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

; 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.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 }
%struct.b2ConstraintGraph = type { [12 x %struct.b2GraphColor] }
%struct.b2GraphColor = type { %struct.b2BitSet, %struct.b2ContactSimArray, %struct.b2JointSimArray, %union.anon }
%struct.b2BitSet = type { ptr, i32, i32 }
%struct.b2ContactSimArray = type { ptr, i32, i32 }
%struct.b2JointSimArray = type { ptr, i32, i32 }
%union.anon = type { ptr }
%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.b2HashSet = type { ptr, i32, i32 }
%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.b2Profile = type { float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float }
%struct.b2SolverSet = type { %struct.b2BodySimArray, %struct.b2BodyStateArray, %struct.b2JointSimArray, %struct.b2ContactSimArray, %struct.b2IslandSimArray, i32 }
%struct.b2BodySimArray = type { ptr, i32, i32 }
%struct.b2BodyStateArray = type { ptr, i32, i32 }
%struct.b2IslandSimArray = type { ptr, i32, i32 }
%struct.b2ContactConstraint = type { i32, i32, [2 x %struct.b2ContactConstraintPoint], %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, %struct.b2Softness, i32 }
%struct.b2ContactConstraintPoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, float, float }

@__const.b2SolveOverflowContacts.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 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: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RightPerp(<2 x float>) #2

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

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

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #3

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

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden ptr @b2SolverSetArray_Get(ptr noundef, i32 noundef) #4

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

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

; Function Attrs: nounwind uwtable
define dso_local void @b2SolveOverflowContacts(ptr noundef %0, i1 noundef zeroext %1) #5 {
  %3 = alloca ptr, align 8
  %4 = alloca i8, align 1
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca float, align 4
  %13 = alloca float, align 4
  %14 = alloca %struct.b2BodyState, align 4
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca ptr, align 8
  %18 = alloca float, align 4
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca float, align 4
  %22 = alloca ptr, align 8
  %23 = alloca %struct.b2Vec2, align 4
  %24 = alloca float, align 4
  %25 = alloca %struct.b2Rot, align 4
  %26 = alloca ptr, align 8
  %27 = alloca %struct.b2Vec2, align 4
  %28 = alloca float, align 4
  %29 = alloca %struct.b2Rot, align 4
  %30 = alloca %struct.b2Vec2, align 4
  %31 = alloca %struct.b2Vec2, align 4
  %32 = alloca %struct.b2Vec2, align 4
  %33 = alloca float, align 4
  %34 = alloca %struct.b2Softness, align 4
  %35 = alloca i32, align 4
  %36 = alloca float, align 4
  %37 = alloca i32, align 4
  %38 = alloca ptr, align 8
  %39 = alloca %struct.b2Vec2, align 4
  %40 = alloca %struct.b2Vec2, align 4
  %41 = alloca %struct.b2Vec2, align 4
  %42 = alloca %struct.b2Vec2, align 4
  %43 = alloca %struct.b2Vec2, align 4
  %44 = alloca %struct.b2Vec2, align 4
  %45 = alloca float, align 4
  %46 = alloca float, align 4
  %47 = alloca float, align 4
  %48 = alloca float, align 4
  %49 = alloca %struct.b2Vec2, align 4
  %50 = alloca %struct.b2Vec2, align 4
  %51 = alloca %struct.b2Vec2, align 4
  %52 = alloca %struct.b2Vec2, align 4
  %53 = alloca float, align 4
  %54 = alloca %struct.b2Vec2, align 4
  %55 = alloca float, align 4
  %56 = alloca float, align 4
  %57 = alloca %struct.b2Vec2, align 4
  %58 = alloca %struct.b2Vec2, align 4
  %59 = alloca %struct.b2Vec2, align 4
  %60 = alloca i32, align 4
  %61 = alloca ptr, align 8
  %62 = alloca %struct.b2Vec2, align 4
  %63 = alloca %struct.b2Vec2, align 4
  %64 = alloca %struct.b2Vec2, align 4
  %65 = alloca %struct.b2Vec2, align 4
  %66 = alloca %struct.b2Vec2, align 4
  %67 = alloca %struct.b2Vec2, align 4
  %68 = alloca float, align 4
  %69 = alloca %struct.b2Vec2, align 4
  %70 = alloca float, align 4
  %71 = alloca float, align 4
  %72 = alloca float, align 4
  %73 = alloca %struct.b2Vec2, align 4
  %74 = alloca %struct.b2Vec2, align 4
  %75 = alloca %struct.b2Vec2, align 4
  %76 = alloca float, align 4
  %77 = alloca float, align 4
  %78 = alloca float, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  %79 = zext i1 %1 to i8
  store i8 %79, ptr %4, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #6
  %80 = load ptr, ptr %3, align 8, !tbaa !5
  %81 = getelementptr inbounds %struct.b2StepContext, ptr %80, i32 0, i32 11
  %82 = load ptr, ptr %81, align 8, !tbaa !11
  store ptr %82, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #6
  %83 = load ptr, ptr %5, align 8, !tbaa !5
  %84 = getelementptr inbounds %struct.b2ConstraintGraph, ptr %83, i32 0, i32 0
  %85 = getelementptr inbounds [12 x %struct.b2GraphColor], ptr %84, i64 0, i64 0
  %86 = getelementptr inbounds %struct.b2GraphColor, ptr %85, i64 11
  store ptr %86, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #6
  %87 = load ptr, ptr %6, align 8, !tbaa !5
  %88 = getelementptr inbounds %struct.b2GraphColor, ptr %87, i32 0, i32 3
  %89 = load ptr, ptr %88, align 8, !tbaa !18
  store ptr %89, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #6
  %90 = load ptr, ptr %6, align 8, !tbaa !5
  %91 = getelementptr inbounds %struct.b2GraphColor, ptr %90, i32 0, i32 1
  %92 = getelementptr inbounds %struct.b2ContactSimArray, ptr %91, i32 0, i32 1
  %93 = load i32, ptr %92, align 8, !tbaa !19
  store i32 %93, ptr %8, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #6
  %94 = load ptr, ptr %3, align 8, !tbaa !5
  %95 = getelementptr inbounds %struct.b2StepContext, ptr %94, i32 0, i32 10
  %96 = load ptr, ptr %95, align 8, !tbaa !24
  store ptr %96, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #6
  %97 = load ptr, ptr %9, align 8, !tbaa !5
  %98 = getelementptr inbounds %struct.b2World, ptr %97, i32 0, i32 6
  %99 = call ptr @b2SolverSetArray_Get(ptr noundef %98, i32 noundef 2)
  store ptr %99, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  %100 = load ptr, ptr %10, align 8, !tbaa !5
  %101 = getelementptr inbounds %struct.b2SolverSet, ptr %100, i32 0, i32 1
  %102 = getelementptr inbounds %struct.b2BodyStateArray, ptr %101, i32 0, i32 0
  %103 = load ptr, ptr %102, align 8, !tbaa !25
  store ptr %103, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  %104 = load ptr, ptr %3, align 8, !tbaa !5
  %105 = getelementptr inbounds %struct.b2StepContext, ptr %104, i32 0, i32 3
  %106 = load float, ptr %105, align 4, !tbaa !27
  store float %106, ptr %12, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #6
  %107 = load ptr, ptr %3, align 8, !tbaa !5
  %108 = getelementptr inbounds %struct.b2StepContext, ptr %107, i32 0, i32 10
  %109 = load ptr, ptr %108, align 8, !tbaa !24
  %110 = getelementptr inbounds %struct.b2World, ptr %109, i32 0, i32 37
  %111 = load float, ptr %110, align 8, !tbaa !29
  store float %111, ptr %13, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 32, ptr %14) #6
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %14, ptr align 4 @__const.b2SolveOverflowContacts.dummyState, i64 32, i1 false)
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #6
  store i32 0, ptr %15, align 4, !tbaa !23
  br label %112

112:                                              ; preds = %480, %2
  %113 = load i32, ptr %15, align 4, !tbaa !23
  %114 = load i32, ptr %8, align 4, !tbaa !23
  %115 = icmp slt i32 %113, %114
  br i1 %115, label %117, label %116

116:                                              ; preds = %112
  store i32 2, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #6
  br label %483

117:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #6
  %118 = load ptr, ptr %7, align 8, !tbaa !5
  %119 = load i32, ptr %15, align 4, !tbaa !23
  %120 = sext i32 %119 to i64
  %121 = getelementptr inbounds %struct.b2ContactConstraint, ptr %118, i64 %120
  store ptr %121, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #6
  %122 = load ptr, ptr %17, align 8, !tbaa !5
  %123 = getelementptr inbounds %struct.b2ContactConstraint, ptr %122, i32 0, i32 4
  %124 = load float, ptr %123, align 4, !tbaa !40
  store float %124, ptr %18, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #6
  %125 = load ptr, ptr %17, align 8, !tbaa !5
  %126 = getelementptr inbounds %struct.b2ContactConstraint, ptr %125, i32 0, i32 6
  %127 = load float, ptr %126, align 4, !tbaa !42
  store float %127, ptr %19, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #6
  %128 = load ptr, ptr %17, align 8, !tbaa !5
  %129 = getelementptr inbounds %struct.b2ContactConstraint, ptr %128, i32 0, i32 5
  %130 = load float, ptr %129, align 4, !tbaa !43
  store float %130, ptr %20, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #6
  %131 = load ptr, ptr %17, align 8, !tbaa !5
  %132 = getelementptr inbounds %struct.b2ContactConstraint, ptr %131, i32 0, i32 7
  %133 = load float, ptr %132, align 4, !tbaa !44
  store float %133, ptr %21, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #6
  %134 = load ptr, ptr %17, align 8, !tbaa !5
  %135 = getelementptr inbounds %struct.b2ContactConstraint, ptr %134, i32 0, i32 0
  %136 = load i32, ptr %135, align 4, !tbaa !45
  %137 = icmp eq i32 %136, -1
  br i1 %137, label %138, label %139

138:                                              ; preds = %117
  br label %146

139:                                              ; preds = %117
  %140 = load ptr, ptr %11, align 8, !tbaa !5
  %141 = load ptr, ptr %17, align 8, !tbaa !5
  %142 = getelementptr inbounds %struct.b2ContactConstraint, ptr %141, i32 0, i32 0
  %143 = load i32, ptr %142, align 4, !tbaa !45
  %144 = sext i32 %143 to i64
  %145 = getelementptr inbounds %struct.b2BodyState, ptr %140, i64 %144
  br label %146

146:                                              ; preds = %139, %138
  %147 = phi ptr [ %14, %138 ], [ %145, %139 ]
  store ptr %147, ptr %22, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #6
  %148 = load ptr, ptr %22, align 8, !tbaa !5
  %149 = getelementptr inbounds %struct.b2BodyState, ptr %148, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %23, ptr align 4 %149, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #6
  %150 = load ptr, ptr %22, align 8, !tbaa !5
  %151 = getelementptr inbounds %struct.b2BodyState, ptr %150, i32 0, i32 1
  %152 = load float, ptr %151, align 4, !tbaa !47
  store float %152, ptr %24, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #6
  %153 = load ptr, ptr %22, align 8, !tbaa !5
  %154 = getelementptr inbounds %struct.b2BodyState, ptr %153, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %25, ptr align 4 %154, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #6
  %155 = load ptr, ptr %17, align 8, !tbaa !5
  %156 = getelementptr inbounds %struct.b2ContactConstraint, ptr %155, i32 0, i32 1
  %157 = load i32, ptr %156, align 4, !tbaa !50
  %158 = icmp eq i32 %157, -1
  br i1 %158, label %159, label %160

159:                                              ; preds = %146
  br label %167

160:                                              ; preds = %146
  %161 = load ptr, ptr %11, align 8, !tbaa !5
  %162 = load ptr, ptr %17, align 8, !tbaa !5
  %163 = getelementptr inbounds %struct.b2ContactConstraint, ptr %162, i32 0, i32 1
  %164 = load i32, ptr %163, align 4, !tbaa !50
  %165 = sext i32 %164 to i64
  %166 = getelementptr inbounds %struct.b2BodyState, ptr %161, i64 %165
  br label %167

167:                                              ; preds = %160, %159
  %168 = phi ptr [ %14, %159 ], [ %166, %160 ]
  store ptr %168, ptr %26, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #6
  %169 = load ptr, ptr %26, align 8, !tbaa !5
  %170 = getelementptr inbounds %struct.b2BodyState, ptr %169, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %27, ptr align 4 %170, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #6
  %171 = load ptr, ptr %26, align 8, !tbaa !5
  %172 = getelementptr inbounds %struct.b2BodyState, ptr %171, i32 0, i32 1
  %173 = load float, ptr %172, align 4, !tbaa !47
  store float %173, ptr %28, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #6
  %174 = load ptr, ptr %26, align 8, !tbaa !5
  %175 = getelementptr inbounds %struct.b2BodyState, ptr %174, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %29, ptr align 4 %175, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #6
  %176 = load ptr, ptr %26, align 8, !tbaa !5
  %177 = getelementptr inbounds %struct.b2BodyState, ptr %176, i32 0, i32 3
  %178 = load ptr, ptr %22, align 8, !tbaa !5
  %179 = getelementptr inbounds %struct.b2BodyState, ptr %178, i32 0, i32 3
  %180 = load <2 x float>, ptr %177, align 4
  %181 = load <2 x float>, ptr %179, align 4
  %182 = call <2 x float> @b2Sub(<2 x float> %180, <2 x float> %181)
  store <2 x float> %182, ptr %30, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #6
  %183 = load ptr, ptr %17, align 8, !tbaa !5
  %184 = getelementptr inbounds %struct.b2ContactConstraint, ptr %183, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %31, ptr align 4 %184, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #6
  %185 = load <2 x float>, ptr %31, align 4
  %186 = call <2 x float> @b2RightPerp(<2 x float> %185)
  store <2 x float> %186, ptr %32, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #6
  %187 = load ptr, ptr %17, align 8, !tbaa !5
  %188 = getelementptr inbounds %struct.b2ContactConstraint, ptr %187, i32 0, i32 8
  %189 = load float, ptr %188, align 4, !tbaa !51
  store float %189, ptr %33, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 12, ptr %34) #6
  %190 = load ptr, ptr %17, align 8, !tbaa !5
  %191 = getelementptr inbounds %struct.b2ContactConstraint, ptr %190, i32 0, i32 14
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %34, ptr align 4 %191, i64 12, i1 false), !tbaa.struct !52
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #6
  %192 = load ptr, ptr %17, align 8, !tbaa !5
  %193 = getelementptr inbounds %struct.b2ContactConstraint, ptr %192, i32 0, i32 15
  %194 = load i32, ptr %193, align 4, !tbaa !53
  store i32 %194, ptr %35, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #6
  store float 0.000000e+00, ptr %36, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #6
  store i32 0, ptr %37, align 4, !tbaa !23
  br label %195

195:                                              ; preds = %333, %167
  %196 = load i32, ptr %37, align 4, !tbaa !23
  %197 = load i32, ptr %35, align 4, !tbaa !23
  %198 = icmp slt i32 %196, %197
  br i1 %198, label %200, label %199

199:                                              ; preds = %195
  store i32 5, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #6
  br label %336

200:                                              ; preds = %195
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #6
  %201 = load ptr, ptr %17, align 8, !tbaa !5
  %202 = getelementptr inbounds %struct.b2ContactConstraint, ptr %201, i32 0, i32 2
  %203 = getelementptr inbounds [2 x %struct.b2ContactConstraintPoint], ptr %202, i64 0, i64 0
  %204 = load i32, ptr %37, align 4, !tbaa !23
  %205 = sext i32 %204 to i64
  %206 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %203, i64 %205
  store ptr %206, ptr %38, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #6
  %207 = load ptr, ptr %38, align 8, !tbaa !5
  %208 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %207, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %39, ptr align 4 %208, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #6
  %209 = load ptr, ptr %38, align 8, !tbaa !5
  %210 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %209, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %40, ptr align 4 %210, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #6
  %211 = load <2 x float>, ptr %29, align 4
  %212 = load <2 x float>, ptr %40, align 4
  %213 = call <2 x float> @b2RotateVector(<2 x float> %211, <2 x float> %212)
  store <2 x float> %213, ptr %43, align 4
  %214 = load <2 x float>, ptr %25, align 4
  %215 = load <2 x float>, ptr %39, align 4
  %216 = call <2 x float> @b2RotateVector(<2 x float> %214, <2 x float> %215)
  store <2 x float> %216, ptr %44, align 4
  %217 = load <2 x float>, ptr %43, align 4
  %218 = load <2 x float>, ptr %44, align 4
  %219 = call <2 x float> @b2Sub(<2 x float> %217, <2 x float> %218)
  store <2 x float> %219, ptr %42, align 4
  %220 = load <2 x float>, ptr %30, align 4
  %221 = load <2 x float>, ptr %42, align 4
  %222 = call <2 x float> @b2Add(<2 x float> %220, <2 x float> %221)
  store <2 x float> %222, ptr %41, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #6
  %223 = load ptr, ptr %38, align 8, !tbaa !5
  %224 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %223, i32 0, i32 2
  %225 = load float, ptr %224, align 4, !tbaa !54
  %226 = load <2 x float>, ptr %41, align 4
  %227 = load <2 x float>, ptr %31, align 4
  %228 = call float @b2Dot(<2 x float> %226, <2 x float> %227)
  %229 = fadd float %225, %228
  store float %229, ptr %45, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %46) #6
  store float 0.000000e+00, ptr %46, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #6
  store float 1.000000e+00, ptr %47, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #6
  store float 0.000000e+00, ptr %48, align 4, !tbaa !28
  %230 = load float, ptr %45, align 4, !tbaa !28
  %231 = fcmp ogt float %230, 0.000000e+00
  br i1 %231, label %232, label %236

232:                                              ; preds = %200
  %233 = load float, ptr %45, align 4, !tbaa !28
  %234 = load float, ptr %12, align 4, !tbaa !28
  %235 = fmul float %233, %234
  store float %235, ptr %46, align 4, !tbaa !28
  br label %252

236:                                              ; preds = %200
  %237 = load i8, ptr %4, align 1, !tbaa !9, !range !56, !noundef !57
  %238 = trunc i8 %237 to i1
  br i1 %238, label %239, label %251

239:                                              ; preds = %236
  %240 = getelementptr inbounds %struct.b2Softness, ptr %34, i32 0, i32 0
  %241 = load float, ptr %240, align 4, !tbaa !58
  %242 = load float, ptr %45, align 4, !tbaa !28
  %243 = fmul float %241, %242
  %244 = load float, ptr %13, align 4, !tbaa !28
  %245 = fneg float %244
  %246 = call float @b2MaxFloat(float noundef %243, float noundef %245)
  store float %246, ptr %46, align 4, !tbaa !28
  %247 = getelementptr inbounds %struct.b2Softness, ptr %34, i32 0, i32 1
  %248 = load float, ptr %247, align 4, !tbaa !59
  store float %248, ptr %47, align 4, !tbaa !28
  %249 = getelementptr inbounds %struct.b2Softness, ptr %34, i32 0, i32 2
  %250 = load float, ptr %249, align 4, !tbaa !60
  store float %250, ptr %48, align 4, !tbaa !28
  br label %251

251:                                              ; preds = %239, %236
  br label %252

252:                                              ; preds = %251, %232
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #6
  %253 = load float, ptr %24, align 4, !tbaa !28
  %254 = load <2 x float>, ptr %39, align 4
  %255 = call <2 x float> @b2CrossSV(float noundef %253, <2 x float> %254)
  store <2 x float> %255, ptr %50, align 4
  %256 = load <2 x float>, ptr %23, align 4
  %257 = load <2 x float>, ptr %50, align 4
  %258 = call <2 x float> @b2Add(<2 x float> %256, <2 x float> %257)
  store <2 x float> %258, ptr %49, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #6
  %259 = load float, ptr %28, align 4, !tbaa !28
  %260 = load <2 x float>, ptr %40, align 4
  %261 = call <2 x float> @b2CrossSV(float noundef %259, <2 x float> %260)
  store <2 x float> %261, ptr %52, align 4
  %262 = load <2 x float>, ptr %27, align 4
  %263 = load <2 x float>, ptr %52, align 4
  %264 = call <2 x float> @b2Add(<2 x float> %262, <2 x float> %263)
  store <2 x float> %264, ptr %51, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %53) #6
  %265 = load <2 x float>, ptr %51, align 4
  %266 = load <2 x float>, ptr %49, align 4
  %267 = call <2 x float> @b2Sub(<2 x float> %265, <2 x float> %266)
  store <2 x float> %267, ptr %54, align 4
  %268 = load <2 x float>, ptr %54, align 4
  %269 = load <2 x float>, ptr %31, align 4
  %270 = call float @b2Dot(<2 x float> %268, <2 x float> %269)
  store float %270, ptr %53, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %55) #6
  %271 = load ptr, ptr %38, align 8, !tbaa !5
  %272 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %271, i32 0, i32 7
  %273 = load float, ptr %272, align 4, !tbaa !61
  %274 = fneg float %273
  %275 = load float, ptr %47, align 4, !tbaa !28
  %276 = fmul float %274, %275
  %277 = load float, ptr %53, align 4, !tbaa !28
  %278 = load float, ptr %46, align 4, !tbaa !28
  %279 = fadd float %277, %278
  %280 = load float, ptr %48, align 4, !tbaa !28
  %281 = load ptr, ptr %38, align 8, !tbaa !5
  %282 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %281, i32 0, i32 4
  %283 = load float, ptr %282, align 4, !tbaa !62
  %284 = fmul float %280, %283
  %285 = fneg float %284
  %286 = call float @llvm.fmuladd.f32(float %276, float %279, float %285)
  store float %286, ptr %55, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %56) #6
  %287 = load ptr, ptr %38, align 8, !tbaa !5
  %288 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %287, i32 0, i32 4
  %289 = load float, ptr %288, align 4, !tbaa !62
  %290 = load float, ptr %55, align 4, !tbaa !28
  %291 = fadd float %289, %290
  %292 = call float @b2MaxFloat(float noundef %291, float noundef 0.000000e+00)
  store float %292, ptr %56, align 4, !tbaa !28
  %293 = load float, ptr %56, align 4, !tbaa !28
  %294 = load ptr, ptr %38, align 8, !tbaa !5
  %295 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %294, i32 0, i32 4
  %296 = load float, ptr %295, align 4, !tbaa !62
  %297 = fsub float %293, %296
  store float %297, ptr %55, align 4, !tbaa !28
  %298 = load float, ptr %56, align 4, !tbaa !28
  %299 = load ptr, ptr %38, align 8, !tbaa !5
  %300 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %299, i32 0, i32 4
  store float %298, ptr %300, align 4, !tbaa !62
  %301 = load float, ptr %56, align 4, !tbaa !28
  %302 = load ptr, ptr %38, align 8, !tbaa !5
  %303 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %302, i32 0, i32 6
  %304 = load float, ptr %303, align 4, !tbaa !63
  %305 = fadd float %304, %301
  store float %305, ptr %303, align 4, !tbaa !63
  %306 = load float, ptr %56, align 4, !tbaa !28
  %307 = load float, ptr %36, align 4, !tbaa !28
  %308 = fadd float %307, %306
  store float %308, ptr %36, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #6
  %309 = load float, ptr %55, align 4, !tbaa !28
  %310 = load <2 x float>, ptr %31, align 4
  %311 = call <2 x float> @b2MulSV(float noundef %309, <2 x float> %310)
  store <2 x float> %311, ptr %57, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %58) #6
  %312 = load float, ptr %18, align 4, !tbaa !28
  %313 = load <2 x float>, ptr %23, align 4
  %314 = load <2 x float>, ptr %57, align 4
  %315 = call <2 x float> @b2MulSub(<2 x float> %313, float noundef %312, <2 x float> %314)
  store <2 x float> %315, ptr %58, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %23, ptr align 4 %58, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #6
  %316 = load float, ptr %19, align 4, !tbaa !28
  %317 = load <2 x float>, ptr %39, align 4
  %318 = load <2 x float>, ptr %57, align 4
  %319 = call float @b2Cross(<2 x float> %317, <2 x float> %318)
  %320 = load float, ptr %24, align 4, !tbaa !28
  %321 = fneg float %316
  %322 = call float @llvm.fmuladd.f32(float %321, float %319, float %320)
  store float %322, ptr %24, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr %59) #6
  %323 = load float, ptr %20, align 4, !tbaa !28
  %324 = load <2 x float>, ptr %27, align 4
  %325 = load <2 x float>, ptr %57, align 4
  %326 = call <2 x float> @b2MulAdd(<2 x float> %324, float noundef %323, <2 x float> %325)
  store <2 x float> %326, ptr %59, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %27, ptr align 4 %59, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #6
  %327 = load float, ptr %21, align 4, !tbaa !28
  %328 = load <2 x float>, ptr %40, align 4
  %329 = load <2 x float>, ptr %57, align 4
  %330 = call float @b2Cross(<2 x float> %328, <2 x float> %329)
  %331 = load float, ptr %28, align 4, !tbaa !28
  %332 = call float @llvm.fmuladd.f32(float %327, float %330, float %331)
  store float %332, ptr %28, align 4, !tbaa !28
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %56) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %55) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %53) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #6
  br label %333

333:                                              ; preds = %252
  %334 = load i32, ptr %37, align 4, !tbaa !23
  %335 = add nsw i32 %334, 1
  store i32 %335, ptr %37, align 4, !tbaa !23
  br label %195, !llvm.loop !64

336:                                              ; preds = %199
  call void @llvm.lifetime.start.p0(i64 4, ptr %60) #6
  store i32 0, ptr %60, align 4, !tbaa !23
  br label %337

337:                                              ; preds = %427, %336
  %338 = load i32, ptr %60, align 4, !tbaa !23
  %339 = load i32, ptr %35, align 4, !tbaa !23
  %340 = icmp slt i32 %338, %339
  br i1 %340, label %342, label %341

341:                                              ; preds = %337
  store i32 8, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %60) #6
  br label %430

342:                                              ; preds = %337
  call void @llvm.lifetime.start.p0(i64 8, ptr %61) #6
  %343 = load ptr, ptr %17, align 8, !tbaa !5
  %344 = getelementptr inbounds %struct.b2ContactConstraint, ptr %343, i32 0, i32 2
  %345 = getelementptr inbounds [2 x %struct.b2ContactConstraintPoint], ptr %344, i64 0, i64 0
  %346 = load i32, ptr %60, align 4, !tbaa !23
  %347 = sext i32 %346 to i64
  %348 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %345, i64 %347
  store ptr %348, ptr %61, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %62) #6
  %349 = load ptr, ptr %61, align 8, !tbaa !5
  %350 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %349, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %62, ptr align 4 %350, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %63) #6
  %351 = load ptr, ptr %61, align 8, !tbaa !5
  %352 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %351, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %63, ptr align 4 %352, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #6
  %353 = load float, ptr %28, align 4, !tbaa !28
  %354 = load <2 x float>, ptr %63, align 4
  %355 = call <2 x float> @b2CrossSV(float noundef %353, <2 x float> %354)
  store <2 x float> %355, ptr %65, align 4
  %356 = load <2 x float>, ptr %27, align 4
  %357 = load <2 x float>, ptr %65, align 4
  %358 = call <2 x float> @b2Add(<2 x float> %356, <2 x float> %357)
  store <2 x float> %358, ptr %64, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #6
  %359 = load float, ptr %24, align 4, !tbaa !28
  %360 = load <2 x float>, ptr %62, align 4
  %361 = call <2 x float> @b2CrossSV(float noundef %359, <2 x float> %360)
  store <2 x float> %361, ptr %67, align 4
  %362 = load <2 x float>, ptr %23, align 4
  %363 = load <2 x float>, ptr %67, align 4
  %364 = call <2 x float> @b2Add(<2 x float> %362, <2 x float> %363)
  store <2 x float> %364, ptr %66, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %68) #6
  %365 = load <2 x float>, ptr %64, align 4
  %366 = load <2 x float>, ptr %66, align 4
  %367 = call <2 x float> @b2Sub(<2 x float> %365, <2 x float> %366)
  store <2 x float> %367, ptr %69, align 4
  %368 = load <2 x float>, ptr %69, align 4
  %369 = load <2 x float>, ptr %32, align 4
  %370 = call float @b2Dot(<2 x float> %368, <2 x float> %369)
  %371 = load ptr, ptr %17, align 8, !tbaa !5
  %372 = getelementptr inbounds %struct.b2ContactConstraint, ptr %371, i32 0, i32 10
  %373 = load float, ptr %372, align 4, !tbaa !66
  %374 = fsub float %370, %373
  store float %374, ptr %68, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %70) #6
  %375 = load ptr, ptr %61, align 8, !tbaa !5
  %376 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %375, i32 0, i32 8
  %377 = load float, ptr %376, align 4, !tbaa !67
  %378 = load float, ptr %68, align 4, !tbaa !28
  %379 = fneg float %378
  %380 = fmul float %377, %379
  store float %380, ptr %70, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %71) #6
  %381 = load float, ptr %33, align 4, !tbaa !28
  %382 = load ptr, ptr %61, align 8, !tbaa !5
  %383 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %382, i32 0, i32 4
  %384 = load float, ptr %383, align 4, !tbaa !62
  %385 = fmul float %381, %384
  store float %385, ptr %71, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %72) #6
  %386 = load ptr, ptr %61, align 8, !tbaa !5
  %387 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %386, i32 0, i32 5
  %388 = load float, ptr %387, align 4, !tbaa !68
  %389 = load float, ptr %70, align 4, !tbaa !28
  %390 = fadd float %388, %389
  %391 = load float, ptr %71, align 4, !tbaa !28
  %392 = fneg float %391
  %393 = load float, ptr %71, align 4, !tbaa !28
  %394 = call float @b2ClampFloat(float noundef %390, float noundef %392, float noundef %393)
  store float %394, ptr %72, align 4, !tbaa !28
  %395 = load float, ptr %72, align 4, !tbaa !28
  %396 = load ptr, ptr %61, align 8, !tbaa !5
  %397 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %396, i32 0, i32 5
  %398 = load float, ptr %397, align 4, !tbaa !68
  %399 = fsub float %395, %398
  store float %399, ptr %70, align 4, !tbaa !28
  %400 = load float, ptr %72, align 4, !tbaa !28
  %401 = load ptr, ptr %61, align 8, !tbaa !5
  %402 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %401, i32 0, i32 5
  store float %400, ptr %402, align 4, !tbaa !68
  call void @llvm.lifetime.start.p0(i64 8, ptr %73) #6
  %403 = load float, ptr %70, align 4, !tbaa !28
  %404 = load <2 x float>, ptr %32, align 4
  %405 = call <2 x float> @b2MulSV(float noundef %403, <2 x float> %404)
  store <2 x float> %405, ptr %73, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %74) #6
  %406 = load float, ptr %18, align 4, !tbaa !28
  %407 = load <2 x float>, ptr %23, align 4
  %408 = load <2 x float>, ptr %73, align 4
  %409 = call <2 x float> @b2MulSub(<2 x float> %407, float noundef %406, <2 x float> %408)
  store <2 x float> %409, ptr %74, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %23, ptr align 4 %74, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.end.p0(i64 8, ptr %74) #6
  %410 = load float, ptr %19, align 4, !tbaa !28
  %411 = load <2 x float>, ptr %62, align 4
  %412 = load <2 x float>, ptr %73, align 4
  %413 = call float @b2Cross(<2 x float> %411, <2 x float> %412)
  %414 = load float, ptr %24, align 4, !tbaa !28
  %415 = fneg float %410
  %416 = call float @llvm.fmuladd.f32(float %415, float %413, float %414)
  store float %416, ptr %24, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr %75) #6
  %417 = load float, ptr %20, align 4, !tbaa !28
  %418 = load <2 x float>, ptr %27, align 4
  %419 = load <2 x float>, ptr %73, align 4
  %420 = call <2 x float> @b2MulAdd(<2 x float> %418, float noundef %417, <2 x float> %419)
  store <2 x float> %420, ptr %75, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %27, ptr align 4 %75, i64 8, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #6
  %421 = load float, ptr %21, align 4, !tbaa !28
  %422 = load <2 x float>, ptr %63, align 4
  %423 = load <2 x float>, ptr %73, align 4
  %424 = call float @b2Cross(<2 x float> %422, <2 x float> %423)
  %425 = load float, ptr %28, align 4, !tbaa !28
  %426 = call float @llvm.fmuladd.f32(float %421, float %424, float %425)
  store float %426, ptr %28, align 4, !tbaa !28
  call void @llvm.lifetime.end.p0(i64 8, ptr %73) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %72) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %71) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %70) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %68) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %62) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %61) #6
  br label %427

427:                                              ; preds = %342
  %428 = load i32, ptr %60, align 4, !tbaa !23
  %429 = add nsw i32 %428, 1
  store i32 %429, ptr %60, align 4, !tbaa !23
  br label %337, !llvm.loop !69

430:                                              ; preds = %341
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #6
  %431 = load ptr, ptr %17, align 8, !tbaa !5
  %432 = getelementptr inbounds %struct.b2ContactConstraint, ptr %431, i32 0, i32 12
  %433 = load float, ptr %432, align 4, !tbaa !70
  %434 = fneg float %433
  %435 = load float, ptr %28, align 4, !tbaa !28
  %436 = load float, ptr %24, align 4, !tbaa !28
  %437 = fsub float %435, %436
  %438 = fmul float %434, %437
  store float %438, ptr %76, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %77) #6
  %439 = load ptr, ptr %17, align 8, !tbaa !5
  %440 = getelementptr inbounds %struct.b2ContactConstraint, ptr %439, i32 0, i32 13
  %441 = load float, ptr %440, align 4, !tbaa !71
  store float %441, ptr %77, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %78) #6
  %442 = load ptr, ptr %17, align 8, !tbaa !5
  %443 = getelementptr inbounds %struct.b2ContactConstraint, ptr %442, i32 0, i32 11
  %444 = load float, ptr %443, align 4, !tbaa !72
  %445 = load float, ptr %36, align 4, !tbaa !28
  %446 = fmul float %444, %445
  store float %446, ptr %78, align 4, !tbaa !28
  %447 = load float, ptr %77, align 4, !tbaa !28
  %448 = load float, ptr %76, align 4, !tbaa !28
  %449 = fadd float %447, %448
  %450 = load float, ptr %78, align 4, !tbaa !28
  %451 = fneg float %450
  %452 = load float, ptr %78, align 4, !tbaa !28
  %453 = call float @b2ClampFloat(float noundef %449, float noundef %451, float noundef %452)
  %454 = load ptr, ptr %17, align 8, !tbaa !5
  %455 = getelementptr inbounds %struct.b2ContactConstraint, ptr %454, i32 0, i32 13
  store float %453, ptr %455, align 4, !tbaa !71
  %456 = load ptr, ptr %17, align 8, !tbaa !5
  %457 = getelementptr inbounds %struct.b2ContactConstraint, ptr %456, i32 0, i32 13
  %458 = load float, ptr %457, align 4, !tbaa !71
  %459 = load float, ptr %77, align 4, !tbaa !28
  %460 = fsub float %458, %459
  store float %460, ptr %76, align 4, !tbaa !28
  %461 = load float, ptr %19, align 4, !tbaa !28
  %462 = load float, ptr %76, align 4, !tbaa !28
  %463 = load float, ptr %24, align 4, !tbaa !28
  %464 = fneg float %461
  %465 = call float @llvm.fmuladd.f32(float %464, float %462, float %463)
  store float %465, ptr %24, align 4, !tbaa !28
  %466 = load float, ptr %21, align 4, !tbaa !28
  %467 = load float, ptr %76, align 4, !tbaa !28
  %468 = load float, ptr %28, align 4, !tbaa !28
  %469 = call float @llvm.fmuladd.f32(float %466, float %467, float %468)
  store float %469, ptr %28, align 4, !tbaa !28
  call void @llvm.lifetime.end.p0(i64 4, ptr %78) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %77) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #6
  %470 = load ptr, ptr %22, align 8, !tbaa !5
  %471 = getelementptr inbounds %struct.b2BodyState, ptr %470, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %471, ptr align 4 %23, i64 8, i1 false), !tbaa.struct !46
  %472 = load float, ptr %24, align 4, !tbaa !28
  %473 = load ptr, ptr %22, align 8, !tbaa !5
  %474 = getelementptr inbounds %struct.b2BodyState, ptr %473, i32 0, i32 1
  store float %472, ptr %474, align 4, !tbaa !47
  %475 = load ptr, ptr %26, align 8, !tbaa !5
  %476 = getelementptr inbounds %struct.b2BodyState, ptr %475, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %476, ptr align 4 %27, i64 8, i1 false), !tbaa.struct !46
  %477 = load float, ptr %28, align 4, !tbaa !28
  %478 = load ptr, ptr %26, align 8, !tbaa !5
  %479 = getelementptr inbounds %struct.b2BodyState, ptr %478, i32 0, i32 1
  store float %477, ptr %479, align 4, !tbaa !47
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %34) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  br label %480

480:                                              ; preds = %430
  %481 = load i32, ptr %15, align 4, !tbaa !23
  %482 = add nsw i32 %481, 1
  store i32 %482, ptr %15, align 4, !tbaa !23
  br label %112, !llvm.loop !73

483:                                              ; preds = %116
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #6
  ret void
}

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2MaxFloat(float noundef, float noundef) #4

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2ClampFloat(float noundef, float noundef, float noundef) #4

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { 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 #5 = { nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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, !6, i64 72}
!12 = !{!"b2StepContext", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !14, i64 16, !15, i64 20, !15, i64 32, !15, i64 44, !13, i64 56, !13, i64 60, !6, i64 64, !6, i64 72, !6, i64 80, !6, i64 88, !6, i64 96, !14, i64 104, !6, i64 112, !16, i64 120, !6, i64 128, !6, i64 136, !6, i64 144, !14, i64 152, !14, i64 156, !6, i64 160, !14, i64 168, !10, i64 172, !7, i64 173, !17, i64 240, !7, i64 244}
!13 = !{!"float", !7, i64 0}
!14 = !{!"int", !7, i64 0}
!15 = !{!"b2Softness", !13, i64 0, !13, i64 4, !13, i64 8}
!16 = !{!"b2AtomicInt", !14, i64 0}
!17 = !{!"b2AtomicU32", !14, i64 0}
!18 = !{!7, !7, i64 0}
!19 = !{!20, !14, i64 24}
!20 = !{!"b2GraphColor", !21, i64 0, !22, i64 16, !22, i64 32, !7, i64 48}
!21 = !{!"b2BitSet", !6, i64 0, !14, i64 8, !14, i64 12}
!22 = !{!"", !6, i64 0, !14, i64 8, !14, i64 12}
!23 = !{!14, !14, i64 0}
!24 = !{!12, !6, i64 64}
!25 = !{!26, !6, i64 16}
!26 = !{!"b2SolverSet", !22, i64 0, !22, i64 16, !22, i64 32, !22, i64 48, !22, i64 64, !14, i64 80}
!27 = !{!12, !13, i64 12}
!28 = !{!13, !13, i64 0}
!29 = !{!30, !13, i64 1568}
!30 = !{!"b2World", !31, i64 0, !32, i64 40, !34, i64 336, !35, i64 1008, !22, i64 1032, !35, i64 1048, !22, i64 1072, !35, i64 1088, !22, i64 1112, !35, i64 1128, !22, i64 1152, !35, i64 1168, !22, i64 1192, !35, i64 1208, !35, i64 1232, !22, i64 1256, !22, i64 1272, !22, i64 1288, !22, i64 1304, !22, i64 1320, !22, i64 1336, !22, i64 1352, !22, i64 1368, !7, i64 1384, !7, i64 1416, !14, i64 1448, !22, i64 1456, !21, i64 1472, !21, i64 1488, !21, i64 1504, !21, i64 1520, !36, i64 1536, !14, i64 1544, !37, i64 1548, !13, i64 1556, !13, i64 1560, !13, i64 1564, !13, i64 1568, !13, i64 1572, !13, i64 1576, !13, i64 1580, !13, i64 1584, !6, i64 1592, !6, i64 1600, !38, i64 1608, !39, 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, !13, i64 1784, !14, i64 1788, !14, i64 1792, !38, i64 1796, !10, i64 1798, !10, i64 1799, !10, i64 1800, !10, i64 1801, !10, i64 1802, !10, i64 1803}
!31 = !{!"b2ArenaAllocator", !6, i64 0, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !22, i64 24}
!32 = !{!"b2BroadPhase", !7, i64 0, !14, i64 216, !33, i64 224, !22, i64 240, !6, i64 256, !6, i64 264, !14, i64 272, !16, i64 276, !33, i64 280}
!33 = !{!"b2HashSet", !6, i64 0, !14, i64 8, !14, i64 12}
!34 = !{!"b2ConstraintGraph", !7, i64 0}
!35 = !{!"b2IdPool", !22, i64 0, !14, i64 16}
!36 = !{!"long", !7, i64 0}
!37 = !{!"b2Vec2", !13, i64 0, !13, i64 4}
!38 = !{!"short", !7, i64 0}
!39 = !{!"b2Profile", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28, !13, i64 32, !13, i64 36, !13, i64 40, !13, i64 44, !13, i64 48, !13, i64 52, !13, i64 56, !13, i64 60, !13, i64 64, !13, i64 68, !13, i64 72, !13, i64 76, !13, i64 80, !13, i64 84}
!40 = !{!41, !13, i64 104}
!41 = !{!"b2ContactConstraint", !14, i64 0, !14, i64 4, !7, i64 8, !37, i64 96, !13, i64 104, !13, i64 108, !13, i64 112, !13, i64 116, !13, i64 120, !13, i64 124, !13, i64 128, !13, i64 132, !13, i64 136, !13, i64 140, !15, i64 144, !14, i64 156}
!42 = !{!41, !13, i64 112}
!43 = !{!41, !13, i64 108}
!44 = !{!41, !13, i64 116}
!45 = !{!41, !14, i64 0}
!46 = !{i64 0, i64 4, !28, i64 4, i64 4, !28}
!47 = !{!48, !13, i64 8}
!48 = !{!"b2BodyState", !37, i64 0, !13, i64 8, !14, i64 12, !37, i64 16, !49, i64 24}
!49 = !{!"b2Rot", !13, i64 0, !13, i64 4}
!50 = !{!41, !14, i64 4}
!51 = !{!41, !13, i64 120}
!52 = !{i64 0, i64 4, !28, i64 4, i64 4, !28, i64 8, i64 4, !28}
!53 = !{!41, !14, i64 156}
!54 = !{!55, !13, i64 16}
!55 = !{!"b2ContactConstraintPoint", !37, i64 0, !37, i64 8, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28, !13, i64 32, !13, i64 36, !13, i64 40}
!56 = !{i8 0, i8 2}
!57 = !{}
!58 = !{!15, !13, i64 0}
!59 = !{!15, !13, i64 4}
!60 = !{!15, !13, i64 8}
!61 = !{!55, !13, i64 36}
!62 = !{!55, !13, i64 24}
!63 = !{!55, !13, i64 32}
!64 = distinct !{!64, !65}
!65 = !{!"llvm.loop.mustprogress"}
!66 = !{!41, !13, i64 128}
!67 = !{!55, !13, i64 40}
!68 = !{!55, !13, i64 28}
!69 = distinct !{!69, !65}
!70 = !{!41, !13, i64 136}
!71 = !{!41, !13, i64 140}
!72 = !{!41, !13, i64 132}
!73 = distinct !{!73, !65}


; 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 }
%struct.b2ContactConstraint = type { i32, i32, [2 x %struct.b2ContactConstraintPoint], %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, %struct.b2Softness, i32 }
%struct.b2ContactConstraintPoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, float, float }
%struct.b2Softness = type { float, float, float }

@__const.b2SolveOverflowContacts.dummyState = external hidden unnamed_addr constant %struct.b2BodyState, align 4

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

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2RightPerp(<2 x float>) local_unnamed_addr #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden float @b2Dot(<2 x float>, <2 x float>) local_unnamed_addr #1

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2Sub(<2 x float>, <2 x float>) local_unnamed_addr #1

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

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #2

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

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden ptr @b2SolverSetArray_Get(ptr noundef, i32 noundef) local_unnamed_addr #3

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

; Function Attrs: inlinehint nounwind uwtable
declare hidden <2 x float> @b2MulAdd(<2 x float>, float noundef, <2 x float>) local_unnamed_addr #1

; Function Attrs: nounwind uwtable
define dso_local void @b2SolveOverflowContacts(ptr nocapture noundef readonly %0, i1 noundef zeroext %1) local_unnamed_addr #4 {
  %.sroa.0 = alloca %struct.b2Vec2, align 8
  %.sroa.7214 = alloca %struct.b2Vec2, align 8
  %.sroa.9 = alloca %struct.b2Rot, align 8
  %3 = getelementptr inbounds i8, ptr %0, i64 72
  %4 = load ptr, ptr %3, align 8, !tbaa !5
  %5 = getelementptr inbounds i8, ptr %4, i64 664
  %6 = load ptr, ptr %5, align 8, !tbaa !16
  %7 = getelementptr inbounds i8, ptr %4, i64 640
  %8 = load i32, ptr %7, align 8, !tbaa !17
  %9 = getelementptr inbounds i8, ptr %0, i64 64
  %10 = load ptr, ptr %9, align 8, !tbaa !21
  %11 = getelementptr inbounds i8, ptr %10, i64 1072
  %12 = tail call ptr @b2SolverSetArray_Get(ptr noundef nonnull %11, i32 noundef 2)
  %13 = getelementptr inbounds i8, ptr %12, i64 16
  %14 = load ptr, ptr %13, align 8, !tbaa !22
  %15 = getelementptr inbounds i8, ptr %0, i64 12
  %16 = load float, ptr %15, align 4, !tbaa !24
  %17 = load ptr, ptr %9, align 8, !tbaa !21
  %18 = getelementptr inbounds i8, ptr %17, i64 1568
  %19 = load float, ptr %18, align 8, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %.sroa.0)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %.sroa.7214)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %.sroa.9)
  %20 = load i64, ptr @__const.b2SolveOverflowContacts.dummyState, align 4
  store i64 %20, ptr %.sroa.0, align 8
  %.sroa.5.0.copyload213 = load float, ptr getelementptr inbounds (i8, ptr @__const.b2SolveOverflowContacts.dummyState, i64 8), align 4
  %21 = load i64, ptr getelementptr inbounds (i8, ptr @__const.b2SolveOverflowContacts.dummyState, i64 16), align 4
  store i64 %21, ptr %.sroa.7214, align 8
  %22 = load i64, ptr getelementptr inbounds (i8, ptr @__const.b2SolveOverflowContacts.dummyState, i64 24), align 4
  store i64 %22, ptr %.sroa.9, align 8
  %23 = icmp sgt i32 %8, 0
  br i1 %23, label %.lr.ph247, label %._crit_edge248

.lr.ph247:                                        ; preds = %2
  %24 = fneg float %19
  %wide.trip.count266 = zext nneg i32 %8 to i64
  br label %25

._crit_edge248:                                   ; preds = %.cont, %2
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %.sroa.0)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %.sroa.7214)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %.sroa.9)
  ret void

25:                                               ; preds = %.lr.ph247, %.cont
  %indvars.iv263 = phi i64 [ 0, %.lr.ph247 ], [ %indvars.iv.next264, %.cont ]
  %.sroa.5.0244 = phi float [ %.sroa.5.0.copyload213, %.lr.ph247 ], [ %.sroa.5.2, %.cont ]
  %26 = getelementptr inbounds %struct.b2ContactConstraint, ptr %6, i64 %indvars.iv263
  %27 = getelementptr inbounds i8, ptr %26, i64 104
  %28 = load float, ptr %27, align 4, !tbaa !36
  %29 = getelementptr inbounds i8, ptr %26, i64 112
  %30 = load float, ptr %29, align 4, !tbaa !38
  %31 = getelementptr inbounds i8, ptr %26, i64 108
  %32 = load float, ptr %31, align 4, !tbaa !39
  %33 = getelementptr inbounds i8, ptr %26, i64 116
  %34 = load float, ptr %33, align 4, !tbaa !40
  %35 = load i32, ptr %26, align 4, !tbaa !41
  %36 = icmp eq i32 %35, -1
  %37 = sext i32 %35 to i64
  %38 = getelementptr inbounds %struct.b2BodyState, ptr %14, i64 %37
  %39 = select i1 %36, ptr %.sroa.0, ptr %38
  %.sroa.0123.0.copyload = load <2 x float>, ptr %39, align 4
  %.sroa.gep202 = getelementptr inbounds i8, ptr %38, i64 8
  br i1 %36, label %.cont220, label %.else222

.else222:                                         ; preds = %25
  %.else.val223 = load float, ptr %.sroa.gep202, align 4, !tbaa !42
  br label %.cont220

.cont220:                                         ; preds = %25, %.else222
  %40 = phi float [ %.sroa.5.0244, %25 ], [ %.else.val223, %.else222 ]
  %.sroa.gep199 = getelementptr inbounds i8, ptr %38, i64 24
  %.sroa.sel200 = select i1 %36, ptr %.sroa.9, ptr %.sroa.gep199
  %.sroa.0115.0.copyload = load <2 x float>, ptr %.sroa.sel200, align 4
  %41 = getelementptr inbounds i8, ptr %26, i64 4
  %42 = load i32, ptr %41, align 4, !tbaa !45
  %43 = icmp eq i32 %42, -1
  %44 = sext i32 %42 to i64
  %45 = getelementptr inbounds %struct.b2BodyState, ptr %14, i64 %44
  %46 = select i1 %43, ptr %.sroa.0, ptr %45
  %.sroa.0104.0.copyload = load <2 x float>, ptr %46, align 4
  %.sroa.gep211 = getelementptr inbounds i8, ptr %45, i64 8
  br i1 %43, label %.cont215, label %.else216

.else216:                                         ; preds = %.cont220
  %.else.val = load float, ptr %.sroa.gep211, align 4, !tbaa !42
  br label %.cont215

.cont215:                                         ; preds = %.cont220, %.else216
  %47 = phi float [ %.sroa.5.0244, %.cont220 ], [ %.else.val, %.else216 ]
  %.sroa.gep208 = getelementptr inbounds i8, ptr %45, i64 24
  %.sroa.sel209 = select i1 %43, ptr %.sroa.9, ptr %.sroa.gep208
  %.sroa.096.0.copyload = load <2 x float>, ptr %.sroa.sel209, align 4
  %.sroa.gep205 = getelementptr inbounds i8, ptr %45, i64 16
  %.sroa.sel206 = select i1 %43, ptr %.sroa.7214, ptr %.sroa.gep205
  %.sroa.gep197 = getelementptr inbounds i8, ptr %38, i64 16
  %.sroa.sel = select i1 %36, ptr %.sroa.7214, ptr %.sroa.gep197
  %48 = load <2 x float>, ptr %.sroa.sel206, align 4
  %49 = load <2 x float>, ptr %.sroa.sel, align 4
  %50 = tail call <2 x float> @b2Sub(<2 x float> %48, <2 x float> %49)
  %51 = getelementptr inbounds i8, ptr %26, i64 96
  %.sroa.091.0.copyload = load <2 x float>, ptr %51, align 4
  %52 = tail call <2 x float> @b2RightPerp(<2 x float> %.sroa.091.0.copyload)
  %53 = getelementptr inbounds i8, ptr %26, i64 120
  %54 = load float, ptr %53, align 4, !tbaa !46
  %55 = getelementptr inbounds i8, ptr %26, i64 144
  %.sroa.087.0.copyload = load float, ptr %55, align 4, !tbaa !47
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %26, i64 148
  %.sroa.4.0.copyload = load float, ptr %.sroa.4.0..sroa_idx, align 4, !tbaa !47
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %26, i64 152
  %.sroa.5.0.copyload = load float, ptr %.sroa.5.0..sroa_idx, align 4, !tbaa !47
  %56 = getelementptr inbounds i8, ptr %26, i64 156
  %57 = load i32, ptr %56, align 4, !tbaa !48
  %58 = icmp sgt i32 %57, 0
  br i1 %58, label %.lr.ph, label %.preheader.._crit_edge_crit_edge

.lr.ph:                                           ; preds = %.cont215
  %59 = getelementptr inbounds i8, ptr %26, i64 8
  %60 = fneg float %30
  %wide.trip.count = zext nneg i32 %57 to i64
  br label %64

.preheader:                                       ; preds = %82
  br i1 %58, label %.lr.ph239, label %.preheader.._crit_edge_crit_edge

.preheader.._crit_edge_crit_edge:                 ; preds = %.cont215, %.preheader
  %.sroa.0123.0.lcssa278 = phi <2 x float> [ %108, %.preheader ], [ %.sroa.0123.0.copyload, %.cont215 ]
  %.0183.lcssa277 = phi float [ %110, %.preheader ], [ %40, %.cont215 ]
  %.sroa.0104.0.lcssa276 = phi <2 x float> [ %111, %.preheader ], [ %.sroa.0104.0.copyload, %.cont215 ]
  %.0184.lcssa275 = phi float [ %113, %.preheader ], [ %47, %.cont215 ]
  %.0186.lcssa274 = phi float [ %106, %.preheader ], [ 0.000000e+00, %.cont215 ]
  %.pre = fneg float %30
  br label %._crit_edge

.lr.ph239:                                        ; preds = %.preheader
  %61 = getelementptr inbounds i8, ptr %26, i64 8
  %62 = getelementptr inbounds i8, ptr %26, i64 128
  %63 = fneg float %30
  %wide.trip.count261 = zext nneg i32 %57 to i64
  br label %129

64:                                               ; preds = %.lr.ph, %82
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %82 ]
  %.sroa.0123.0229 = phi <2 x float> [ %.sroa.0123.0.copyload, %.lr.ph ], [ %108, %82 ]
  %.0183228 = phi float [ %40, %.lr.ph ], [ %110, %82 ]
  %.sroa.0104.0227 = phi <2 x float> [ %.sroa.0104.0.copyload, %.lr.ph ], [ %111, %82 ]
  %.0184226 = phi float [ %47, %.lr.ph ], [ %113, %82 ]
  %.0186225 = phi float [ 0.000000e+00, %.lr.ph ], [ %106, %82 ]
  %65 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %59, i64 %indvars.iv
  %.sroa.068.0.copyload = load <2 x float>, ptr %65, align 4
  %66 = getelementptr inbounds i8, ptr %65, i64 8
  %.sroa.065.0.copyload = load <2 x float>, ptr %66, align 4
  %67 = tail call <2 x float> @b2RotateVector(<2 x float> %.sroa.096.0.copyload, <2 x float> %.sroa.065.0.copyload)
  %68 = tail call <2 x float> @b2RotateVector(<2 x float> %.sroa.0115.0.copyload, <2 x float> %.sroa.068.0.copyload)
  %69 = tail call <2 x float> @b2Sub(<2 x float> %67, <2 x float> %68)
  %70 = tail call <2 x float> @b2Add(<2 x float> %50, <2 x float> %69)
  %71 = getelementptr inbounds i8, ptr %65, i64 16
  %72 = load float, ptr %71, align 4, !tbaa !49
  %73 = tail call float @b2Dot(<2 x float> %70, <2 x float> %.sroa.091.0.copyload)
  %74 = fadd float %72, %73
  %75 = fcmp ogt float %74, 0.000000e+00
  br i1 %75, label %76, label %78

76:                                               ; preds = %64
  %77 = fmul float %16, %74
  br label %82

78:                                               ; preds = %64
  br i1 %1, label %79, label %82

79:                                               ; preds = %78
  %80 = fmul float %.sroa.087.0.copyload, %74
  %81 = tail call float @b2MaxFloat(float noundef %80, float noundef %24)
  br label %82

82:                                               ; preds = %78, %79, %76
  %.0190 = phi float [ 0.000000e+00, %76 ], [ %.sroa.5.0.copyload, %79 ], [ 0.000000e+00, %78 ]
  %.0189 = phi float [ 1.000000e+00, %76 ], [ %.sroa.4.0.copyload, %79 ], [ 1.000000e+00, %78 ]
  %.0188 = phi float [ %77, %76 ], [ %81, %79 ], [ 0.000000e+00, %78 ]
  %83 = tail call <2 x float> @b2CrossSV(float noundef %.0183228, <2 x float> %.sroa.068.0.copyload)
  %84 = tail call <2 x float> @b2Add(<2 x float> %.sroa.0123.0229, <2 x float> %83)
  %85 = tail call <2 x float> @b2CrossSV(float noundef %.0184226, <2 x float> %.sroa.065.0.copyload)
  %86 = tail call <2 x float> @b2Add(<2 x float> %.sroa.0104.0227, <2 x float> %85)
  %87 = tail call <2 x float> @b2Sub(<2 x float> %86, <2 x float> %84)
  %88 = tail call float @b2Dot(<2 x float> %87, <2 x float> %.sroa.091.0.copyload)
  %89 = getelementptr inbounds i8, ptr %65, i64 36
  %90 = load float, ptr %89, align 4, !tbaa !51
  %91 = fneg float %90
  %92 = fmul float %.0189, %91
  %93 = fadd float %.0188, %88
  %94 = getelementptr inbounds i8, ptr %65, i64 24
  %95 = load float, ptr %94, align 4, !tbaa !52
  %96 = fneg float %.0190
  %97 = fmul float %95, %96
  %98 = tail call float @llvm.fmuladd.f32(float %92, float %93, float %97)
  %99 = fadd float %95, %98
  %100 = tail call float @b2MaxFloat(float noundef %99, float noundef 0.000000e+00)
  %101 = load float, ptr %94, align 4, !tbaa !52
  %102 = fsub float %100, %101
  store float %100, ptr %94, align 4, !tbaa !52
  %103 = getelementptr inbounds i8, ptr %65, i64 32
  %104 = load float, ptr %103, align 4, !tbaa !53
  %105 = fadd float %100, %104
  store float %105, ptr %103, align 4, !tbaa !53
  %106 = fadd float %.0186225, %100
  %107 = tail call <2 x float> @b2MulSV(float noundef %102, <2 x float> %.sroa.091.0.copyload)
  %108 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0123.0229, float noundef %28, <2 x float> %107)
  %109 = tail call float @b2Cross(<2 x float> %.sroa.068.0.copyload, <2 x float> %107)
  %110 = tail call float @llvm.fmuladd.f32(float %60, float %109, float %.0183228)
  %111 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0104.0227, float noundef %32, <2 x float> %107)
  %112 = tail call float @b2Cross(<2 x float> %.sroa.065.0.copyload, <2 x float> %107)
  %113 = tail call float @llvm.fmuladd.f32(float %34, float %112, float %.0184226)
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %.preheader, label %64, !llvm.loop !54

._crit_edge:                                      ; preds = %129, %.preheader.._crit_edge_crit_edge
  %.0186.lcssa273 = phi float [ %.0186.lcssa274, %.preheader.._crit_edge_crit_edge ], [ %106, %129 ]
  %.pre-phi = phi float [ %.pre, %.preheader.._crit_edge_crit_edge ], [ %63, %129 ]
  %.1185.lcssa = phi float [ %.0184.lcssa275, %.preheader.._crit_edge_crit_edge ], [ %159, %129 ]
  %.sroa.0104.1.lcssa = phi <2 x float> [ %.sroa.0104.0.lcssa276, %.preheader.._crit_edge_crit_edge ], [ %157, %129 ]
  %.1.lcssa = phi float [ %.0183.lcssa277, %.preheader.._crit_edge_crit_edge ], [ %156, %129 ]
  %.sroa.0123.1.lcssa = phi <2 x float> [ %.sroa.0123.0.lcssa278, %.preheader.._crit_edge_crit_edge ], [ %154, %129 ]
  %114 = getelementptr inbounds i8, ptr %26, i64 136
  %115 = load float, ptr %114, align 4, !tbaa !56
  %116 = fsub float %.1185.lcssa, %.1.lcssa
  %117 = getelementptr inbounds i8, ptr %26, i64 140
  %118 = load float, ptr %117, align 4, !tbaa !57
  %119 = getelementptr inbounds i8, ptr %26, i64 132
  %120 = load float, ptr %119, align 4, !tbaa !58
  %121 = fmul float %.0186.lcssa273, %120
  %122 = fmul float %116, %115
  %123 = fsub float %118, %122
  %124 = fneg float %121
  %125 = tail call float @b2ClampFloat(float noundef %123, float noundef %124, float noundef %121)
  store float %125, ptr %117, align 4, !tbaa !57
  %126 = fsub float %125, %118
  %127 = tail call float @llvm.fmuladd.f32(float %.pre-phi, float %126, float %.1.lcssa)
  %128 = tail call float @llvm.fmuladd.f32(float %34, float %126, float %.1185.lcssa)
  store <2 x float> %.sroa.0123.1.lcssa, ptr %39, align 4
  br i1 %36, label %.cont217, label %.else219

.else219:                                         ; preds = %._crit_edge
  store float %127, ptr %.sroa.gep202, align 4, !tbaa !42
  br label %.cont217

.cont217:                                         ; preds = %._crit_edge, %.else219
  %.sroa.5.1 = phi float [ %.sroa.5.0244, %.else219 ], [ %127, %._crit_edge ]
  store <2 x float> %.sroa.0104.1.lcssa, ptr %46, align 4
  br i1 %43, label %.cont, label %.else

.else:                                            ; preds = %.cont217
  store float %128, ptr %.sroa.gep211, align 4, !tbaa !42
  br label %.cont

.cont:                                            ; preds = %.cont217, %.else
  %.sroa.5.2 = phi float [ %.sroa.5.1, %.else ], [ %128, %.cont217 ]
  %indvars.iv.next264 = add nuw nsw i64 %indvars.iv263, 1
  %exitcond267.not = icmp eq i64 %indvars.iv.next264, %wide.trip.count266
  br i1 %exitcond267.not, label %._crit_edge248, label %25, !llvm.loop !59

129:                                              ; preds = %.lr.ph239, %129
  %indvars.iv258 = phi i64 [ 0, %.lr.ph239 ], [ %indvars.iv.next259, %129 ]
  %.sroa.0123.1238 = phi <2 x float> [ %108, %.lr.ph239 ], [ %154, %129 ]
  %.1237 = phi float [ %110, %.lr.ph239 ], [ %156, %129 ]
  %.sroa.0104.1236 = phi <2 x float> [ %111, %.lr.ph239 ], [ %157, %129 ]
  %.1185235 = phi float [ %113, %.lr.ph239 ], [ %159, %129 ]
  %130 = getelementptr inbounds %struct.b2ContactConstraintPoint, ptr %61, i64 %indvars.iv258
  %.sroa.026.0.copyload = load <2 x float>, ptr %130, align 4
  %131 = getelementptr inbounds i8, ptr %130, i64 8
  %.sroa.024.0.copyload = load <2 x float>, ptr %131, align 4
  %132 = tail call <2 x float> @b2CrossSV(float noundef %.1185235, <2 x float> %.sroa.024.0.copyload)
  %133 = tail call <2 x float> @b2Add(<2 x float> %.sroa.0104.1236, <2 x float> %132)
  %134 = tail call <2 x float> @b2CrossSV(float noundef %.1237, <2 x float> %.sroa.026.0.copyload)
  %135 = tail call <2 x float> @b2Add(<2 x float> %.sroa.0123.1238, <2 x float> %134)
  %136 = tail call <2 x float> @b2Sub(<2 x float> %133, <2 x float> %135)
  %137 = tail call float @b2Dot(<2 x float> %136, <2 x float> %52)
  %138 = load float, ptr %62, align 4, !tbaa !60
  %139 = fsub float %137, %138
  %140 = getelementptr inbounds i8, ptr %130, i64 40
  %141 = load float, ptr %140, align 4, !tbaa !61
  %142 = getelementptr inbounds i8, ptr %130, i64 24
  %143 = load float, ptr %142, align 4, !tbaa !52
  %144 = fmul float %54, %143
  %145 = getelementptr inbounds i8, ptr %130, i64 28
  %146 = load float, ptr %145, align 4, !tbaa !62
  %147 = fmul float %139, %141
  %148 = fsub float %146, %147
  %149 = fneg float %144
  %150 = tail call float @b2ClampFloat(float noundef %148, float noundef %149, float noundef %144)
  %151 = load float, ptr %145, align 4, !tbaa !62
  %152 = fsub float %150, %151
  store float %150, ptr %145, align 4, !tbaa !62
  %153 = tail call <2 x float> @b2MulSV(float noundef %152, <2 x float> %52)
  %154 = tail call <2 x float> @b2MulSub(<2 x float> %.sroa.0123.1238, float noundef %28, <2 x float> %153)
  %155 = tail call float @b2Cross(<2 x float> %.sroa.026.0.copyload, <2 x float> %153)
  %156 = tail call float @llvm.fmuladd.f32(float %63, float %155, float %.1237)
  %157 = tail call <2 x float> @b2MulAdd(<2 x float> %.sroa.0104.1236, float noundef %32, <2 x float> %153)
  %158 = tail call float @b2Cross(<2 x float> %.sroa.024.0.copyload, <2 x float> %153)
  %159 = tail call float @llvm.fmuladd.f32(float %34, float %158, float %.1185235)
  %indvars.iv.next259 = add nuw nsw i64 %indvars.iv258, 1
  %exitcond262.not = icmp eq i64 %indvars.iv.next259, %wide.trip.count261
  br i1 %exitcond262.not, label %._crit_edge, label %129, !llvm.loop !63
}

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

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

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

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

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

!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, !12, i64 72}
!6 = !{!"b2StepContext", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !10, i64 16, !11, i64 20, !11, i64 32, !11, i64 44, !7, i64 56, !7, i64 60, !12, i64 64, !12, i64 72, !12, i64 80, !12, i64 88, !12, i64 96, !10, i64 104, !12, i64 112, !13, i64 120, !12, i64 128, !12, i64 136, !12, i64 144, !10, i64 152, !10, i64 156, !12, i64 160, !10, i64 168, !14, i64 172, !8, i64 173, !15, i64 240, !8, i64 244}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"int", !8, i64 0}
!11 = !{!"b2Softness", !7, i64 0, !7, i64 4, !7, i64 8}
!12 = !{!"any pointer", !8, i64 0}
!13 = !{!"b2AtomicInt", !10, i64 0}
!14 = !{!"_Bool", !8, i64 0}
!15 = !{!"b2AtomicU32", !10, i64 0}
!16 = !{!8, !8, i64 0}
!17 = !{!18, !10, i64 24}
!18 = !{!"b2GraphColor", !19, i64 0, !20, i64 16, !20, i64 32, !8, i64 48}
!19 = !{!"b2BitSet", !12, i64 0, !10, i64 8, !10, i64 12}
!20 = !{!"", !12, i64 0, !10, i64 8, !10, i64 12}
!21 = !{!6, !12, i64 64}
!22 = !{!23, !12, i64 16}
!23 = !{!"b2SolverSet", !20, i64 0, !20, i64 16, !20, i64 32, !20, i64 48, !20, i64 64, !10, i64 80}
!24 = !{!6, !7, i64 12}
!25 = !{!26, !7, i64 1568}
!26 = !{!"b2World", !27, i64 0, !28, i64 40, !30, i64 336, !31, i64 1008, !20, i64 1032, !31, i64 1048, !20, i64 1072, !31, i64 1088, !20, i64 1112, !31, i64 1128, !20, i64 1152, !31, i64 1168, !20, i64 1192, !31, i64 1208, !31, i64 1232, !20, i64 1256, !20, i64 1272, !20, i64 1288, !20, i64 1304, !20, i64 1320, !20, i64 1336, !20, i64 1352, !20, i64 1368, !8, i64 1384, !8, i64 1416, !10, i64 1448, !20, i64 1456, !19, i64 1472, !19, i64 1488, !19, i64 1504, !19, i64 1520, !32, i64 1536, !10, i64 1544, !33, 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, !12, i64 1592, !12, i64 1600, !34, i64 1608, !35, i64 1612, !12, i64 1704, !12, i64 1712, !12, i64 1720, !12, i64 1728, !10, i64 1736, !12, i64 1744, !12, i64 1752, !12, i64 1760, !12, i64 1768, !12, i64 1776, !7, i64 1784, !10, i64 1788, !10, i64 1792, !34, i64 1796, !14, i64 1798, !14, i64 1799, !14, i64 1800, !14, i64 1801, !14, i64 1802, !14, i64 1803}
!27 = !{!"b2ArenaAllocator", !12, i64 0, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !20, i64 24}
!28 = !{!"b2BroadPhase", !8, i64 0, !10, i64 216, !29, i64 224, !20, i64 240, !12, i64 256, !12, i64 264, !10, i64 272, !13, i64 276, !29, i64 280}
!29 = !{!"b2HashSet", !12, i64 0, !10, i64 8, !10, i64 12}
!30 = !{!"b2ConstraintGraph", !8, i64 0}
!31 = !{!"b2IdPool", !20, i64 0, !10, i64 16}
!32 = !{!"long", !8, i64 0}
!33 = !{!"b2Vec2", !7, i64 0, !7, i64 4}
!34 = !{!"short", !8, i64 0}
!35 = !{!"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}
!36 = !{!37, !7, i64 104}
!37 = !{!"b2ContactConstraint", !10, i64 0, !10, i64 4, !8, i64 8, !33, i64 96, !7, i64 104, !7, i64 108, !7, i64 112, !7, i64 116, !7, i64 120, !7, i64 124, !7, i64 128, !7, i64 132, !7, i64 136, !7, i64 140, !11, i64 144, !10, i64 156}
!38 = !{!37, !7, i64 112}
!39 = !{!37, !7, i64 108}
!40 = !{!37, !7, i64 116}
!41 = !{!37, !10, i64 0}
!42 = !{!43, !7, i64 8}
!43 = !{!"b2BodyState", !33, i64 0, !7, i64 8, !10, i64 12, !33, i64 16, !44, i64 24}
!44 = !{!"b2Rot", !7, i64 0, !7, i64 4}
!45 = !{!37, !10, i64 4}
!46 = !{!37, !7, i64 120}
!47 = !{!7, !7, i64 0}
!48 = !{!37, !10, i64 156}
!49 = !{!50, !7, i64 16}
!50 = !{!"b2ContactConstraintPoint", !33, i64 0, !33, i64 8, !7, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !7, i64 32, !7, i64 36, !7, i64 40}
!51 = !{!50, !7, i64 36}
!52 = !{!50, !7, i64 24}
!53 = !{!50, !7, i64 32}
!54 = distinct !{!54, !55}
!55 = !{!"llvm.loop.mustprogress"}
!56 = !{!37, !7, i64 136}
!57 = !{!37, !7, i64 140}
!58 = !{!37, !7, i64 132}
!59 = distinct !{!59, !55}
!60 = !{!37, !7, i64 128}
!61 = !{!50, !7, i64 40}
!62 = !{!50, !7, i64 28}
!63 = distinct !{!63, !55}


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