %241, ptr align 4 %245, i64 48, i1 false), !tbaa.struct !66
  %246 = load ptr, ptr %16, align 8, !tbaa !5
  %247 = getelementptr inbounds %struct.b2ContactSim, ptr %246, i32 0, i32 9
  %248 = getelementptr inbounds %struct.b2Manifold, ptr %247, i32 0, i32 3
  store i32 1, ptr %248, align 4, !tbaa !49
  br label %265

249:                                              ; preds = %226
  %250 = load ptr, ptr %16, align 8, !tbaa !5
  %251 = getelementptr inbounds %struct.b2ContactSim, ptr %250, i32 0, i32 9
  %252 = getelementptr inbounds %struct.b2Manifold, ptr %251, i32 0, i32 2
  %253 = getelementptr inbounds [2 x %struct.b2ManifoldPoint], ptr %252, i64 0, i64 0
  %254 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %253, i32 0, i32 3
  %255 = load float, ptr %254, align 4, !tbaa !64
  %256 = load float, ptr @b2_lengthUnitsPerMeter, align 4, !tbaa !10
  %257 = fmul float 0x3F747AE140000000, %256
  %258 = fmul float 1.500000e+00, %257
  %259 = fcmp ogt float %255, %258
  br i1 %259, label %260, label %264

260:                                              ; preds = %249
  %261 = load ptr, ptr %16, align 8, !tbaa !5
  %262 = getelementptr inbounds %struct.b2ContactSim, ptr %261, i32 0, i32 9
  %263 = getelementptr inbounds %struct.b2Manifold, ptr %262, i32 0, i32 3
  store i32 1, ptr %263, align 4, !tbaa !49
  br label %264

264:                                              ; preds = %260, %249
  br label %265

265:                                              ; preds = %264, %237
  %266 = load ptr, ptr %16, align 8, !tbaa !5
  %267 = getelementptr inbounds %struct.b2ContactSim, ptr %266, i32 0, i32 9
  %268 = getelementptr inbounds %struct.b2Manifold, ptr %267, i32 0, i32 3
  %269 = load i32, ptr %268, align 4, !tbaa !49
  store i32 %269, ptr %25, align 4, !tbaa !13
  br label %270

270:                                              ; preds = %265, %223, %216
  %271 = load i8, ptr %26, align 1, !tbaa !50, !range !51, !noundef !52
  %272 = trunc i8 %271 to i1
  br i1 %272, label %273, label %288

273:                                              ; preds = %270
  %274 = load ptr, ptr %17, align 8, !tbaa !5
  %275 = getelementptr inbounds %struct.b2Shape, ptr %274, i32 0, i32 23
  %276 = load i8, ptr %275, align 8, !tbaa !68, !range !51, !noundef !52
  %277 = trunc i8 %276 to i1
  br i1 %277, label %283, label %278

278:                                              ; preds = %273
  %279 = load ptr, ptr %18, align 8, !tbaa !5
  %280 = getelementptr inbounds %struct.b2Shape, ptr %279, i32 0, i32 23
  %281 = load i8, ptr %280, align 8, !tbaa !68, !range !51, !noundef !52
  %282 = trunc i8 %281 to i1
  br i1 %282, label %283, label %288

283:                                              ; preds = %278, %273
  %284 = load ptr, ptr %16, align 8, !tbaa !5
  %285 = getelementptr inbounds %struct.b2ContactSim, ptr %284, i32 0, i32 14
  %286 = load i32, ptr %285, align 4, !tbaa !54
  %287 = or i32 %286, 1048576
  store i32 %287, ptr %285, align 4, !tbaa !54
  br label %293

288:                                              ; preds = %278, %270
  %289 = load ptr, ptr %16, align 8, !tbaa !5
  %290 = getelementptr inbounds %struct.b2ContactSim, ptr %289, i32 0, i32 14
  %291 = load i32, ptr %290, align 4, !tbaa !54
  %292 = and i32 %291, -1048577
  store i32 %292, ptr %290, align 4, !tbaa !54
  br label %293

293:                                              ; preds = %288, %283
  %294 = load i32, ptr %25, align 4, !tbaa !13
  %295 = icmp sgt i32 %294, 0
  br i1 %295, label %296, label %302

296:                                              ; preds = %293
  %297 = getelementptr inbounds %struct.b2Manifold, ptr %19, i32 0, i32 1
  %298 = load float, ptr %297, align 4, !tbaa !69
  %299 = load ptr, ptr %16, align 8, !tbaa !5
  %300 = getelementptr inbounds %struct.b2ContactSim, ptr %299, i32 0, i32 9
  %301 = getelementptr inbounds %struct.b2Manifold, ptr %300, i32 0, i32 1
  store float %298, ptr %301, align 4, !tbaa !70
  br label %302

302:                                              ; preds = %296, %293
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #5
  store i32 0, ptr %29, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #5
  store i32 0, ptr %30, align 4, !tbaa !13
  br label %303

303:                                              ; preds = %396, %302
  %304 = load i32, ptr %30, align 4, !tbaa !13
  %305 = load i32, ptr %25, align 4, !tbaa !13
  %306 = icmp slt i32 %304, %305
  br i1 %306, label %308, label %307

307:                                              ; preds = %303
  store i32 2, ptr %31, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #5
  br label %399

308:                                              ; preds = %303
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #5
  %309 = load ptr, ptr %16, align 8, !tbaa !5
  %310 = getelementptr inbounds %struct.b2ContactSim, ptr %309, i32 0, i32 9
  %311 = getelementptr inbounds %struct.b2Manifold, ptr %310, i32 0, i32 2
  %312 = getelementptr inbounds [2 x %struct.b2ManifoldPoint], ptr %311, i64 0, i64 0
  %313 = load i32, ptr %30, align 4, !tbaa !13
  %314 = sext i32 %313 to i64
  %315 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %312, i64 %314
  store ptr %315, ptr %32, align 8, !tbaa !5
  %316 = load ptr, ptr %32, align 8, !tbaa !5
  %317 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %316, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #5
  %318 = load ptr, ptr %32, align 8, !tbaa !5
  %319 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %318, i32 0, i32 1
  %320 = load <2 x float>, ptr %319, align 4
  %321 = load <2 x float>, ptr %12, align 4
  %322 = call <2 x float> @b2Sub(<2 x float> %320, <2 x float> %321)
  store <2 x float> %322, ptr %33, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %317, ptr align 4 %33, i64 8, i1 false), !tbaa.struct !71
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #5
  %323 = load ptr, ptr %32, align 8, !tbaa !5
  %324 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %323, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #5
  %325 = load ptr, ptr %32, align 8, !tbaa !5
  %326 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %325, i32 0, i32 2
  %327 = load <2 x float>, ptr %326, align 4
  %328 = load <2 x float>, ptr %14, align 4
  %329 = call <2 x float> @b2Sub(<2 x float> %327, <2 x float> %328)
  store <2 x float> %329, ptr %34, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %324, ptr align 4 %34, i64 8, i1 false), !tbaa.struct !71
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #5
  %330 = load ptr, ptr %32, align 8, !tbaa !5
  %331 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %330, i32 0, i32 4
  store float 0.000000e+00, ptr %331, align 4, !tbaa !72
  %332 = load ptr, ptr %32, align 8, !tbaa !5
  %333 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %332, i32 0, i32 5
  store float 0.000000e+00, ptr %333, align 4, !tbaa !73
  %334 = load ptr, ptr %32, align 8, !tbaa !5
  %335 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %334, i32 0, i32 6
  store float 0.000000e+00, ptr %335, align 4, !tbaa !74
  %336 = load ptr, ptr %32, align 8, !tbaa !5
  %337 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %336, i32 0, i32 7
  store float 0.000000e+00, ptr %337, align 4, !tbaa !75
  %338 = load ptr, ptr %32, align 8, !tbaa !5
  %339 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %338, i32 0, i32 9
  store i8 0, ptr %339, align 2, !tbaa !76
  call void @llvm.lifetime.start.p0(i64 2, ptr %35) #5
  %340 = load ptr, ptr %32, align 8, !tbaa !5
  %341 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %340, i32 0, i32 8
  %342 = load i16, ptr %341, align 4, !tbaa !77
  store i16 %342, ptr %35, align 2, !tbaa !67
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #5
  store i32 0, ptr %36, align 4, !tbaa !13
  br label %343

343:                                              ; preds = %383, %308
  %344 = load i32, ptr %36, align 4, !tbaa !13
  %345 = getelementptr inbounds %struct.b2Manifold, ptr %19, i32 0, i32 3
  %346 = load i32, ptr %345, align 4, !tbaa !78
  %347 = icmp slt i32 %344, %346
  br i1 %347, label %349, label %348

348:                                              ; preds = %343
  store i32 5, ptr %31, align 4
  br label %386

349:                                              ; preds = %343
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #5
  %350 = getelementptr inbounds %struct.b2Manifold, ptr %19, i32 0, i32 2
  %351 = getelementptr inbounds [2 x %struct.b2ManifoldPoint], ptr %350, i64 0, i64 0
  %352 = load i32, ptr %36, align 4, !tbaa !13
  %353 = sext i32 %352 to i64
  %354 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %351, i64 %353
  store ptr %354, ptr %37, align 8, !tbaa !5
  %355 = load ptr, ptr %37, align 8, !tbaa !5
  %356 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %355, i32 0, i32 8
  %357 = load i16, ptr %356, align 4, !tbaa !77
  %358 = zext i16 %357 to i32
  %359 = load i16, ptr %35, align 2, !tbaa !67
  %360 = zext i16 %359 to i32
  %361 = icmp eq i32 %358, %360
  br i1 %361, label %362, label %379

362:                                              ; preds = %349
  %363 = load ptr, ptr %37, align 8, !tbaa !5
  %364 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %363, i32 0, i32 4
  %365 = load float, ptr %364, align 4, !tbaa !72
  %366 = load ptr, ptr %32, align 8, !tbaa !5
  %367 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %366, i32 0, i32 4
  store float %365, ptr %367, align 4, !tbaa !72
  %368 = load ptr, ptr %37, align 8, !tbaa !5
  %369 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %368, i32 0, i32 5
  %370 = load float, ptr %369, align 4, !tbaa !73
  %371 = load ptr, ptr %32, align 8, !tbaa !5
  %372 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %371, i32 0, i32 5
  store float %370, ptr %372, align 4, !tbaa !73
  %373 = load ptr, ptr %32, align 8, !tbaa !5
  %374 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %373, i32 0, i32 9
  store i8 1, ptr %374, align 2, !tbaa !76
  %375 = load ptr, ptr %37, align 8, !tbaa !5
  %376 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %375, i32 0, i32 4
  store float 0.000000e+00, ptr %376, align 4, !tbaa !72
  %377 = load ptr, ptr %37, align 8, !tbaa !5
  %378 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %377, i32 0, i32 5
  store float 0.000000e+00, ptr %378, align 4, !tbaa !73
  store i32 5, ptr %31, align 4
  br label %380

379:                                              ; preds = %349
  store i32 0, ptr %31, align 4
  br label %380

380:                                              ; preds = %379, %362
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #5
  %381 = load i32, ptr %31, align 4
  switch i32 %381, label %386 [
    i32 0, label %382
  ]

382:                                              ; preds = %380
  br label %383

383:                                              ; preds = %382
  %384 = load i32, ptr %36, align 4, !tbaa !13
  %385 = add nsw i32 %384, 1
  store i32 %385, ptr %36, align 4, !tbaa !13
  br label %343, !llvm.loop !79

386:                                              ; preds = %380, %348
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #5
  br label %387

387:                                              ; preds = %386
  %388 = load ptr, ptr %32, align 8, !tbaa !5
  %389 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %388, i32 0, i32 9
  %390 = load i8, ptr %389, align 2, !tbaa !76, !range !51, !noundef !52
  %391 = trunc i8 %390 to i1
  %392 = zext i1 %391 to i64
  %393 = select i1 %391, i32 0, i32 1
  %394 = load i32, ptr %29, align 4, !tbaa !13
  %395 = add nsw i32 %394, %393
  store i32 %395, ptr %29, align 4, !tbaa !13
  call void @llvm.lifetime.end.p0(i64 2, ptr %35) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #5
  br label %396

396:                                              ; preds = %387
  %397 = load i32, ptr %30, align 4, !tbaa !13
  %398 = add nsw i32 %397, 1
  store i32 %398, ptr %30, align 4, !tbaa !13
  br label %303, !llvm.loop !81

399:                                              ; preds = %307
  %400 = load i8, ptr %26, align 1, !tbaa !50, !range !51, !noundef !52
  %401 = trunc i8 %400 to i1
  br i1 %401, label %402, label %407

402:                                              ; preds = %399
  %403 = load ptr, ptr %16, align 8, !tbaa !5
  %404 = getelementptr inbounds %struct.b2ContactSim, ptr %403, i32 0, i32 14
  %405 = load i32, ptr %404, align 4, !tbaa !54
  %406 = or i32 %405, 65536
  store i32 %406, ptr %404, align 4, !tbaa !54
  br label %412

407:                                              ; preds = %399
  %408 = load ptr, ptr %16, align 8, !tbaa !5
  %409 = getelementptr inbounds %struct.b2ContactSim, ptr %408, i32 0, i32 14
  %410 = load i32, ptr %409, align 4, !tbaa !54
  %411 = and i32 %410, -65537
  store i32 %411, ptr %409, align 4, !tbaa !54
  br label %412

412:                                              ; preds = %407, %402
  %413 = load i8, ptr %26, align 1, !tbaa !50, !range !51, !noundef !52
  %414 = trunc i8 %413 to i1
  store i32 1, ptr %31, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %26) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #5
  call void @llvm.lifetime.end.p0(i64 112, ptr %19) #5
  ret i1 %414
}

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2GetShapeRadius(ptr noundef) #3

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

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #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 = { 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 = !{i64 0, i64 4, !10, i64 4, i64 4, !10, i64 8, i64 4, !10, i64 12, i64 96, !12, i64 108, i64 4, !13}
!10 = !{!11, !11, i64 0}
!11 = !{!"float", !7, i64 0}
!12 = !{!7, !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"int", !7, i64 0}
!15 = !{!16, !14, i64 20}
!16 = !{!"b2Shape", !14, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !14, i64 44, !17, i64 48, !17, i64 64, !18, i64 80, !14, i64 88, !19, i64 96, !6, i64 120, !14, i64 128, !7, i64 132, !21, i64 276, !22, i64 278, !22, i64 279, !22, i64 280, !22, i64 281, !22, i64 282}
!17 = !{!"b2AABB", !18, i64 0, !18, i64 8}
!18 = !{!"b2Vec2", !11, i64 0, !11, i64 4}
!19 = !{!"b2Filter", !20, i64 0, !20, i64 8, !14, i64 16}
!20 = !{!"long", !7, i64 0}
!21 = !{!"short", !7, i64 0}
!22 = !{!"_Bool", !7, i64 0}
!23 = !{!24, !6, i64 0}
!24 = !{!"b2ContactRegister", !6, i64 0, !22, i64 8}
!25 = !{!26, !6, i64 1592}
!26 = !{!"b2World", !27, i64 0, !29, i64 40, !32, i64 336, !33, i64 1008, !28, i64 1032, !33, i64 1048, !28, i64 1072, !33, i64 1088, !28, i64 1112, !33, i64 1128, !28, i64 1152, !33, i64 1168, !28, i64 1192, !33, i64 1208, !33, i64 1232, !28, i64 1256, !28, i64 1272, !28, i64 1288, !28, i64 1304, !28, i64 1320, !28, i64 1336, !28, i64 1352, !28, i64 1368, !7, i64 1384, !7, i64 1416, !14, i64 1448, !28, i64 1456, !34, i64 1472, !34, i64 1488, !34, i64 1504, !34, i64 1520, !20, i64 1536, !14, i64 1544, !18, i64 1548, !11, i64 1556, !11, i64 1560, !11, i64 1564, !11, i64 1568, !11, i64 1572, !11, i64 1576, !11, i64 1580, !11, i64 1584, !6, i64 1592, !6, i64 1600, !21, i64 1608, !35, i64 1612, !6, i64 1704, !6, i64 1712, !6, i64 1720, !6, i64 1728, !14, i64 1736, !6, i64 1744, !6, i64 1752, !6, i64 1760, !6, i64 1768, !6, i64 1776, !11, i64 1784, !14, i64 1788, !14, i64 1792, !21, i64 1796, !22, i64 1798, !22, i64 1799, !22, i64 1800, !22, i64 1801, !22, i64 1802, !22, i64 1803}
!27 = !{!"b2ArenaAllocator", !6, i64 0, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !28, i64 24}
!28 = !{!"", !6, i64 0, !14, i64 8, !14, i64 12}
!29 = !{!"b2BroadPhase", !7, i64 0, !14, i64 216, !30, i64 224, !28, i64 240, !6, i64 256, !6, i64 264, !14, i64 272, !31, i64 276, !30, i64 280}
!30 = !{!"b2HashSet", !6, i64 0, !14, i64 8, !14, i64 12}
!31 = !{!"b2AtomicInt", !14, i64 0}
!32 = !{!"b2ConstraintGraph", !7, i64 0}
!33 = !{!"b2IdPool", !28, i64 0, !14, i64 16}
!34 = !{!"b2BitSet", !6, i64 0, !14, i64 8, !14, i64 12}
!35 = !{!"b2Profile", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !11, i64 44, !11, i64 48, !11, i64 52, !11, i64 56, !11, i64 60, !11, i64 64, !11, i64 68, !11, i64 72, !11, i64 76, !11, i64 80, !11, i64 84}
!36 = !{!16, !11, i64 28}
!37 = !{!16, !14, i64 44}
!38 = !{!39, !11, i64 148}
!39 = !{!"b2ContactSim", !14, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !11, i64 20, !11, i64 24, !11, i64 28, !11, i64 32, !40, i64 36, !11, i64 148, !11, i64 152, !11, i64 156, !11, i64 160, !14, i64 164, !41, i64 168}
!40 = !{!"b2Manifold", !18, i64 0, !11, i64 8, !7, i64 12, !14, i64 108}
!41 = !{!"b2SimplexCache", !21, i64 0, !7, i64 2, !7, i64 5}
!42 = !{!26, !6, i64 1600}
!43 = !{!16, !11, i64 32}
!44 = !{!39, !11, i64 152}
!45 = !{!16, !11, i64 36}
!46 = !{!39, !11, i64 156}
!47 = !{!16, !11, i64 40}
!48 = !{!39, !11, i64 160}
!49 = !{!39, !14, i64 144}
!50 = !{!22, !22, i64 0}
!51 = !{i8 0, i8 2}
!52 = !{}
!53 = !{!26, !6, i64 1704}
!54 = !{!39, !14, i64 164}
!55 = !{!16, !14, i64 0}
!56 = !{!57, !14, i64 0}
!57 = !{!"b2ShapeId", !14, i64 0, !21, i64 4, !21, i64 6}
!58 = !{!26, !21, i64 1796}
!59 = !{!57, !21, i64 4}
!60 = !{!16, !21, i64 276}
!61 = !{!57, !21, i64 6}
!62 = !{!26, !6, i64 1712}
!63 = !{!26, !22, i64 1802}
!64 = !{!65, !11, i64 24}
!65 = !{!"b2ManifoldPoint", !18, i64 0, !18, i64 8, !18, i64 16, !11, i64 24, !11, i64 28, !11, i64 32, !11, i64 36, !11, i64 40, !21, i64 44, !22, i64 46}
!66 = !{i64 0, i64 4, !10, i64 4, i64 4, !10, i64 8, i64 4, !10, i64 12, i64 4, !10, i64 16, i64 4, !10, i64 20, i64 4, !10, i64 24, i64 4, !10, i64 28, i64 4, !10, i64 32, i64 4, !10, i64 36, i64 4, !10, i64 40, i64 4, !10, i64 44, i64 2, !67, i64 46, i64 1, !50}
!67 = !{!21, !21, i64 0}
!68 = !{!16, !22, i64 280}
!69 = !{!40, !11, i64 8}
!70 = !{!39, !11, i64 44}
!71 = !{i64 0, i64 4, !10, i64 4, i64 4, !10}
!72 = !{!65, !11, i64 28}
!73 = !{!65, !11, i64 32}
!74 = !{!65, !11, i64 36}
!75 = !{!65, !11, i64 40}
!76 = !{!65, !22, i64 46}
!77 = !{!65, !21, i64 44}
!78 = !{!40, !14, i64 108}
!79 = distinct !{!79, !80}
!80 = !{!"llvm.loop.mustprogress"}
!81 = distinct !{!81, !80}


; 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.b2ContactRegister = type { ptr, i8 }
%struct.b2Manifold = type { %struct.b2Vec2, float, [2 x %struct.b2ManifoldPoint], i32 }
%struct.b2Vec2 = type { float, float }
%struct.b2ManifoldPoint = type { %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, i16, i8 }

@s_registers = external hidden local_unnamed_addr global [5 x [5 x %struct.b2ContactRegister]], align 16
@b2_lengthUnitsPerMeter = external local_unnamed_addr global float, align 4

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

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

; Function Attrs: 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) #1

; Function Attrs: nounwind uwtable
define dso_local noundef zeroext i1 @b2UpdateContact(ptr nocapture noundef readonly %0, ptr noundef %1, ptr noundef %2, <2 x float> %3, <2 x float> %4, <2 x float> %5, ptr noundef %6, <2 x float> %7, <2 x float> %8, <2 x float> %9) local_unnamed_addr #2 {
  %11 = alloca %struct.b2Manifold, align 4
  %12 = alloca %struct.b2Manifold, align 4
  call void @llvm.lifetime.start.p0(i64 112, ptr nonnull %11) #6
  %13 = getelementptr inbounds i8, ptr %1, i64 36
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(112) %11, ptr noundef nonnull align 4 dereferenceable(112) %13, i64 112, i1 false), !tbaa.struct !5
  %14 = getelementptr inbounds i8, ptr %2, i64 20
  %15 = load i32, ptr %14, align 4, !tbaa !13
  %16 = zext i32 %15 to i64
  %17 = getelementptr inbounds i8, ptr %6, i64 20
  %18 = load i32, ptr %17, align 4, !tbaa !13
  %19 = zext i32 %18 to i64
  %20 = getelementptr inbounds [5 x [5 x %struct.b2ContactRegister]], ptr @s_registers, i64 0, i64 %16, i64 %19
  %21 = load ptr, ptr %20, align 16, !tbaa !22
  call void @llvm.lifetime.start.p0(i64 112, ptr nonnull %12) #6
  %22 = getelementptr inbounds i8, ptr %1, i64 168
  call void %21(ptr dead_on_unwind nonnull writable sret(%struct.b2Manifold) align 4 %12, ptr noundef %2, <2 x float> %3, <2 x float> %4, ptr noundef %6, <2 x float> %7, <2 x float> %8, ptr noundef nonnull %22) #6
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(112) %13, ptr noundef nonnull align 4 dereferenceable(112) %12, i64 112, i1 false), !tbaa.struct !5
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %12) #6
  %23 = getelementptr inbounds i8, ptr %0, i64 1592
  %24 = load ptr, ptr %23, align 8, !tbaa !24
  %25 = getelementptr inbounds i8, ptr %2, i64 28
  %26 = load float, ptr %25, align 4, !tbaa !35
  %27 = getelementptr inbounds i8, ptr %2, i64 44
  %28 = load i32, ptr %27, align 4, !tbaa !36
  %29 = getelementptr inbounds i8, ptr %6, i64 28
  %30 = load float, ptr %29, align 4, !tbaa !35
  %31 = getelementptr inbounds i8, ptr %6, i64 44
  %32 = load i32, ptr %31, align 4, !tbaa !36
  %33 = call float %24(float noundef %26, i32 noundef %28, float noundef %30, i32 noundef %32) #6
  %34 = getelementptr inbounds i8, ptr %1, i64 148
  store float %33, ptr %34, align 4, !tbaa !37
  %35 = getelementptr inbounds i8, ptr %0, i64 1600
  %36 = load ptr, ptr %35, align 8, !tbaa !41
  %37 = getelementptr inbounds i8, ptr %2, i64 32
  %38 = load float, ptr %37, align 8, !tbaa !42
  %39 = load i32, ptr %27, align 4, !tbaa !36
  %40 = getelementptr inbounds i8, ptr %6, i64 32
  %41 = load float, ptr %40, align 8, !tbaa !42
  %42 = load i32, ptr %31, align 4, !tbaa !36
  %43 = call float %36(float noundef %38, i32 noundef %39, float noundef %41, i32 noundef %42) #6
  %44 = getelementptr inbounds i8, ptr %1, i64 152
  store float %43, ptr %44, align 4, !tbaa !43
  %45 = getelementptr inbounds i8, ptr %2, i64 36
  %46 = load float, ptr %45, align 4, !tbaa !44
  %47 = fcmp ogt float %46, 0.000000e+00
  br i1 %47, label %52, label %48

48:                                               ; preds = %10
  %49 = getelementptr inbounds i8, ptr %6, i64 36
  %50 = load float, ptr %49, align 4, !tbaa !44
  %51 = fcmp ogt float %50, 0.000000e+00
  br i1 %51, label %52, label %61

52:                                               ; preds = %48, %10
  %53 = call float @b2GetShapeRadius(ptr noundef nonnull %2)
  %54 = call float @b2GetShapeRadius(ptr noundef nonnull %6)
  %55 = call float @b2MaxFloat(float noundef %53, float noundef %54)
  %56 = load float, ptr %45, align 4, !tbaa !44
  %57 = getelementptr inbounds i8, ptr %6, i64 36
  %58 = load float, ptr %57, align 4, !tbaa !44
  %59 = call float @b2MaxFloat(float noundef %56, float noundef %58)
  %60 = fmul float %55, %59
  br label %61

61:                                               ; preds = %48, %52
  %.sink = phi float [ %60, %52 ], [ 0.000000e+00, %48 ]
  %62 = getelementptr inbounds i8, ptr %1, i64 156
  store float %.sink, ptr %62, align 4, !tbaa !45
  %63 = getelementptr inbounds i8, ptr %2, i64 40
  %64 = load float, ptr %63, align 8, !tbaa !46
  %65 = getelementptr inbounds i8, ptr %6, i64 40
  %66 = load float, ptr %65, align 8, !tbaa !46
  %67 = fadd float %64, %66
  %68 = getelementptr inbounds i8, ptr %1, i64 160
  store float %67, ptr %68, align 4, !tbaa !47
  %69 = getelementptr inbounds i8, ptr %1, i64 144
  %70 = load i32, ptr %69, align 4, !tbaa !48
  %71 = icmp sgt i32 %70, 0
  br i1 %71, label %72, label %123

72:                                               ; preds = %61
  %73 = getelementptr inbounds i8, ptr %0, i64 1704
  %74 = load ptr, ptr %73, align 8, !tbaa !49
  %.not = icmp eq ptr %74, null
  br i1 %.not, label %96, label %75

75:                                               ; preds = %72
  %76 = getelementptr inbounds i8, ptr %1, i64 164
  %77 = load i32, ptr %76, align 4, !tbaa !50
  %78 = and i32 %77, 2097152
  %.not118 = icmp eq i32 %78, 0
  br i1 %.not118, label %96, label %79

79:                                               ; preds = %75
  %80 = load i32, ptr %2, align 8, !tbaa !51
  %81 = add nsw i32 %80, 1
  %82 = getelementptr inbounds i8, ptr %0, i64 1796
  %83 = load i16, ptr %82, align 4, !tbaa !52
  %84 = getelementptr inbounds i8, ptr %2, i64 276
  %85 = load i16, ptr %84, align 4, !tbaa !53
  %86 = load i32, ptr %6, align 8, !tbaa !51
  %87 = add nsw i32 %86, 1
  %88 = getelementptr inbounds i8, ptr %6, i64 276
  %89 = load i16, ptr %88, align 4, !tbaa !53
  %90 = getelementptr inbounds i8, ptr %0, i64 1712
  %91 = load ptr, ptr %90, align 8, !tbaa !54
  %.sroa.532.0.insert.ext = zext i16 %85 to i64
  %.sroa.532.0.insert.shift = shl nuw i64 %.sroa.532.0.insert.ext, 48
  %.sroa.431.0.insert.ext = zext i16 %83 to i64
  %.sroa.431.0.insert.shift = shl nuw nsw i64 %.sroa.431.0.insert.ext, 32
  %.sroa.030.0.insert.ext = zext i32 %81 to i64
  %92 = or disjoint i64 %.sroa.532.0.insert.shift, %.sroa.030.0.insert.ext
  %.sroa.030.0.insert.insert = or disjoint i64 %92, %.sroa.431.0.insert.shift
  %.sroa.5.0.insert.ext = zext i16 %89 to i64
  %.sroa.5.0.insert.shift = shl nuw i64 %.sroa.5.0.insert.ext, 48
  %.sroa.029.0.insert.ext = zext i32 %87 to i64
  %93 = or disjoint i64 %.sroa.5.0.insert.shift, %.sroa.029.0.insert.ext
  %.sroa.029.0.insert.insert = or disjoint i64 %93, %.sroa.431.0.insert.shift
  %94 = call zeroext i1 %74(i64 %.sroa.030.0.insert.insert, i64 %.sroa.029.0.insert.insert, ptr noundef nonnull %13, ptr noundef %91) #6
  br i1 %94, label %96, label %95

95:                                               ; preds = %79
  store i32 0, ptr %69, align 4, !tbaa !48
  br label %123

96:                                               ; preds = %79, %75, %72
  %97 = getelementptr inbounds i8, ptr %0, i64 1802
  %98 = load i8, ptr %97, align 2, !tbaa !55, !range !56, !noundef !57
  %99 = icmp eq i8 %98, 0
  %100 = icmp eq i32 %70, 2
  %or.cond = and i1 %100, %99
  br i1 %or.cond, label %101, label %111

101:                                              ; preds = %96
  %102 = getelementptr inbounds i8, ptr %1, i64 72
  %103 = load float, ptr %102, align 4, !tbaa !58
  %104 = load float, ptr @b2_lengthUnitsPerMeter, align 4, !tbaa !6
  %105 = fmul float %104, 0x3F747AE140000000
  %106 = fmul float %105, 1.500000e+00
  %107 = fcmp ogt float %103, %106
  br i1 %107, label %108, label %._crit_edge150

._crit_edge150:                                   ; preds = %101
  %.pre = load i32, ptr %69, align 4, !tbaa !48
  br label %111

108:                                              ; preds = %101
  %109 = getelementptr inbounds i8, ptr %1, i64 48
  %110 = getelementptr inbounds i8, ptr %1, i64 96
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(48) %109, ptr noundef nonnull align 4 dereferenceable(48) %110, i64 48, i1 false), !tbaa.struct !60
  store i32 1, ptr %69, align 4, !tbaa !48
  br label %111

111:                                              ; preds = %108, %._crit_edge150, %96
  %.2.ph = phi i32 [ %70, %96 ], [ %.pre, %._crit_edge150 ], [ 1, %108 ]
  %112 = getelementptr inbounds i8, ptr %2, i64 280
  %113 = load i8, ptr %112, align 8, !tbaa !63, !range !56, !noundef !57
  %114 = trunc nuw i8 %113 to i1
  br i1 %114, label %119, label %115

115:                                              ; preds = %111
  %116 = getelementptr inbounds i8, ptr %6, i64 280
  %117 = load i8, ptr %116, align 8, !tbaa !63, !range !56, !noundef !57
  %118 = trunc nuw i8 %117 to i1
  br i1 %118, label %119, label %123

119:                                              ; preds = %115, %111
  %120 = getelementptr inbounds i8, ptr %1, i64 164
  %121 = load i32, ptr %120, align 4, !tbaa !50
  %122 = or i32 %121, 1048576
  store i32 %122, ptr %120, align 4, !tbaa !50
  br label %127

123:                                              ; preds = %95, %61, %115
  %.2132 = phi i32 [ %.2.ph, %115 ], [ 0, %95 ], [ %70, %61 ]
  %.0111.in123129 = phi i1 [ true, %115 ], [ false, %95 ], [ false, %61 ]
  %124 = getelementptr inbounds i8, ptr %1, i64 164
  %125 = load i32, ptr %124, align 4, !tbaa !50
  %126 = and i32 %125, -1048577
  store i32 %126, ptr %124, align 4, !tbaa !50
  br label %127

127:                                              ; preds = %123, %119
  %.2131 = phi i32 [ %.2132, %123 ], [ %.2.ph, %119 ]
  %.0111.in123128 = phi i1 [ %.0111.in123129, %123 ], [ true, %119 ]
  %128 = icmp sgt i32 %.2131, 0
  br i1 %128, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %127
  %129 = getelementptr inbounds i8, ptr %11, i64 8
  %130 = load float, ptr %129, align 4, !tbaa !64
  %131 = getelementptr inbounds i8, ptr %1, i64 44
  store float %130, ptr %131, align 4, !tbaa !65
  %132 = getelementptr inbounds i8, ptr %1, i64 48
  %133 = getelementptr inbounds i8, ptr %11, i64 108
  %134 = load i32, ptr %133, align 4
  %.fr136 = freeze i32 %134
  %135 = icmp sgt i32 %.fr136, 0
  %136 = getelementptr inbounds i8, ptr %11, i64 12
  %wide.trip.count148 = zext nneg i32 %.2131 to i64
  br i1 %135, label %.critedge.lr.ph.us.preheader, label %.loopexit

.critedge.lr.ph.us.preheader:                     ; preds = %.lr.ph
  %wide.trip.count143 = zext nneg i32 %.fr136 to i64
  br label %.critedge.lr.ph.us

.critedge.lr.ph.us:                               ; preds = %.critedge.lr.ph.us.preheader, %..loopexit_crit_edge.us
  %indvars.iv145 = phi i64 [ 0, %.critedge.lr.ph.us.preheader ], [ %indvars.iv.next146, %..loopexit_crit_edge.us ]
  %137 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %132, i64 %indvars.iv145
  %138 = getelementptr inbounds i8, ptr %137, i64 8
  %139 = load <2 x float>, ptr %138, align 4
  %140 = call <2 x float> @b2Sub(<2 x float> %139, <2 x float> %5)
  store <2 x float> %140, ptr %138, align 4
  %141 = getelementptr inbounds i8, ptr %137, i64 16
  %142 = load <2 x float>, ptr %141, align 4
  %143 = call <2 x float> @b2Sub(<2 x float> %142, <2 x float> %9)
  store <2 x float> %143, ptr %141, align 4
  %144 = getelementptr inbounds i8, ptr %137, i64 28
  %145 = getelementptr inbounds i8, ptr %137, i64 46
  store i8 0, ptr %145, align 2, !tbaa !66
  %146 = getelementptr inbounds i8, ptr %137, i64 44
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 4 dereferenceable(16) %144, i8 0, i64 16, i1 false)
  %147 = load i16, ptr %146, align 4, !tbaa !67
  br label %.critedge.us

148:                                              ; preds = %.critedge.us
  %indvars.iv.next141 = add nuw nsw i64 %indvars.iv140, 1
  %exitcond144.not = icmp eq i64 %indvars.iv.next141, %wide.trip.count143
  br i1 %exitcond144.not, label %..loopexit_crit_edge.us, label %.critedge.us, !llvm.loop !68

.critedge.us:                                     ; preds = %.critedge.lr.ph.us, %148
  %indvars.iv140 = phi i64 [ 0, %.critedge.lr.ph.us ], [ %indvars.iv.next141, %148 ]
  %149 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %136, i64 %indvars.iv140
  %150 = getelementptr inbounds i8, ptr %149, i64 44
  %151 = load i16, ptr %150, align 4, !tbaa !67
  %.not119.us = icmp eq i16 %151, %147
  br i1 %.not119.us, label %152, label %148

152:                                              ; preds = %.critedge.us
  %153 = getelementptr inbounds i8, ptr %149, i64 28
  %154 = load <2 x float>, ptr %153, align 4, !tbaa !6
  store <2 x float> %154, ptr %144, align 4, !tbaa !6
  store i8 1, ptr %145, align 2, !tbaa !66
  store <2 x float> zeroinitializer, ptr %153, align 4, !tbaa !6
  br label %..loopexit_crit_edge.us

..loopexit_crit_edge.us:                          ; preds = %148, %152
  %indvars.iv.next146 = add nuw nsw i64 %indvars.iv145, 1
  %exitcond149.not = icmp eq i64 %indvars.iv.next146, %wide.trip.count148
  br i1 %exitcond149.not, label %._crit_edge, label %.critedge.lr.ph.us, !llvm.loop !70

._crit_edge:                                      ; preds = %.loopexit, %..loopexit_crit_edge.us, %127
  %155 = getelementptr inbounds i8, ptr %1, i64 164
  %156 = load i32, ptr %155, align 4, !tbaa !50
  %157 = and i32 %156, -65537
  %masksel = select i1 %.0111.in123128, i32 65536, i32 0
  %.sink154 = or disjoint i32 %157, %masksel
  store i32 %.sink154, ptr %155, align 4, !tbaa !50
  call void @llvm.lifetime.end.p0(i64 112, ptr nonnull %11) #6
  ret i1 %.0111.in123128

.loopexit:                                        ; preds = %.lr.ph, %.loopexit
  %indvars.iv = phi i64 [ %indvars.iv.next, %.loopexit ], [ 0, %.lr.ph ]
  %158 = getelementptr inbounds %struct.b2ManifoldPoint, ptr %132, i64 %indvars.iv
  %159 = getelementptr inbounds i8, ptr %158, i64 8
  %160 = load <2 x float>, ptr %159, align 4
  %161 = call <2 x float> @b2Sub(<2 x float> %160, <2 x float> %5)
  store <2 x float> %161, ptr %159, align 4
  %162 = getelementptr inbounds i8, ptr %158, i64 16
  %163 = load <2 x float>, ptr %162, align 4
  %164 = call <2 x float> @b2Sub(<2 x float> %163, <2 x float> %9)
  store <2 x float> %164, ptr %162, align 4
  %165 = getelementptr inbounds i8, ptr %158, i64 28
  %166 = getelementptr inbounds i8, ptr %158, i64 46
  store i8 0, ptr %166, align 2, !tbaa !66
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count148
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 4 dereferenceable(16) %165, i8 0, i64 16, i1 false)
  br i1 %exitcond.not, label %._crit_edge, label %.loopexit, !llvm.loop !70
}

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2GetShapeRadius(ptr noundef) local_unnamed_addr #3

; 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> @b2Sub(<2 x float>, <2 x float>) local_unnamed_addr #4

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

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #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: write) }
attributes #6 = { 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 = !{i64 0, i64 4, !6, i64 4, i64 4, !6, i64 8, i64 4, !6, i64 12, i64 96, !10, i64 108, i64 4, !11}
!6 = !{!7, !7, i64 0}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!8, !8, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !8, i64 0}
!13 = !{!14, !12, i64 20}
!14 = !{!"b2Shape", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40, !12, i64 44, !15, i64 48, !15, i64 64, !16, i64 80, !12, i64 88, !17, i64 96, !19, i64 120, !12, i64 128, !8, i64 132, !20, i64 276, !21, i64 278, !21, i64 279, !21, i64 280, !21, i64 281, !21, i64 282}
!15 = !{!"b2AABB", !16, i64 0, !16, i64 8}
!16 = !{!"b2Vec2", !7, i64 0, !7, i64 4}
!17 = !{!"b2Filter", !18, i64 0, !18, i64 8, !12, i64 16}
!18 = !{!"long", !8, i64 0}
!19 = !{!"any pointer", !8, i64 0}
!20 = !{!"short", !8, i64 0}
!21 = !{!"_Bool", !8, i64 0}
!22 = !{!23, !19, i64 0}
!23 = !{!"b2ContactRegister", !19, i64 0, !21, i64 8}
!24 = !{!25, !19, i64 1592}
!25 = !{!"b2World", !26, i64 0, !28, i64 40, !31, i64 336, !32, i64 1008, !27, i64 1032, !32, i64 1048, !27, i64 1072, !32, i64 1088, !27, i64 1112, !32, i64 1128, !27, i64 1152, !32, i64 1168, !27, i64 1192, !32, i64 1208, !32, i64 1232, !27, i64 1256, !27, i64 1272, !27, i64 1288, !27, i64 1304, !27, i64 1320, !27, i64 1336, !27, i64 1352, !27, i64 1368, !8, i64 1384, !8, i64 1416, !12, i64 1448, !27, i64 1456, !33, i64 1472, !33, i64 1488, !33, i64 1504, !33, i64 1520, !18, i64 1536, !12, i64 1544, !16, i64 1548, !7, i64 1556, !7, i64 1560, !7, i64 1564, !7, i64 1568, !7, i64 1572, !7, i64 1576, !7, i64 1580, !7, i64 1584, !19, i64 1592, !19, i64 1600, !20, i64 1608, !34, i64 1612, !19, i64 1704, !19, i64 1712, !19, i64 1720, !19, i64 1728, !12, i64 1736, !19, i64 1744, !19, i64 1752, !19, i64 1760, !19, i64 1768, !19, i64 1776, !7, i64 1784, !12, i64 1788, !12, i64 1792, !20, i64 1796, !21, i64 1798, !21, i64 1799, !21, i64 1800, !21, i64 1801, !21, i64 1802, !21, i64 1803}
!26 = !{!"b2ArenaAllocator", !19, i64 0, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !27, i64 24}
!27 = !{!"", !19, i64 0, !12, i64 8, !12, i64 12}
!28 = !{!"b2BroadPhase", !8, i64 0, !12, i64 216, !29, i64 224, !27, i64 240, !19, i64 256, !19, i64 264, !12, i64 272, !30, i64 276, !29, i64 280}
!29 = !{!"b2HashSet", !19, i64 0, !12, i64 8, !12, i64 12}
!30 = !{!"b2AtomicInt", !12, i64 0}
!31 = !{!"b2ConstraintGraph", !8, i64 0}
!32 = !{!"b2IdPool", !27, i64 0, !12, i64 16}
!33 = !{!"b2BitSet", !19, i64 0, !12, i64 8, !12, i64 12}
!34 = !{!"b2Profile", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40, !7, i64 44, !7, i64 48, !7, i64 52, !7, i64 56, !7, i64 60, !7, i64 64, !7, i64 68, !7, i64 72, !7, i64 76, !7, i64 80, !7, i64 84}
!35 = !{!14, !7, i64 28}
!36 = !{!14, !12, i64 44}
!37 = !{!38, !7, i64 148}
!38 = !{!"b2ContactSim", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !39, i64 36, !7, i64 148, !7, i64 152, !7, i64 156, !7, i64 160, !12, i64 164, !40, i64 168}
!39 = !{!"b2Manifold", !16, i64 0, !7, i64 8, !8, i64 12, !12, i64 108}
!40 = !{!"b2SimplexCache", !20, i64 0, !8, i64 2, !8, i64 5}
!41 = !{!25, !19, i64 1600}
!42 = !{!14, !7, i64 32}
!43 = !{!38, !7, i64 152}
!44 = !{!14, !7, i64 36}
!45 = !{!38, !7, i64 156}
!46 = !{!14, !7, i64 40}
!47 = !{!38, !7, i64 160}
!48 = !{!38, !12, i64 144}
!49 = !{!25, !19, i64 1704}
!50 = !{!38, !12, i64 164}
!51 = !{!14, !12, i64 0}
!52 = !{!25, !20, i64 1796}
!53 = !{!14, !20, i64 276}
!54 = !{!25, !19, i64 1712}
!55 = !{!25, !21, i64 1802}
!56 = !{i8 0, i8 2}
!57 = !{}
!58 = !{!59, !7, i64 24}
!59 = !{!"b2ManifoldPoint", !16, i64 0, !16, i64 8, !16, i64 16, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40, !20, i64 44, !21, i64 46}
!60 = !{i64 0, i64 4, !6, i64 4, i64 4, !6, i64 8, i64 4, !6, i64 12, i64 4, !6, i64 16, i64 4, !6, i64 20, i64 4, !6, i64 24, i64 4, !6, i64 28, i64 4, !6, i64 32, i64 4, !6, i64 36, i64 4, !6, i64 40, i64 4, !6, i64 44, i64 2, !61, i64 46, i64 1, !62}
!61 = !{!20, !20, i64 0}
!62 = !{!21, !21, i64 0}
!63 = !{!14, !21, i64 280}
!64 = !{!39, !7, i64 8}
!65 = !{!38, !7, i64 44}
!66 = !{!59, !21, i64 46}
!67 = !{!59, !20, i64 44}
!68 = distinct !{!68, !69}
!69 = !{!"llvm.loop.mustprogress"}
!70 = distinct !{!70, !69}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopInstSimplifyPass,LoopRotatePass,LoopSimplifyCFGPass,LoopSimplifyPass,LoopUnrollPass,MemCpyOptPass,PostOrderFunctionAttrsPass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass