; LLVM IR from ClementineAccount/Albuquerque :: lib/bullet/include/Bullet3Dynamics/ConstraintSolver (b3PgsJacobiSolver)

; 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"

%class.b3Vector3 = type { %union.anon }
%union.anon = type { [4 x float] }
%class.b3PgsJacobiSolver = type { ptr, %class.b3AlignedObjectArray, %class.b3AlignedObjectArray.0, %class.b3AlignedObjectArray.0, %class.b3AlignedObjectArray.0, %class.b3AlignedObjectArray.0, %class.b3AlignedObjectArray.2, %class.b3AlignedObjectArray.2, %class.b3AlignedObjectArray.2, %class.b3AlignedObjectArray.4, %class.b3AlignedObjectArray.2, %class.b3AlignedObjectArray.2, %class.b3AlignedObjectArray.6, %class.b3AlignedObjectArray.6, i8, i32, i32, i64 }
%class.b3AlignedObjectArray = type <{ [4 x i8], i32, i32, [4 x i8], ptr, i8, [7 x i8] }>
%class.b3AlignedObjectArray.0 = type <{ [4 x i8], i32, i32, [4 x i8], ptr, i8, [7 x i8] }>
%class.b3AlignedObjectArray.4 = type <{ [4 x i8], i32, i32, [4 x i8], ptr, i8, [7 x i8] }>
%class.b3AlignedObjectArray.2 = type <{ [4 x i8], i32, i32, [4 x i8], ptr, i8, [7 x i8] }>
%class.b3AlignedObjectArray.6 = type <{ [4 x i8], i32, i32, [4 x i8], ptr, i8, [7 x i8] }>
%struct.b3SolverBody = type <{ %class.b3Transform, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %union.anon.8, [3 x i32], [12 x i8] }>
%class.b3Transform = type { %class.b3Matrix3x3, %class.b3Vector3 }
%class.b3Matrix3x3 = type { [3 x %class.b3Vector3] }
%union.anon.8 = type { ptr }
%struct.b3RigidBodyData = type { %class.b3Vector3, %class.b3Quaternion, %class.b3Vector3, %class.b3Vector3, i32, float, float, float }
%class.b3Quaternion = type { %class.b3QuadWord }
%class.b3QuadWord = type { %union.anon.10 }
%union.anon.10 = type { [4 x float] }
%struct.b3ContactPoint = type { %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, float, float, float, float, %class.b3Vector3, %class.b3Vector3, float, float, float, float, float, float, float, i8 }
%struct.b3InertiaData = type { %class.b3Matrix3x3, %class.b3Matrix3x3 }
%struct.b3SolverConstraint = type { %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, %class.b3Vector3, float, float, i32, i32, float, float, float, float, float, float, float, %union.anon.9, i32, i32, i32, i32, [8 x i8] }
%union.anon.9 = type { ptr }
%struct.b3ContactSolverInfoData = type { float, float, float, float, float, i32, float, float, float, float, float, i32, float, float, float, float, i32, i32, i32, float, float }

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), float noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16)) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef, float noundef, float noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN17b3PgsJacobiSolver16restitutionCurveEff(ptr noundef nonnull align 8 dereferenceable(448), float noundef, float noundef) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25), i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(16)) #4

; Function Attrs: mustprogress nounwind uwtable
declare hidden noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef) #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25), i32 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver22setupContactConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfoR9b3Vector3RfSD_SC_SC_(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(160) %3, i32 noundef %4, i32 noundef %5, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 4 dereferenceable(84) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef nonnull align 4 dereferenceable(4) %9, ptr noundef nonnull align 4 dereferenceable(4) %10, ptr noundef nonnull align 16 dereferenceable(16) %11, ptr noundef nonnull align 16 dereferenceable(16) %12) #7 align 2 {
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca ptr, align 8
  %21 = alloca ptr, align 8
  %22 = alloca ptr, align 8
  %23 = alloca ptr, align 8
  %24 = alloca ptr, align 8
  %25 = alloca ptr, align 8
  %26 = alloca ptr, align 8
  %27 = alloca ptr, align 8
  %28 = alloca %class.b3Vector3, align 16
  %29 = alloca ptr, align 8
  %30 = alloca %class.b3Vector3, align 16
  %31 = alloca ptr, align 8
  %32 = alloca ptr, align 8
  %33 = alloca ptr, align 8
  %34 = alloca ptr, align 8
  %35 = alloca %class.b3Vector3, align 16
  %36 = alloca %class.b3Vector3, align 16
  %37 = alloca %class.b3Vector3, align 16
  %38 = alloca %class.b3Vector3, align 16
  %39 = alloca %class.b3Vector3, align 16
  %40 = alloca %class.b3Vector3, align 16
  %41 = alloca %class.b3Vector3, align 16
  %42 = alloca float, align 4
  %43 = alloca %class.b3Vector3, align 16
  %44 = alloca float, align 4
  %45 = alloca float, align 4
  %46 = alloca %class.b3Vector3, align 16
  %47 = alloca %class.b3Vector3, align 16
  %48 = alloca %class.b3Vector3, align 16
  %49 = alloca float, align 4
  %50 = alloca float, align 4
  %51 = alloca float, align 4
  %52 = alloca %class.b3Vector3, align 16
  %53 = alloca float, align 4
  %54 = alloca float, align 4
  %55 = alloca %class.b3Vector3, align 16
  %56 = alloca %class.b3Vector3, align 16
  %57 = alloca %class.b3Vector3, align 16
  %58 = alloca %class.b3Vector3, align 16
  %59 = alloca %class.b3Vector3, align 16
  %60 = alloca %class.b3Vector3, align 16
  %61 = alloca %class.b3Vector3, align 16
  %62 = alloca %class.b3Vector3, align 16
  %63 = alloca float, align 4
  %64 = alloca %class.b3Vector3, align 16
  %65 = alloca %class.b3Vector3, align 16
  %66 = alloca float, align 4
  %67 = alloca %class.b3Vector3, align 16
  %68 = alloca %class.b3Vector3, align 16
  %69 = alloca float, align 4
  %70 = alloca float, align 4
  %71 = alloca float, align 4
  %72 = alloca float, align 4
  %73 = alloca float, align 4
  %74 = alloca float, align 4
  store ptr %0, ptr %14, align 8, !tbaa !5
  store ptr %1, ptr %15, align 8, !tbaa !5
  store ptr %2, ptr %16, align 8, !tbaa !5
  store ptr %3, ptr %17, align 8, !tbaa !5
  store i32 %4, ptr %18, align 4, !tbaa !9
  store i32 %5, ptr %19, align 4, !tbaa !9
  store ptr %6, ptr %20, align 8, !tbaa !5
  store ptr %7, ptr %21, align 8, !tbaa !5
  store ptr %8, ptr %22, align 8, !tbaa !5
  store ptr %9, ptr %23, align 8, !tbaa !5
  store ptr %10, ptr %24, align 8, !tbaa !5
  store ptr %11, ptr %25, align 8, !tbaa !5
  store ptr %12, ptr %26, align 8, !tbaa !5
  %75 = load ptr, ptr %14, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %28) #8
  %76 = load ptr, ptr %20, align 8, !tbaa !5
  %77 = call { <2 x float>, <2 x float> } @_ZN14b3ContactPoint19getPositionWorldOnAEv(ptr noundef nonnull align 16 dereferenceable(128) %76)
  %78 = getelementptr inbounds %class.b3Vector3, ptr %28, i32 0, i32 0
  %79 = getelementptr inbounds %union.anon, ptr %78, i32 0, i32 0
  %80 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %79, i32 0, i32 0
  %81 = extractvalue { <2 x float>, <2 x float> } %77, 0
  store <2 x float> %81, ptr %80, align 16
  %82 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %79, i32 0, i32 1
  %83 = extractvalue { <2 x float>, <2 x float> } %77, 1
  store <2 x float> %83, ptr %82, align 8
  store ptr %28, ptr %27, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #8
  %84 = load ptr, ptr %20, align 8, !tbaa !5
  %85 = call { <2 x float>, <2 x float> } @_ZN14b3ContactPoint19getPositionWorldOnBEv(ptr noundef nonnull align 16 dereferenceable(128) %84)
  %86 = getelementptr inbounds %class.b3Vector3, ptr %30, i32 0, i32 0
  %87 = getelementptr inbounds %union.anon, ptr %86, i32 0, i32 0
  %88 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %87, i32 0, i32 0
  %89 = extractvalue { <2 x float>, <2 x float> } %85, 0
  store <2 x float> %89, ptr %88, align 16
  %90 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %87, i32 0, i32 1
  %91 = extractvalue { <2 x float>, <2 x float> } %85, 1
  store <2 x float> %91, ptr %90, align 8
  store ptr %30, ptr %29, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #8
  %92 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %75, i32 0, i32 1
  %93 = load i32, ptr %18, align 4, !tbaa !9
  %94 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %92, i32 noundef %93)
  store ptr %94, ptr %31, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  %95 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %75, i32 0, i32 1
  %96 = load i32, ptr %19, align 4, !tbaa !9
  %97 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %95, i32 noundef %96)
  store ptr %97, ptr %32, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #8
  %98 = load ptr, ptr %15, align 8, !tbaa !5
  %99 = load ptr, ptr %31, align 8, !tbaa !5
  %100 = getelementptr inbounds %struct.b3SolverBody, ptr %99, i32 0, i32 10
  %101 = load i32, ptr %100, align 16, !tbaa !11
  %102 = sext i32 %101 to i64
  %103 = getelementptr inbounds %struct.b3RigidBodyData, ptr %98, i64 %102
  store ptr %103, ptr %33, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #8
  %104 = load ptr, ptr %15, align 8, !tbaa !5
  %105 = load ptr, ptr %32, align 8, !tbaa !5
  %106 = getelementptr inbounds %struct.b3SolverBody, ptr %105, i32 0, i32 10
  %107 = load i32, ptr %106, align 16, !tbaa !11
  %108 = sext i32 %107 to i64
  %109 = getelementptr inbounds %struct.b3RigidBodyData, ptr %104, i64 %108
  store ptr %109, ptr %34, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #8
  %110 = load ptr, ptr %27, align 8, !tbaa !5
  %111 = load ptr, ptr %31, align 8, !tbaa !5
  %112 = call noundef nonnull align 16 dereferenceable(64) ptr @_ZNK12b3SolverBody17getWorldTransformEv(ptr noundef nonnull align 16 dereferenceable(228) %111)
  %113 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %112)
  %114 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %110, ptr noundef nonnull align 16 dereferenceable(16) %113)
  %115 = getelementptr inbounds %class.b3Vector3, ptr %35, i32 0, i32 0
  %116 = getelementptr inbounds %union.anon, ptr %115, i32 0, i32 0
  %117 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %116, i32 0, i32 0
  %118 = extractvalue { <2 x float>, <2 x float> } %114, 0
  store <2 x float> %118, ptr %117, align 16
  %119 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %116, i32 0, i32 1
  %120 = extractvalue { <2 x float>, <2 x float> } %114, 1
  store <2 x float> %120, ptr %119, align 8
  %121 = load ptr, ptr %25, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %121, ptr align 16 %35, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %36) #8
  %122 = load ptr, ptr %29, align 8, !tbaa !5
  %123 = load ptr, ptr %32, align 8, !tbaa !5
  %124 = call noundef nonnull align 16 dereferenceable(64) ptr @_ZNK12b3SolverBody17getWorldTransformEv(ptr noundef nonnull align 16 dereferenceable(228) %123)
  %125 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %124)
  %126 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %122, ptr noundef nonnull align 16 dereferenceable(16) %125)
  %127 = getelementptr inbounds %class.b3Vector3, ptr %36, i32 0, i32 0
  %128 = getelementptr inbounds %union.anon, ptr %127, i32 0, i32 0
  %129 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %128, i32 0, i32 0
  %130 = extractvalue { <2 x float>, <2 x float> } %126, 0
  store <2 x float> %130, ptr %129, align 16
  %131 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %128, i32 0, i32 1
  %132 = extractvalue { <2 x float>, <2 x float> } %126, 1
  store <2 x float> %132, ptr %131, align 8
  %133 = load ptr, ptr %26, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %133, ptr align 16 %36, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #8
  %134 = load ptr, ptr %24, align 8, !tbaa !5
  store float 1.000000e+00, ptr %134, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #8
  %135 = load ptr, ptr %25, align 8, !tbaa !5
  %136 = load ptr, ptr %20, align 8, !tbaa !5
  %137 = getelementptr inbounds %struct.b3ContactPoint, ptr %136, i32 0, i32 2
  %138 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %135, ptr noundef nonnull align 16 dereferenceable(16) %137)
  %139 = getelementptr inbounds %class.b3Vector3, ptr %37, i32 0, i32 0
  %140 = getelementptr inbounds %union.anon, ptr %139, i32 0, i32 0
  %141 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %140, i32 0, i32 0
  %142 = extractvalue { <2 x float>, <2 x float> } %138, 0
  store <2 x float> %142, ptr %141, align 16
  %143 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %140, i32 0, i32 1
  %144 = extractvalue { <2 x float>, <2 x float> } %138, 1
  store <2 x float> %144, ptr %143, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #8
  %145 = load ptr, ptr %33, align 8, !tbaa !5
  %146 = icmp ne ptr %145, null
  br i1 %146, label %147, label %162

147:                                              ; preds = %13
  %148 = load ptr, ptr %16, align 8, !tbaa !5
  %149 = load ptr, ptr %31, align 8, !tbaa !5
  %150 = getelementptr inbounds %struct.b3SolverBody, ptr %149, i32 0, i32 10
  %151 = load i32, ptr %150, align 16, !tbaa !11
  %152 = sext i32 %151 to i64
  %153 = getelementptr inbounds %struct.b3InertiaData, ptr %148, i64 %152
  %154 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %153)
  %155 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %154, ptr noundef nonnull align 16 dereferenceable(16) %37)
  %156 = getelementptr inbounds %class.b3Vector3, ptr %38, i32 0, i32 0
  %157 = getelementptr inbounds %union.anon, ptr %156, i32 0, i32 0
  %158 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %157, i32 0, i32 0
  %159 = extractvalue { <2 x float>, <2 x float> } %155, 0
  store <2 x float> %159, ptr %158, align 16
  %160 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %157, i32 0, i32 1
  %161 = extractvalue { <2 x float>, <2 x float> } %155, 1
  store <2 x float> %161, ptr %160, align 8
  br label %170

162:                                              ; preds = %13
  %163 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %164 = getelementptr inbounds %class.b3Vector3, ptr %38, i32 0, i32 0
  %165 = getelementptr inbounds %union.anon, ptr %164, i32 0, i32 0
  %166 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %165, i32 0, i32 0
  %167 = extractvalue { <2 x float>, <2 x float> } %163, 0
  store <2 x float> %167, ptr %166, align 16
  %168 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %165, i32 0, i32 1
  %169 = extractvalue { <2 x float>, <2 x float> } %163, 1
  store <2 x float> %169, ptr %168, align 8
  br label %170

170:                                              ; preds = %162, %147
  %171 = load ptr, ptr %17, align 8, !tbaa !5
  %172 = getelementptr inbounds %struct.b3SolverConstraint, ptr %171, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %172, ptr align 16 %38, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #8
  %173 = load ptr, ptr %26, align 8, !tbaa !5
  %174 = load ptr, ptr %20, align 8, !tbaa !5
  %175 = getelementptr inbounds %struct.b3ContactPoint, ptr %174, i32 0, i32 2
  %176 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %173, ptr noundef nonnull align 16 dereferenceable(16) %175)
  %177 = getelementptr inbounds %class.b3Vector3, ptr %39, i32 0, i32 0
  %178 = getelementptr inbounds %union.anon, ptr %177, i32 0, i32 0
  %179 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %178, i32 0, i32 0
  %180 = extractvalue { <2 x float>, <2 x float> } %176, 0
  store <2 x float> %180, ptr %179, align 16
  %181 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %178, i32 0, i32 1
  %182 = extractvalue { <2 x float>, <2 x float> } %176, 1
  store <2 x float> %182, ptr %181, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #8
  %183 = load ptr, ptr %34, align 8, !tbaa !5
  %184 = icmp ne ptr %183, null
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #8
  br i1 %184, label %185, label %207

185:                                              ; preds = %170
  %186 = load ptr, ptr %16, align 8, !tbaa !5
  %187 = load ptr, ptr %32, align 8, !tbaa !5
  %188 = getelementptr inbounds %struct.b3SolverBody, ptr %187, i32 0, i32 10
  %189 = load i32, ptr %188, align 16, !tbaa !11
  %190 = sext i32 %189 to i64
  %191 = getelementptr inbounds %struct.b3InertiaData, ptr %186, i64 %190
  %192 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %191)
  %193 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %39)
  %194 = getelementptr inbounds %class.b3Vector3, ptr %41, i32 0, i32 0
  %195 = getelementptr inbounds %union.anon, ptr %194, i32 0, i32 0
  %196 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %195, i32 0, i32 0
  %197 = extractvalue { <2 x float>, <2 x float> } %193, 0
  store <2 x float> %197, ptr %196, align 16
  %198 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %195, i32 0, i32 1
  %199 = extractvalue { <2 x float>, <2 x float> } %193, 1
  store <2 x float> %199, ptr %198, align 8
  %200 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %192, ptr noundef nonnull align 16 dereferenceable(16) %41)
  %201 = getelementptr inbounds %class.b3Vector3, ptr %40, i32 0, i32 0
  %202 = getelementptr inbounds %union.anon, ptr %201, i32 0, i32 0
  %203 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %202, i32 0, i32 0
  %204 = extractvalue { <2 x float>, <2 x float> } %200, 0
  store <2 x float> %204, ptr %203, align 16
  %205 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %202, i32 0, i32 1
  %206 = extractvalue { <2 x float>, <2 x float> } %200, 1
  store <2 x float> %206, ptr %205, align 8
  br label %215

207:                                              ; preds = %170
  %208 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %209 = getelementptr inbounds %class.b3Vector3, ptr %40, i32 0, i32 0
  %210 = getelementptr inbounds %union.anon, ptr %209, i32 0, i32 0
  %211 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %210, i32 0, i32 0
  %212 = extractvalue { <2 x float>, <2 x float> } %208, 0
  store <2 x float> %212, ptr %211, align 16
  %213 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %210, i32 0, i32 1
  %214 = extractvalue { <2 x float>, <2 x float> } %208, 1
  store <2 x float> %214, ptr %213, align 8
  br label %215

215:                                              ; preds = %207, %185
  %216 = load ptr, ptr %17, align 8, !tbaa !5
  %217 = getelementptr inbounds %struct.b3SolverConstraint, ptr %216, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %217, ptr align 16 %40, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %43) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #8
  store float 0.000000e+00, ptr %44, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #8
  store float 0.000000e+00, ptr %45, align 4, !tbaa !13
  %218 = load ptr, ptr %33, align 8, !tbaa !5
  %219 = icmp ne ptr %218, null
  br i1 %219, label %220, label %238

220:                                              ; preds = %215
  call void @llvm.lifetime.start.p0(i64 16, ptr %46) #8
  %221 = load ptr, ptr %17, align 8, !tbaa !5
  %222 = getelementptr inbounds %struct.b3SolverConstraint, ptr %221, i32 0, i32 3
  %223 = load ptr, ptr %25, align 8, !tbaa !5
  %224 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %222, ptr noundef nonnull align 16 dereferenceable(16) %223)
  %225 = getelementptr inbounds %class.b3Vector3, ptr %46, i32 0, i32 0
  %226 = getelementptr inbounds %union.anon, ptr %225, i32 0, i32 0
  %227 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %226, i32 0, i32 0
  %228 = extractvalue { <2 x float>, <2 x float> } %224, 0
  store <2 x float> %228, ptr %227, align 16
  %229 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %226, i32 0, i32 1
  %230 = extractvalue { <2 x float>, <2 x float> } %224, 1
  store <2 x float> %230, ptr %229, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %43, ptr align 16 %46, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %46) #8
  %231 = load ptr, ptr %33, align 8, !tbaa !5
  %232 = getelementptr inbounds %struct.b3RigidBodyData, ptr %231, i32 0, i32 5
  %233 = load float, ptr %232, align 4, !tbaa !15
  %234 = load ptr, ptr %20, align 8, !tbaa !5
  %235 = getelementptr inbounds %struct.b3ContactPoint, ptr %234, i32 0, i32 2
  %236 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %235, ptr noundef nonnull align 16 dereferenceable(16) %43)
  %237 = fadd float %233, %236
  store float %237, ptr %44, align 4, !tbaa !13
  br label %238

238:                                              ; preds = %220, %215
  %239 = load ptr, ptr %34, align 8, !tbaa !5
  %240 = icmp ne ptr %239, null
  br i1 %240, label %241, label %266

241:                                              ; preds = %238
  call void @llvm.lifetime.start.p0(i64 16, ptr %47) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %48) #8
  %242 = load ptr, ptr %17, align 8, !tbaa !5
  %243 = getelementptr inbounds %struct.b3SolverConstraint, ptr %242, i32 0, i32 4
  %244 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %243)
  %245 = getelementptr inbounds %class.b3Vector3, ptr %48, i32 0, i32 0
  %246 = getelementptr inbounds %union.anon, ptr %245, i32 0, i32 0
  %247 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %246, i32 0, i32 0
  %248 = extractvalue { <2 x float>, <2 x float> } %244, 0
  store <2 x float> %248, ptr %247, align 16
  %249 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %246, i32 0, i32 1
  %250 = extractvalue { <2 x float>, <2 x float> } %244, 1
  store <2 x float> %250, ptr %249, align 8
  %251 = load ptr, ptr %26, align 8, !tbaa !5
  %252 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %48, ptr noundef nonnull align 16 dereferenceable(16) %251)
  %253 = getelementptr inbounds %class.b3Vector3, ptr %47, i32 0, i32 0
  %254 = getelementptr inbounds %union.anon, ptr %253, i32 0, i32 0
  %255 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %254, i32 0, i32 0
  %256 = extractvalue { <2 x float>, <2 x float> } %252, 0
  store <2 x float> %256, ptr %255, align 16
  %257 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %254, i32 0, i32 1
  %258 = extractvalue { <2 x float>, <2 x float> } %252, 1
  store <2 x float> %258, ptr %257, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %43, ptr align 16 %47, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #8
  %259 = load ptr, ptr %34, align 8, !tbaa !5
  %260 = getelementptr inbounds %struct.b3RigidBodyData, ptr %259, i32 0, i32 5
  %261 = load float, ptr %260, align 4, !tbaa !15
  %262 = load ptr, ptr %20, align 8, !tbaa !5
  %263 = getelementptr inbounds %struct.b3ContactPoint, ptr %262, i32 0, i32 2
  %264 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %263, ptr noundef nonnull align 16 dereferenceable(16) %43)
  %265 = fadd float %261, %264
  store float %265, ptr %45, align 4, !tbaa !13
  br label %266

266:                                              ; preds = %241, %238
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #8
  %267 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %75, i32 0, i32 14
  %268 = load i8, ptr %267, align 8, !tbaa !20, !range !34, !noundef !35
  %269 = trunc i8 %268 to i1
  br i1 %269, label %270, label %277

270:                                              ; preds = %266
  %271 = load ptr, ptr %24, align 8, !tbaa !5
  %272 = load float, ptr %271, align 4, !tbaa !13
  %273 = load float, ptr %44, align 4, !tbaa !13
  %274 = load float, ptr %45, align 4, !tbaa !13
  %275 = fadd float %273, %274
  %276 = fdiv float %272, %275
  store float %276, ptr %49, align 4, !tbaa !13
  store float %276, ptr %42, align 4, !tbaa !13
  br label %323

277:                                              ; preds = %266
  %278 = load ptr, ptr %24, align 8, !tbaa !5
  %279 = load float, ptr %278, align 4, !tbaa !13
  %280 = load float, ptr %44, align 4, !tbaa !13
  %281 = load float, ptr %45, align 4, !tbaa !13
  %282 = fadd float %280, %281
  %283 = fdiv float %279, %282
  store float %283, ptr %49, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #8
  %284 = load ptr, ptr %33, align 8, !tbaa !5
  %285 = getelementptr inbounds %struct.b3RigidBodyData, ptr %284, i32 0, i32 5
  %286 = load float, ptr %285, align 4, !tbaa !15
  %287 = fcmp une float %286, 0.000000e+00
  br i1 %287, label %288, label %296

288:                                              ; preds = %277
  %289 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %75, i32 0, i32 10
  %290 = load ptr, ptr %31, align 8, !tbaa !5
  %291 = getelementptr inbounds %struct.b3SolverBody, ptr %290, i32 0, i32 10
  %292 = load i32, ptr %291, align 16, !tbaa !11
  %293 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25) %289, i32 noundef %292)
  %294 = load i32, ptr %293, align 4, !tbaa !9
  %295 = sitofp i32 %294 to float
  br label %297

296:                                              ; preds = %277
  br label %297

297:                                              ; preds = %296, %288
  %298 = phi float [ %295, %288 ], [ 1.000000e+00, %296 ]
  store float %298, ptr %50, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %51) #8
  %299 = load ptr, ptr %34, align 8, !tbaa !5
  %300 = getelementptr inbounds %struct.b3RigidBodyData, ptr %299, i32 0, i32 5
  %301 = load float, ptr %300, align 4, !tbaa !15
  %302 = fcmp une float %301, 0.000000e+00
  br i1 %302, label %303, label %311

303:                                              ; preds = %297
  %304 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %75, i32 0, i32 10
  %305 = load ptr, ptr %32, align 8, !tbaa !5
  %306 = getelementptr inbounds %struct.b3SolverBody, ptr %305, i32 0, i32 10
  %307 = load i32, ptr %306, align 16, !tbaa !11
  %308 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25) %304, i32 noundef %307)
  %309 = load i32, ptr %308, align 4, !tbaa !9
  %310 = sitofp i32 %309 to float
  br label %312

311:                                              ; preds = %297
  br label %312

312:                                              ; preds = %311, %303
  %313 = phi float [ %310, %303 ], [ 1.000000e+00, %311 ]
  store float %313, ptr %51, align 4, !tbaa !13
  %314 = load ptr, ptr %24, align 8, !tbaa !5
  %315 = load float, ptr %314, align 4, !tbaa !13
  %316 = load float, ptr %44, align 4, !tbaa !13
  %317 = load float, ptr %50, align 4, !tbaa !13
  %318 = load float, ptr %45, align 4, !tbaa !13
  %319 = load float, ptr %51, align 4, !tbaa !13
  %320 = fmul float %318, %319
  %321 = call float @llvm.fmuladd.f32(float %316, float %317, float %320)
  %322 = fdiv float %315, %321
  store float %322, ptr %42, align 4, !tbaa !13
  call void @llvm.lifetime.end.p0(i64 4, ptr %51) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #8
  br label %323

323:                                              ; preds = %312, %270
  %324 = load float, ptr %49, align 4, !tbaa !13
  %325 = load ptr, ptr %17, align 8, !tbaa !5
  %326 = getelementptr inbounds %struct.b3SolverConstraint, ptr %325, i32 0, i32 10
  store float %324, ptr %326, align 4, !tbaa !36
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #8
  %327 = load ptr, ptr %20, align 8, !tbaa !5
  %328 = getelementptr inbounds %struct.b3ContactPoint, ptr %327, i32 0, i32 2
  %329 = load ptr, ptr %17, align 8, !tbaa !5
  %330 = getelementptr inbounds %struct.b3SolverConstraint, ptr %329, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %330, ptr align 16 %328, i64 16, i1 false), !tbaa.struct !12
  %331 = load ptr, ptr %17, align 8, !tbaa !5
  %332 = getelementptr inbounds %struct.b3SolverConstraint, ptr %331, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %332, ptr align 16 %37, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #8
  %333 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %39)
  %334 = getelementptr inbounds %class.b3Vector3, ptr %52, i32 0, i32 0
  %335 = getelementptr inbounds %union.anon, ptr %334, i32 0, i32 0
  %336 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %335, i32 0, i32 0
  %337 = extractvalue { <2 x float>, <2 x float> } %333, 0
  store <2 x float> %337, ptr %336, align 16
  %338 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %335, i32 0, i32 1
  %339 = extractvalue { <2 x float>, <2 x float> } %333, 1
  store <2 x float> %339, ptr %338, align 8
  %340 = load ptr, ptr %17, align 8, !tbaa !5
  %341 = getelementptr inbounds %struct.b3SolverConstraint, ptr %340, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %341, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %53) #8
  store float 0.000000e+00, ptr %53, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %54) #8
  %342 = load ptr, ptr %20, align 8, !tbaa !5
  %343 = call noundef float @_ZN14b3ContactPoint11getDistanceEv(ptr noundef nonnull align 16 dereferenceable(128) %342)
  %344 = load ptr, ptr %21, align 8, !tbaa !5
  %345 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %344, i32 0, i32 14
  %346 = load float, ptr %345, align 4, !tbaa !38
  %347 = fadd float %343, %346
  store float %347, ptr %54, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %55) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %56) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %57) #8
  %348 = load ptr, ptr %33, align 8, !tbaa !5
  %349 = icmp ne ptr %348, null
  br i1 %349, label %350, label %360

350:                                              ; preds = %323
  %351 = load ptr, ptr %33, align 8, !tbaa !5
  %352 = load ptr, ptr %25, align 8, !tbaa !5
  %353 = call { <2 x float>, <2 x float> } @_ZL23getVelocityInLocalPointP15b3RigidBodyDataRK9b3Vector3(ptr noundef %351, ptr noundef nonnull align 16 dereferenceable(16) %352)
  %354 = getelementptr inbounds %class.b3Vector3, ptr %57, i32 0, i32 0
  %355 = getelementptr inbounds %union.anon, ptr %354, i32 0, i32 0
  %356 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %355, i32 0, i32 0
  %357 = extractvalue { <2 x float>, <2 x float> } %353, 0
  store <2 x float> %357, ptr %356, align 16
  %358 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %355, i32 0, i32 1
  %359 = extractvalue { <2 x float>, <2 x float> } %353, 1
  store <2 x float> %359, ptr %358, align 8
  br label %368

360:                                              ; preds = %323
  %361 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %362 = getelementptr inbounds %class.b3Vector3, ptr %57, i32 0, i32 0
  %363 = getelementptr inbounds %union.anon, ptr %362, i32 0, i32 0
  %364 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %363, i32 0, i32 0
  %365 = extractvalue { <2 x float>, <2 x float> } %361, 0
  store <2 x float> %365, ptr %364, align 16
  %366 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %363, i32 0, i32 1
  %367 = extractvalue { <2 x float>, <2 x float> } %361, 1
  store <2 x float> %367, ptr %366, align 8
  br label %368

368:                                              ; preds = %360, %350
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %55, ptr align 16 %57, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %57) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %58) #8
  %369 = load ptr, ptr %34, align 8, !tbaa !5
  %370 = icmp ne ptr %369, null
  br i1 %370, label %371, label %381

371:                                              ; preds = %368
  %372 = load ptr, ptr %34, align 8, !tbaa !5
  %373 = load ptr, ptr %26, align 8, !tbaa !5
  %374 = call { <2 x float>, <2 x float> } @_ZL23getVelocityInLocalPointP15b3RigidBodyDataRK9b3Vector3(ptr noundef %372, ptr noundef nonnull align 16 dereferenceable(16) %373)
  %375 = getelementptr inbounds %class.b3Vector3, ptr %58, i32 0, i32 0
  %376 = getelementptr inbounds %union.anon, ptr %375, i32 0, i32 0
  %377 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %376, i32 0, i32 0
  %378 = extractvalue { <2 x float>, <2 x float> } %374, 0
  store <2 x float> %378, ptr %377, align 16
  %379 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %376, i32 0, i32 1
  %380 = extractvalue { <2 x float>, <2 x float> } %374, 1
  store <2 x float> %380, ptr %379, align 8
  br label %389

381:                                              ; preds = %368
  %382 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %383 = getelementptr inbounds %class.b3Vector3, ptr %58, i32 0, i32 0
  %384 = getelementptr inbounds %union.anon, ptr %383, i32 0, i32 0
  %385 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %384, i32 0, i32 0
  %386 = extractvalue { <2 x float>, <2 x float> } %382, 0
  store <2 x float> %386, ptr %385, align 16
  %387 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %384, i32 0, i32 1
  %388 = extractvalue { <2 x float>, <2 x float> } %382, 1
  store <2 x float> %388, ptr %387, align 8
  br label %389

389:                                              ; preds = %381, %371
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %56, ptr align 16 %58, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %58) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %59) #8
  %390 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %55, ptr noundef nonnull align 16 dereferenceable(16) %56)
  %391 = getelementptr inbounds %class.b3Vector3, ptr %59, i32 0, i32 0
  %392 = getelementptr inbounds %union.anon, ptr %391, i32 0, i32 0
  %393 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %392, i32 0, i32 0
  %394 = extractvalue { <2 x float>, <2 x float> } %390, 0
  store <2 x float> %394, ptr %393, align 16
  %395 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %392, i32 0, i32 1
  %396 = extractvalue { <2 x float>, <2 x float> } %390, 1
  store <2 x float> %396, ptr %395, align 8
  %397 = load ptr, ptr %22, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %397, ptr align 16 %59, i64 16, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 16, ptr %59) #8
  %398 = load ptr, ptr %20, align 8, !tbaa !5
  %399 = getelementptr inbounds %struct.b3ContactPoint, ptr %398, i32 0, i32 2
  %400 = load ptr, ptr %22, align 8, !tbaa !5
  %401 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %399, ptr noundef nonnull align 16 dereferenceable(16) %400)
  %402 = load ptr, ptr %23, align 8, !tbaa !5
  store float %401, ptr %402, align 4, !tbaa !13
  %403 = load ptr, ptr %20, align 8, !tbaa !5
  %404 = getelementptr inbounds %struct.b3ContactPoint, ptr %403, i32 0, i32 6
  %405 = load float, ptr %404, align 4, !tbaa !40
  %406 = load ptr, ptr %17, align 8, !tbaa !5
  %407 = getelementptr inbounds %struct.b3SolverConstraint, ptr %406, i32 0, i32 9
  store float %405, ptr %407, align 16, !tbaa !42
  %408 = load ptr, ptr %23, align 8, !tbaa !5
  %409 = load float, ptr %408, align 4, !tbaa !13
  %410 = load ptr, ptr %20, align 8, !tbaa !5
  %411 = getelementptr inbounds %struct.b3ContactPoint, ptr %410, i32 0, i32 5
  %412 = load float, ptr %411, align 8, !tbaa !43
  %413 = call noundef float @_ZN17b3PgsJacobiSolver16restitutionCurveEff(ptr noundef nonnull align 8 dereferenceable(448) %75, float noundef %409, float noundef %412)
  store float %413, ptr %53, align 4, !tbaa !13
  %414 = load float, ptr %53, align 4, !tbaa !13
  %415 = fcmp ole float %414, 0.000000e+00
  br i1 %415, label %416, label %417

416:                                              ; preds = %389
  store float 0.000000e+00, ptr %53, align 4, !tbaa !13
  br label %417

417:                                              ; preds = %416, %389
  call void @llvm.lifetime.end.p0(i64 16, ptr %56) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %55) #8
  %418 = load ptr, ptr %21, align 8, !tbaa !5
  %419 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %418, i32 0, i32 16
  %420 = load i32, ptr %419, align 4, !tbaa !44
  %421 = and i32 %420, 4
  %422 = icmp ne i32 %421, 0
  br i1 %422, label %423, label %483

423:                                              ; preds = %417
  %424 = load ptr, ptr %20, align 8, !tbaa !5
  %425 = getelementptr inbounds %struct.b3ContactPoint, ptr %424, i32 0, i32 3
  %426 = load float, ptr %425, align 16, !tbaa !45
  %427 = load ptr, ptr %21, align 8, !tbaa !5
  %428 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %427, i32 0, i32 15
  %429 = load float, ptr %428, align 4, !tbaa !46
  %430 = fmul float %426, %429
  %431 = load ptr, ptr %17, align 8, !tbaa !5
  %432 = getelementptr inbounds %struct.b3SolverConstraint, ptr %431, i32 0, i32 6
  store float %430, ptr %432, align 4, !tbaa !47
  %433 = load ptr, ptr %33, align 8, !tbaa !5
  %434 = icmp ne ptr %433, null
  br i1 %434, label %435, label %453

435:                                              ; preds = %423
  %436 = load ptr, ptr %31, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %60) #8
  %437 = load ptr, ptr %17, align 8, !tbaa !5
  %438 = getelementptr inbounds %struct.b3SolverConstraint, ptr %437, i32 0, i32 1
  %439 = load ptr, ptr %31, align 8, !tbaa !5
  %440 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228) %439)
  %441 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %438, ptr noundef nonnull align 16 dereferenceable(16) %440)
  %442 = getelementptr inbounds %class.b3Vector3, ptr %60, i32 0, i32 0
  %443 = getelementptr inbounds %union.anon, ptr %442, i32 0, i32 0
  %444 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %443, i32 0, i32 0
  %445 = extractvalue { <2 x float>, <2 x float> } %441, 0
  store <2 x float> %445, ptr %444, align 16
  %446 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %443, i32 0, i32 1
  %447 = extractvalue { <2 x float>, <2 x float> } %441, 1
  store <2 x float> %447, ptr %446, align 8
  %448 = load ptr, ptr %17, align 8, !tbaa !5
  %449 = getelementptr inbounds %struct.b3SolverConstraint, ptr %448, i32 0, i32 3
  %450 = load ptr, ptr %17, align 8, !tbaa !5
  %451 = getelementptr inbounds %struct.b3SolverConstraint, ptr %450, i32 0, i32 6
  %452 = load float, ptr %451, align 4, !tbaa !47
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %436, ptr noundef nonnull align 16 dereferenceable(16) %60, ptr noundef nonnull align 16 dereferenceable(16) %449, float noundef %452)
  call void @llvm.lifetime.end.p0(i64 16, ptr %60) #8
  br label %453

453:                                              ; preds = %435, %423
  %454 = load ptr, ptr %34, align 8, !tbaa !5
  %455 = icmp ne ptr %454, null
  br i1 %455, label %456, label %482

456:                                              ; preds = %453
  %457 = load ptr, ptr %32, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %61) #8
  %458 = load ptr, ptr %17, align 8, !tbaa !5
  %459 = getelementptr inbounds %struct.b3SolverConstraint, ptr %458, i32 0, i32 1
  %460 = load ptr, ptr %32, align 8, !tbaa !5
  %461 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228) %460)
  %462 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %459, ptr noundef nonnull align 16 dereferenceable(16) %461)
  %463 = getelementptr inbounds %class.b3Vector3, ptr %61, i32 0, i32 0
  %464 = getelementptr inbounds %union.anon, ptr %463, i32 0, i32 0
  %465 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %464, i32 0, i32 0
  %466 = extractvalue { <2 x float>, <2 x float> } %462, 0
  store <2 x float> %466, ptr %465, align 16
  %467 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %464, i32 0, i32 1
  %468 = extractvalue { <2 x float>, <2 x float> } %462, 1
  store <2 x float> %468, ptr %467, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %62) #8
  %469 = load ptr, ptr %17, align 8, !tbaa !5
  %470 = getelementptr inbounds %struct.b3SolverConstraint, ptr %469, i32 0, i32 4
  %471 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %470)
  %472 = getelementptr inbounds %class.b3Vector3, ptr %62, i32 0, i32 0
  %473 = getelementptr inbounds %union.anon, ptr %472, i32 0, i32 0
  %474 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %473, i32 0, i32 0
  %475 = extractvalue { <2 x float>, <2 x float> } %471, 0
  store <2 x float> %475, ptr %474, align 16
  %476 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %473, i32 0, i32 1
  %477 = extractvalue { <2 x float>, <2 x float> } %471, 1
  store <2 x float> %477, ptr %476, align 8
  %478 = load ptr, ptr %17, align 8, !tbaa !5
  %479 = getelementptr inbounds %struct.b3SolverConstraint, ptr %478, i32 0, i32 6
  %480 = load float, ptr %479, align 4, !tbaa !47
  %481 = fneg float %480
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %457, ptr noundef nonnull align 16 dereferenceable(16) %61, ptr noundef nonnull align 16 dereferenceable(16) %62, float noundef %481)
  call void @llvm.lifetime.end.p0(i64 16, ptr %62) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %61) #8
  br label %482

482:                                              ; preds = %456, %453
  br label %486

483:                                              ; preds = %417
  %484 = load ptr, ptr %17, align 8, !tbaa !5
  %485 = getelementptr inbounds %struct.b3SolverConstraint, ptr %484, i32 0, i32 6
  store float 0.000000e+00, ptr %485, align 4, !tbaa !47
  br label %486

486:                                              ; preds = %483, %482
  %487 = load ptr, ptr %17, align 8, !tbaa !5
  %488 = getelementptr inbounds %struct.b3SolverConstraint, ptr %487, i32 0, i32 5
  store float 0.000000e+00, ptr %488, align 16, !tbaa !48
  call void @llvm.lifetime.start.p0(i64 4, ptr %63) #8
  %489 = load ptr, ptr %17, align 8, !tbaa !5
  %490 = getelementptr inbounds %struct.b3SolverConstraint, ptr %489, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 16, ptr %64) #8
  %491 = load ptr, ptr %33, align 8, !tbaa !5
  %492 = icmp ne ptr %491, null
  br i1 %492, label %493, label %496

493:                                              ; preds = %486
  %494 = load ptr, ptr %31, align 8, !tbaa !5
  %495 = getelementptr inbounds %struct.b3SolverBody, ptr %494, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %64, ptr align 16 %495, i64 16, i1 false), !tbaa.struct !12
  br label %504

496:                                              ; preds = %486
  %497 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %498 = getelementptr inbounds %class.b3Vector3, ptr %64, i32 0, i32 0
  %499 = getelementptr inbounds %union.anon, ptr %498, i32 0, i32 0
  %500 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %499, i32 0, i32 0
  %501 = extractvalue { <2 x float>, <2 x float> } %497, 0
  store <2 x float> %501, ptr %500, align 16
  %502 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %499, i32 0, i32 1
  %503 = extractvalue { <2 x float>, <2 x float> } %497, 1
  store <2 x float> %503, ptr %502, align 8
  br label %504

504:                                              ; preds = %496, %493
  %505 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %490, ptr noundef nonnull align 16 dereferenceable(16) %64)
  %506 = load ptr, ptr %17, align 8, !tbaa !5
  %507 = getelementptr inbounds %struct.b3SolverConstraint, ptr %506, i32 0, i32 0
  call void @llvm.lifetime.start.p0(i64 16, ptr %65) #8
  %508 = load ptr, ptr %33, align 8, !tbaa !5
  %509 = icmp ne ptr %508, null
  br i1 %509, label %510, label %513

510:                                              ; preds = %504
  %511 = load ptr, ptr %31, align 8, !tbaa !5
  %512 = getelementptr inbounds %struct.b3SolverBody, ptr %511, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %65, ptr align 16 %512, i64 16, i1 false), !tbaa.struct !12
  br label %521

513:                                              ; preds = %504
  %514 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %515 = getelementptr inbounds %class.b3Vector3, ptr %65, i32 0, i32 0
  %516 = getelementptr inbounds %union.anon, ptr %515, i32 0, i32 0
  %517 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %516, i32 0, i32 0
  %518 = extractvalue { <2 x float>, <2 x float> } %514, 0
  store <2 x float> %518, ptr %517, align 16
  %519 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %516, i32 0, i32 1
  %520 = extractvalue { <2 x float>, <2 x float> } %514, 1
  store <2 x float> %520, ptr %519, align 8
  br label %521

521:                                              ; preds = %513, %510
  %522 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %507, ptr noundef nonnull align 16 dereferenceable(16) %65)
  %523 = fadd float %505, %522
  call void @llvm.lifetime.end.p0(i64 16, ptr %65) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %64) #8
  store float %523, ptr %63, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %66) #8
  %524 = load ptr, ptr %17, align 8, !tbaa !5
  %525 = getelementptr inbounds %struct.b3SolverConstraint, ptr %524, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 16, ptr %67) #8
  %526 = load ptr, ptr %34, align 8, !tbaa !5
  %527 = icmp ne ptr %526, null
  br i1 %527, label %528, label %531

528:                                              ; preds = %521
  %529 = load ptr, ptr %32, align 8, !tbaa !5
  %530 = getelementptr inbounds %struct.b3SolverBody, ptr %529, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %67, ptr align 16 %530, i64 16, i1 false), !tbaa.struct !12
  br label %539

531:                                              ; preds = %521
  %532 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %533 = getelementptr inbounds %class.b3Vector3, ptr %67, i32 0, i32 0
  %534 = getelementptr inbounds %union.anon, ptr %533, i32 0, i32 0
  %535 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %534, i32 0, i32 0
  %536 = extractvalue { <2 x float>, <2 x float> } %532, 0
  store <2 x float> %536, ptr %535, align 16
  %537 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %534, i32 0, i32 1
  %538 = extractvalue { <2 x float>, <2 x float> } %532, 1
  store <2 x float> %538, ptr %537, align 8
  br label %539

539:                                              ; preds = %531, %528
  %540 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %525, ptr noundef nonnull align 16 dereferenceable(16) %67)
  %541 = fneg float %540
  %542 = load ptr, ptr %17, align 8, !tbaa !5
  %543 = getelementptr inbounds %struct.b3SolverConstraint, ptr %542, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 16, ptr %68) #8
  %544 = load ptr, ptr %34, align 8, !tbaa !5
  %545 = icmp ne ptr %544, null
  br i1 %545, label %546, label %549

546:                                              ; preds = %539
  %547 = load ptr, ptr %32, align 8, !tbaa !5
  %548 = getelementptr inbounds %struct.b3SolverBody, ptr %547, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %68, ptr align 16 %548, i64 16, i1 false), !tbaa.struct !12
  br label %557

549:                                              ; preds = %539
  %550 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %551 = getelementptr inbounds %class.b3Vector3, ptr %68, i32 0, i32 0
  %552 = getelementptr inbounds %union.anon, ptr %551, i32 0, i32 0
  %553 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %552, i32 0, i32 0
  %554 = extractvalue { <2 x float>, <2 x float> } %550, 0
  store <2 x float> %554, ptr %553, align 16
  %555 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %552, i32 0, i32 1
  %556 = extractvalue { <2 x float>, <2 x float> } %550, 1
  store <2 x float> %556, ptr %555, align 8
  br label %557

557:                                              ; preds = %549, %546
  %558 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %543, ptr noundef nonnull align 16 dereferenceable(16) %68)
  %559 = fadd float %541, %558
  call void @llvm.lifetime.end.p0(i64 16, ptr %68) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %67) #8
  store float %559, ptr %66, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %69) #8
  %560 = load float, ptr %63, align 4, !tbaa !13
  %561 = load float, ptr %66, align 4, !tbaa !13
  %562 = fadd float %560, %561
  store float %562, ptr %69, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %70) #8
  store float 0.000000e+00, ptr %70, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %71) #8
  %563 = load float, ptr %53, align 4, !tbaa !13
  %564 = load float, ptr %69, align 4, !tbaa !13
  %565 = fsub float %563, %564
  store float %565, ptr %71, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %72) #8
  %566 = load ptr, ptr %21, align 8, !tbaa !5
  %567 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %566, i32 0, i32 9
  %568 = load float, ptr %567, align 4, !tbaa !49
  store float %568, ptr %72, align 4, !tbaa !13
  %569 = load ptr, ptr %21, align 8, !tbaa !5
  %570 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %569, i32 0, i32 11
  %571 = load i32, ptr %570, align 4, !tbaa !50
  %572 = icmp ne i32 %571, 0
  br i1 %572, label %573, label %579

573:                                              ; preds = %557
  %574 = load float, ptr %54, align 4, !tbaa !13
  %575 = load ptr, ptr %21, align 8, !tbaa !5
  %576 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %575, i32 0, i32 12
  %577 = load float, ptr %576, align 4, !tbaa !51
  %578 = fcmp ogt float %574, %577
  br i1 %578, label %579, label %583

579:                                              ; preds = %573, %557
  %580 = load ptr, ptr %21, align 8, !tbaa !5
  %581 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %580, i32 0, i32 8
  %582 = load float, ptr %581, align 4, !tbaa !52
  store float %582, ptr %72, align 4, !tbaa !13
  br label %583

583:                                              ; preds = %579, %573
  %584 = load float, ptr %54, align 4, !tbaa !13
  %585 = fcmp ogt float %584, 0.000000e+00
  br i1 %585, label %586, label %594

586:                                              ; preds = %583
  store float 0.000000e+00, ptr %70, align 4, !tbaa !13
  %587 = load float, ptr %54, align 4, !tbaa !13
  %588 = load ptr, ptr %21, align 8, !tbaa !5
  %589 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %588, i32 0, i32 3
  %590 = load float, ptr %589, align 4, !tbaa !53
  %591 = fdiv float %587, %590
  %592 = load float, ptr %71, align 4, !tbaa !13
  %593 = fsub float %592, %591
  store float %593, ptr %71, align 4, !tbaa !13
  br label %603

594:                                              ; preds = %583
  %595 = load float, ptr %54, align 4, !tbaa !13
  %596 = fneg float %595
  %597 = load float, ptr %72, align 4, !tbaa !13
  %598 = fmul float %596, %597
  %599 = load ptr, ptr %21, align 8, !tbaa !5
  %600 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %599, i32 0, i32 3
  %601 = load float, ptr %600, align 4, !tbaa !53
  %602 = fdiv float %598, %601
  store float %602, ptr %70, align 4, !tbaa !13
  br label %603

603:                                              ; preds = %594, %586
  call void @llvm.lifetime.start.p0(i64 4, ptr %73) #8
  %604 = load float, ptr %70, align 4, !tbaa !13
  %605 = load float, ptr %42, align 4, !tbaa !13
  %606 = fmul float %604, %605
  store float %606, ptr %73, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %74) #8
  %607 = load float, ptr %71, align 4, !tbaa !13
  %608 = load float, ptr %42, align 4, !tbaa !13
  %609 = fmul float %607, %608
  store float %609, ptr %74, align 4, !tbaa !13
  %610 = load ptr, ptr %21, align 8, !tbaa !5
  %611 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %610, i32 0, i32 11
  %612 = load i32, ptr %611, align 4, !tbaa !50
  %613 = icmp ne i32 %612, 0
  br i1 %613, label %614, label %620

614:                                              ; preds = %603
  %615 = load float, ptr %54, align 4, !tbaa !13
  %616 = load ptr, ptr %21, align 8, !tbaa !5
  %617 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %616, i32 0, i32 12
  %618 = load float, ptr %617, align 4, !tbaa !51
  %619 = fcmp ogt float %615, %618
  br i1 %619, label %620, label %628

620:                                              ; preds = %614, %603
  %621 = load float, ptr %73, align 4, !tbaa !13
  %622 = load float, ptr %74, align 4, !tbaa !13
  %623 = fadd float %621, %622
  %624 = load ptr, ptr %17, align 8, !tbaa !5
  %625 = getelementptr inbounds %struct.b3SolverConstraint, ptr %624, i32 0, i32 11
  store float %623, ptr %625, align 8, !tbaa !54
  %626 = load ptr, ptr %17, align 8, !tbaa !5
  %627 = getelementptr inbounds %struct.b3SolverConstraint, ptr %626, i32 0, i32 15
  store float 0.000000e+00, ptr %627, align 8, !tbaa !55
  br label %635

628:                                              ; preds = %614
  %629 = load float, ptr %74, align 4, !tbaa !13
  %630 = load ptr, ptr %17, align 8, !tbaa !5
  %631 = getelementptr inbounds %struct.b3SolverConstraint, ptr %630, i32 0, i32 11
  store float %629, ptr %631, align 8, !tbaa !54
  %632 = load float, ptr %73, align 4, !tbaa !13
  %633 = load ptr, ptr %17, align 8, !tbaa !5
  %634 = getelementptr inbounds %struct.b3SolverConstraint, ptr %633, i32 0, i32 15
  store float %632, ptr %634, align 8, !tbaa !55
  br label %635

635:                                              ; preds = %628, %620
  %636 = load ptr, ptr %17, align 8, !tbaa !5
  %637 = getelementptr inbounds %struct.b3SolverConstraint, ptr %636, i32 0, i32 12
  store float 0.000000e+00, ptr %637, align 4, !tbaa !56
  %638 = load ptr, ptr %17, align 8, !tbaa !5
  %639 = getelementptr inbounds %struct.b3SolverConstraint, ptr %638, i32 0, i32 13
  store float 0.000000e+00, ptr %639, align 16, !tbaa !57
  %640 = load ptr, ptr %17, align 8, !tbaa !5
  %641 = getelementptr inbounds %struct.b3SolverConstraint, ptr %640, i32 0, i32 14
  store float 1.000000e+10, ptr %641, align 4, !tbaa !58
  call void @llvm.lifetime.end.p0(i64 4, ptr %74) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %73) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %72) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %71) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %70) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %69) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %66) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %63) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %53) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZN14b3ContactPoint19getPositionWorldOnAEv(ptr noundef nonnull align 16 dereferenceable(128)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZN14b3ContactPoint19getPositionWorldOnBEv(ptr noundef nonnull align 16 dereferenceable(128)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(64) ptr @_ZNK12b3SolverBody17getWorldTransformEv(ptr noundef nonnull align 16 dereferenceable(228)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN14b3ContactPoint11getDistanceEv(ptr noundef nonnull align 16 dereferenceable(128)) #5 align 2

; Function Attrs: mustprogress uwtable
declare hidden { <2 x float>, <2 x float> } @_ZL23getVelocityInLocalPointP15b3RigidBodyDataRK9b3Vector3(ptr noundef, ptr noundef nonnull align 16 dereferenceable(16)) #7

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { inlinehint mustprogress 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 mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress 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 #6 = { inlinehint mustprogress 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 #7 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!7, !7, i64 0}
!12 = !{i64 0, i64 16, !11}
!13 = !{!14, !14, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = !{!16, !14, i64 68}
!16 = !{!"_ZTS15b3RigidBodyData", !17, i64 0, !18, i64 16, !17, i64 32, !17, i64 48, !10, i64 64, !14, i64 68, !14, i64 72, !14, i64 76}
!17 = !{!"_ZTS9b3Vector3", !7, i64 0}
!18 = !{!"_ZTS12b3Quaternion", !19, i64 0}
!19 = !{!"_ZTS10b3QuadWord", !7, i64 0}
!20 = !{!21, !24, i64 424}
!21 = !{!"_ZTS17b3PgsJacobiSolver", !22, i64 8, !25, i64 40, !25, i64 72, !25, i64 104, !25, i64 136, !27, i64 168, !27, i64 200, !27, i64 232, !29, i64 264, !27, i64 296, !27, i64 328, !31, i64 360, !31, i64 392, !24, i64 424, !10, i64 428, !10, i64 432, !33, i64 440}
!22 = !{!"_ZTS20b3AlignedObjectArrayI12b3SolverBodyE", !23, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !24, i64 24}
!23 = !{!"_ZTS18b3AlignedAllocatorI12b3SolverBodyLj16EE"}
!24 = !{!"bool", !7, i64 0}
!25 = !{!"_ZTS20b3AlignedObjectArrayI18b3SolverConstraintE", !26, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !24, i64 24}
!26 = !{!"_ZTS18b3AlignedAllocatorI18b3SolverConstraintLj16EE"}
!27 = !{!"_ZTS20b3AlignedObjectArrayIiE", !28, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !24, i64 24}
!28 = !{!"_ZTS18b3AlignedAllocatorIiLj16EE"}
!29 = !{!"_ZTS20b3AlignedObjectArrayIN17b3TypedConstraint17b3ConstraintInfo1EE", !30, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !24, i64 24}
!30 = !{!"_ZTS18b3AlignedAllocatorIN17b3TypedConstraint17b3ConstraintInfo1ELj16EE"}
!31 = !{!"_ZTS20b3AlignedObjectArrayI9b3Vector3E", !32, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !24, i64 24}
!32 = !{!"_ZTS18b3AlignedAllocatorI9b3Vector3Lj16EE"}
!33 = !{!"long", !7, i64 0}
!34 = !{i8 0, i8 2}
!35 = !{}
!36 = !{!37, !14, i64 100}
!37 = !{!"_ZTS18b3SolverConstraint", !17, i64 0, !17, i64 16, !17, i64 32, !17, i64 48, !17, i64 64, !14, i64 80, !14, i64 84, !10, i64 88, !10, i64 92, !14, i64 96, !14, i64 100, !14, i64 104, !14, i64 108, !14, i64 112, !14, i64 116, !14, i64 120, !7, i64 128, !10, i64 136, !10, i64 140, !10, i64 144, !10, i64 148}
!38 = !{!39, !14, i64 56}
!39 = !{!"_ZTS23b3ContactSolverInfoData", !14, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !10, i64 20, !14, i64 24, !14, i64 28, !14, i64 32, !14, i64 36, !14, i64 40, !10, i64 44, !14, i64 48, !14, i64 52, !14, i64 56, !14, i64 60, !10, i64 64, !10, i64 68, !10, i64 72, !14, i64 76, !14, i64 80}
!40 = !{!41, !14, i64 60}
!41 = !{!"_ZTS14b3ContactPoint", !17, i64 0, !17, i64 16, !17, i64 32, !14, i64 48, !14, i64 52, !14, i64 56, !14, i64 60, !17, i64 64, !17, i64 80, !14, i64 96, !14, i64 100, !14, i64 104, !14, i64 108, !14, i64 112, !14, i64 116, !14, i64 120, !24, i64 124}
!42 = !{!37, !14, i64 96}
!43 = !{!41, !14, i64 56}
!44 = !{!39, !10, i64 64}
!45 = !{!41, !14, i64 48}
!46 = !{!39, !14, i64 60}
!47 = !{!37, !14, i64 84}
!48 = !{!37, !14, i64 80}
!49 = !{!39, !14, i64 36}
!50 = !{!39, !10, i64 44}
!51 = !{!39, !14, i64 48}
!52 = !{!39, !14, i64 32}
!53 = !{!39, !14, i64 12}
!54 = !{!37, !14, i64 104}
!55 = !{!37, !14, i64 120}
!56 = !{!37, !14, i64 108}
!57 = !{!37, !14, i64 112}
!58 = !{!37, !14, i64 116}


; 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"

%class.b3Vector3 = type { %union.anon }
%union.anon = type { [4 x float] }
%struct.b3RigidBodyData = type { %class.b3Vector3, %class.b3Quaternion, %class.b3Vector3, %class.b3Vector3, i32, float, float, float }
%class.b3Quaternion = type { %class.b3QuadWord }
%class.b3QuadWord = type { %union.anon.10 }
%union.anon.10 = type { [4 x float] }
%struct.b3InertiaData = type { %class.b3Matrix3x3, %class.b3Matrix3x3 }
%class.b3Matrix3x3 = type { [3 x %class.b3Vector3] }

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef, float noundef, float noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN17b3PgsJacobiSolver16restitutionCurveEff(ptr noundef nonnull align 8 dereferenceable(448), float noundef, float noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25), i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare hidden noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25), i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver22setupContactConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfoR9b3Vector3RfSD_SC_SC_(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(160) %3, i32 noundef %4, i32 noundef %5, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr nocapture noundef nonnull readonly align 4 dereferenceable(84) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr nocapture noundef nonnull align 4 dereferenceable(4) %9, ptr nocapture noundef nonnull align 4 dereferenceable(4) %10, ptr noundef nonnull align 16 dereferenceable(16) %11, ptr noundef nonnull align 16 dereferenceable(16) %12) local_unnamed_addr #7 align 2 {
  %14 = alloca %class.b3Vector3, align 16
  %15 = alloca %class.b3Vector3, align 16
  %16 = alloca %class.b3Vector3, align 16
  %17 = alloca %class.b3Vector3, align 16
  %18 = alloca %class.b3Vector3, align 16
  %19 = alloca %class.b3Vector3, align 16
  %20 = alloca %class.b3Vector3, align 16
  %21 = alloca %class.b3Vector3, align 16
  %22 = alloca %class.b3Vector3, align 16
  %23 = alloca %class.b3Vector3, align 16
  %24 = alloca %class.b3Vector3, align 16
  %25 = alloca %class.b3Vector3, align 16
  %26 = alloca %class.b3Vector3, align 16
  %27 = alloca %class.b3Vector3, align 16
  %28 = alloca %class.b3Vector3, align 16
  %29 = alloca %class.b3Vector3, align 16
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #8
  %30 = tail call { <2 x float>, <2 x float> } @_ZN14b3ContactPoint19getPositionWorldOnAEv(ptr noundef nonnull align 16 dereferenceable(128) %6)
  %31 = extractvalue { <2 x float>, <2 x float> } %30, 0
  store <2 x float> %31, ptr %14, align 16
  %32 = getelementptr inbounds i8, ptr %14, i64 8
  %33 = extractvalue { <2 x float>, <2 x float> } %30, 1
  store <2 x float> %33, ptr %32, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #8
  %34 = tail call { <2 x float>, <2 x float> } @_ZN14b3ContactPoint19getPositionWorldOnBEv(ptr noundef nonnull align 16 dereferenceable(128) %6)
  %35 = extractvalue { <2 x float>, <2 x float> } %34, 0
  store <2 x float> %35, ptr %15, align 16
  %36 = getelementptr inbounds i8, ptr %15, i64 8
  %37 = extractvalue { <2 x float>, <2 x float> } %34, 1
  store <2 x float> %37, ptr %36, align 8
  %38 = getelementptr inbounds i8, ptr %0, i64 8
  %39 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %38, i32 noundef %4)
  %40 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %38, i32 noundef %5)
  %41 = getelementptr inbounds i8, ptr %39, i64 208
  %42 = load i32, ptr %41, align 16, !tbaa !5
  %43 = sext i32 %42 to i64
  %44 = getelementptr inbounds %struct.b3RigidBodyData, ptr %1, i64 %43
  %45 = getelementptr inbounds i8, ptr %40, i64 208
  %46 = load i32, ptr %45, align 16, !tbaa !5
  %47 = sext i32 %46 to i64
  %48 = getelementptr inbounds %struct.b3RigidBodyData, ptr %1, i64 %47
  %49 = tail call noundef nonnull align 16 dereferenceable(64) ptr @_ZNK12b3SolverBody17getWorldTransformEv(ptr noundef nonnull align 16 dereferenceable(228) %39)
  %50 = tail call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %49)
  %51 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 16 dereferenceable(16) %50)
  %52 = extractvalue { <2 x float>, <2 x float> } %51, 0
  %53 = extractvalue { <2 x float>, <2 x float> } %51, 1
  store <2 x float> %52, ptr %11, align 16
  %.sroa.445.0..sroa_idx = getelementptr inbounds i8, ptr %11, i64 8
  store <2 x float> %53, ptr %.sroa.445.0..sroa_idx, align 8, !tbaa !5
  %54 = call noundef nonnull align 16 dereferenceable(64) ptr @_ZNK12b3SolverBody17getWorldTransformEv(ptr noundef nonnull align 16 dereferenceable(228) %40)
  %55 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %54)
  %56 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %15, ptr noundef nonnull align 16 dereferenceable(16) %55)
  %57 = extractvalue { <2 x float>, <2 x float> } %56, 0
  %58 = extractvalue { <2 x float>, <2 x float> } %56, 1
  store <2 x float> %57, ptr %12, align 16
  %.sroa.443.0..sroa_idx = getelementptr inbounds i8, ptr %12, i64 8
  store <2 x float> %58, ptr %.sroa.443.0..sroa_idx, align 8, !tbaa !5
  store float 1.000000e+00, ptr %10, align 4, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #8
  %59 = getelementptr inbounds i8, ptr %6, i64 32
  %60 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %11, ptr noundef nonnull align 16 dereferenceable(16) %59)
  %61 = extractvalue { <2 x float>, <2 x float> } %60, 0
  store <2 x float> %61, ptr %16, align 16
  %62 = getelementptr inbounds i8, ptr %16, i64 8
  %63 = extractvalue { <2 x float>, <2 x float> } %60, 1
  store <2 x float> %63, ptr %62, align 8
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %70, label %64

64:                                               ; preds = %13
  %65 = load i32, ptr %41, align 16, !tbaa !5
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds %struct.b3InertiaData, ptr %2, i64 %66
  %68 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %67)
  %69 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %68, ptr noundef nonnull align 16 dereferenceable(16) %16)
  br label %72

70:                                               ; preds = %13
  %71 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %72

72:                                               ; preds = %70, %64
  %.pn = phi { <2 x float>, <2 x float> } [ %69, %64 ], [ %71, %70 ]
  %.sroa.541.0 = extractvalue { <2 x float>, <2 x float> } %.pn, 1
  %.sroa.040.0 = extractvalue { <2 x float>, <2 x float> } %.pn, 0
  %73 = getelementptr inbounds i8, ptr %3, i64 48
  store <2 x float> %.sroa.040.0, ptr %73, align 16
  %.sroa.541.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  store <2 x float> %.sroa.541.0, ptr %.sroa.541.0..sroa_idx, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #8
  %74 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 16 dereferenceable(16) %59)
  %75 = extractvalue { <2 x float>, <2 x float> } %74, 0
  store <2 x float> %75, ptr %17, align 16
  %76 = getelementptr inbounds i8, ptr %17, i64 8
  %77 = extractvalue { <2 x float>, <2 x float> } %74, 1
  store <2 x float> %77, ptr %76, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #8
  br i1 %.not, label %.thread190, label %80

.thread190:                                       ; preds = %72
  %78 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %.sroa.539.0187 = extractvalue { <2 x float>, <2 x float> } %78, 1
  %.sroa.038.0188 = extractvalue { <2 x float>, <2 x float> } %78, 0
  %79 = getelementptr inbounds i8, ptr %3, i64 64
  store <2 x float> %.sroa.038.0188, ptr %79, align 16
  %.sroa.539.0..sroa_idx189 = getelementptr inbounds i8, ptr %3, i64 72
  store <2 x float> %.sroa.539.0187, ptr %.sroa.539.0..sroa_idx189, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #8
  br label %109

80:                                               ; preds = %72
  %81 = load i32, ptr %45, align 16, !tbaa !5
  %82 = sext i32 %81 to i64
  %83 = getelementptr inbounds %struct.b3InertiaData, ptr %2, i64 %82
  %84 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %83)
  %85 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %17)
  %86 = extractvalue { <2 x float>, <2 x float> } %85, 0
  store <2 x float> %86, ptr %18, align 16
  %87 = getelementptr inbounds i8, ptr %18, i64 8
  %88 = extractvalue { <2 x float>, <2 x float> } %85, 1
  store <2 x float> %88, ptr %87, align 8
  %89 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %84, ptr noundef nonnull align 16 dereferenceable(16) %18)
  %.sroa.539.0 = extractvalue { <2 x float>, <2 x float> } %89, 1
  %.sroa.038.0 = extractvalue { <2 x float>, <2 x float> } %89, 0
  %90 = getelementptr inbounds i8, ptr %3, i64 64
  store <2 x float> %.sroa.038.0, ptr %90, align 16
  %.sroa.539.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 72
  store <2 x float> %.sroa.539.0, ptr %.sroa.539.0..sroa_idx, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #8
  %91 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %73, ptr noundef nonnull align 16 dereferenceable(16) %11)
  %92 = extractvalue { <2 x float>, <2 x float> } %91, 0
  %93 = extractvalue { <2 x float>, <2 x float> } %91, 1
  store <2 x float> %92, ptr %19, align 16
  %.sroa.429.0..sroa_idx = getelementptr inbounds i8, ptr %19, i64 8
  store <2 x float> %93, ptr %.sroa.429.0..sroa_idx, align 8, !tbaa !5
  %94 = getelementptr inbounds i8, ptr %44, i64 68
  %95 = load float, ptr %94, align 4, !tbaa !10
  %96 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %59, ptr noundef nonnull align 16 dereferenceable(16) %19)
  %97 = fadd float %95, %96
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #8
  %98 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %90)
  %99 = extractvalue { <2 x float>, <2 x float> } %98, 0
  store <2 x float> %99, ptr %20, align 16
  %100 = getelementptr inbounds i8, ptr %20, i64 8
  %101 = extractvalue { <2 x float>, <2 x float> } %98, 1
  store <2 x float> %101, ptr %100, align 8
  %102 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 16 dereferenceable(16) %12)
  %103 = extractvalue { <2 x float>, <2 x float> } %102, 0
  %104 = extractvalue { <2 x float>, <2 x float> } %102, 1
  store <2 x float> %103, ptr %19, align 16
  store <2 x float> %104, ptr %.sroa.429.0..sroa_idx, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #8
  %105 = getelementptr inbounds i8, ptr %48, i64 68
  %106 = load float, ptr %105, align 4, !tbaa !10
  %107 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %59, ptr noundef nonnull align 16 dereferenceable(16) %19)
  %108 = fadd float %106, %107
  br label %109

109:                                              ; preds = %.thread190, %80
  %.0159192 = phi float [ %97, %80 ], [ 0.000000e+00, %.thread190 ]
  %110 = phi ptr [ %90, %80 ], [ %79, %.thread190 ]
  %.0160 = phi float [ %108, %80 ], [ 0.000000e+00, %.thread190 ]
  %111 = getelementptr inbounds i8, ptr %0, i64 424
  %112 = load i8, ptr %111, align 8, !tbaa !16, !range !31, !noundef !32
  %113 = trunc nuw i8 %112 to i1
  %114 = load float, ptr %10, align 4, !tbaa !8
  %115 = fadd float %.0159192, %.0160
  %116 = fdiv float %114, %115
  br i1 %113, label %144, label %117

117:                                              ; preds = %109
  %118 = getelementptr inbounds i8, ptr %44, i64 68
  %119 = load float, ptr %118, align 4, !tbaa !10
  %120 = fcmp une float %119, 0.000000e+00
  br i1 %120, label %121, label %127

121:                                              ; preds = %117
  %122 = getelementptr inbounds i8, ptr %0, i64 296
  %123 = load i32, ptr %41, align 16, !tbaa !5
  %124 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25) %122, i32 noundef %123)
  %125 = load i32, ptr %124, align 4, !tbaa !33
  %126 = sitofp i32 %125 to float
  br label %127

127:                                              ; preds = %117, %121
  %128 = phi float [ %126, %121 ], [ 1.000000e+00, %117 ]
  %129 = getelementptr inbounds i8, ptr %48, i64 68
  %130 = load float, ptr %129, align 4, !tbaa !10
  %131 = fcmp une float %130, 0.000000e+00
  br i1 %131, label %132, label %138

132:                                              ; preds = %127
  %133 = getelementptr inbounds i8, ptr %0, i64 296
  %134 = load i32, ptr %45, align 16, !tbaa !5
  %135 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25) %133, i32 noundef %134)
  %136 = load i32, ptr %135, align 4, !tbaa !33
  %137 = sitofp i32 %136 to float
  br label %138

138:                                              ; preds = %127, %132
  %139 = phi float [ %137, %132 ], [ 1.000000e+00, %127 ]
  %140 = load float, ptr %10, align 4, !tbaa !8
  %141 = fmul float %.0160, %139
  %142 = call float @llvm.fmuladd.f32(float %.0159192, float %128, float %141)
  %143 = fdiv float %140, %142
  br label %144

144:                                              ; preds = %109, %138
  %.0158 = phi float [ %143, %138 ], [ %116, %109 ]
  %145 = getelementptr inbounds i8, ptr %3, i64 100
  store float %116, ptr %145, align 4, !tbaa !34
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #8
  %146 = getelementptr inbounds i8, ptr %3, i64 16
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %146, ptr noundef nonnull align 16 dereferenceable(16) %59, i64 16, i1 false), !tbaa.struct !36
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %16, i64 16, i1 false), !tbaa.struct !36
  %147 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %17)
  %148 = extractvalue { <2 x float>, <2 x float> } %147, 0
  %149 = extractvalue { <2 x float>, <2 x float> } %147, 1
  %150 = getelementptr inbounds i8, ptr %3, i64 32
  store <2 x float> %148, ptr %150, align 16
  %.sroa.422.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 40
  store <2 x float> %149, ptr %.sroa.422.0..sroa_idx, align 8, !tbaa !5
  %151 = call noundef float @_ZN14b3ContactPoint11getDistanceEv(ptr noundef nonnull align 16 dereferenceable(128) %6)
  %152 = getelementptr inbounds i8, ptr %7, i64 56
  %153 = load float, ptr %152, align 4, !tbaa !37
  %154 = fadd float %151, %153
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #8
  %.sroa.513.0..sroa_idx197 = getelementptr inbounds i8, ptr %21, i64 8
  br i1 %.not, label %158, label %155

155:                                              ; preds = %144
  %156 = call { <2 x float>, <2 x float> } @_ZL23getVelocityInLocalPointP15b3RigidBodyDataRK9b3Vector3(ptr noundef nonnull %44, ptr noundef nonnull align 16 dereferenceable(16) %11)
  %.sroa.012.0 = extractvalue { <2 x float>, <2 x float> } %156, 0
  %.sroa.513.0 = extractvalue { <2 x float>, <2 x float> } %156, 1
  store <2 x float> %.sroa.012.0, ptr %21, align 16
  store <2 x float> %.sroa.513.0, ptr %.sroa.513.0..sroa_idx197, align 8, !tbaa !5
  %157 = call { <2 x float>, <2 x float> } @_ZL23getVelocityInLocalPointP15b3RigidBodyDataRK9b3Vector3(ptr noundef nonnull %48, ptr noundef nonnull align 16 dereferenceable(16) %12)
  br label %161

158:                                              ; preds = %144
  %159 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %.sroa.012.0195 = extractvalue { <2 x float>, <2 x float> } %159, 0
  %.sroa.513.0196 = extractvalue { <2 x float>, <2 x float> } %159, 1
  store <2 x float> %.sroa.012.0195, ptr %21, align 16
  store <2 x float> %.sroa.513.0196, ptr %.sroa.513.0..sroa_idx197, align 8, !tbaa !5
  %160 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %161

161:                                              ; preds = %158, %155
  %.pn175 = phi { <2 x float>, <2 x float> } [ %157, %155 ], [ %160, %158 ]
  %.sroa.011.0 = extractvalue { <2 x float>, <2 x float> } %.pn175, 0
  %.sroa.5.0 = extractvalue { <2 x float>, <2 x float> } %.pn175, 1
  store <2 x float> %.sroa.011.0, ptr %22, align 16
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %22, i64 8
  store <2 x float> %.sroa.5.0, ptr %.sroa.5.0..sroa_idx, align 8, !tbaa !5
  %162 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %21, ptr noundef nonnull align 16 dereferenceable(16) %22)
  %163 = extractvalue { <2 x float>, <2 x float> } %162, 0
  %164 = extractvalue { <2 x float>, <2 x float> } %162, 1
  store <2 x float> %163, ptr %8, align 16
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %8, i64 8
  store <2 x float> %164, ptr %.sroa.4.0..sroa_idx, align 8, !tbaa !5
  %165 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %59, ptr noundef nonnull align 16 dereferenceable(16) %8)
  store float %165, ptr %9, align 4, !tbaa !8
  %166 = getelementptr inbounds i8, ptr %6, i64 60
  %167 = load float, ptr %166, align 4, !tbaa !39
  %168 = getelementptr inbounds i8, ptr %3, i64 96
  store float %167, ptr %168, align 16, !tbaa !41
  %169 = load float, ptr %9, align 4, !tbaa !8
  %170 = getelementptr inbounds i8, ptr %6, i64 56
  %171 = load float, ptr %170, align 8, !tbaa !42
  %172 = call noundef float @_ZN17b3PgsJacobiSolver16restitutionCurveEff(ptr noundef nonnull align 8 dereferenceable(448) %0, float noundef %169, float noundef %171)
  %.inv = fcmp ole float %172, 0.000000e+00
  %.0162 = select i1 %.inv, float 0.000000e+00, float %172
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #8
  %173 = getelementptr inbounds i8, ptr %7, i64 64
  %174 = load i32, ptr %173, align 4, !tbaa !43
  %175 = and i32 %174, 4
  %.not177 = icmp eq i32 %175, 0
  br i1 %.not177, label %202, label %176

176:                                              ; preds = %161
  %177 = getelementptr inbounds i8, ptr %6, i64 48
  %178 = load float, ptr %177, align 16, !tbaa !44
  %179 = getelementptr inbounds i8, ptr %7, i64 60
  %180 = load float, ptr %179, align 4, !tbaa !45
  %181 = fmul float %178, %180
  %182 = getelementptr inbounds i8, ptr %3, i64 84
  store float %181, ptr %182, align 4, !tbaa !46
  br i1 %.not, label %.thread199, label %.thread200

.thread199:                                       ; preds = %176
  %183 = getelementptr inbounds i8, ptr %3, i64 80
  store float 0.000000e+00, ptr %183, align 16, !tbaa !47
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %26) #8
  br label %213

.thread200:                                       ; preds = %176
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #8
  %184 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228) %39)
  %185 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %146, ptr noundef nonnull align 16 dereferenceable(16) %184)
  %186 = extractvalue { <2 x float>, <2 x float> } %185, 0
  store <2 x float> %186, ptr %23, align 16
  %187 = getelementptr inbounds i8, ptr %23, i64 8
  %188 = extractvalue { <2 x float>, <2 x float> } %185, 1
  store <2 x float> %188, ptr %187, align 8
  %189 = load float, ptr %182, align 4, !tbaa !46
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %39, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef nonnull align 16 dereferenceable(16) %73, float noundef %189)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %23) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #8
  %190 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228) %40)
  %191 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %146, ptr noundef nonnull align 16 dereferenceable(16) %190)
  %192 = extractvalue { <2 x float>, <2 x float> } %191, 0
  store <2 x float> %192, ptr %24, align 16
  %193 = getelementptr inbounds i8, ptr %24, i64 8
  %194 = extractvalue { <2 x float>, <2 x float> } %191, 1
  store <2 x float> %194, ptr %193, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %25) #8
  %195 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %110)
  %196 = extractvalue { <2 x float>, <2 x float> } %195, 0
  store <2 x float> %196, ptr %25, align 16
  %197 = getelementptr inbounds i8, ptr %25, i64 8
  %198 = extractvalue { <2 x float>, <2 x float> } %195, 1
  store <2 x float> %198, ptr %197, align 8
  %199 = load float, ptr %182, align 4, !tbaa !46
  %200 = fneg float %199
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %40, ptr noundef nonnull align 16 dereferenceable(16) %24, ptr noundef nonnull align 16 dereferenceable(16) %25, float noundef %200)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #8
  %201 = getelementptr inbounds i8, ptr %3, i64 80
  store float 0.000000e+00, ptr %201, align 16, !tbaa !47
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %26) #8
  br label %204

202:                                              ; preds = %161
  %203 = getelementptr inbounds i8, ptr %3, i64 80
  store <2 x float> zeroinitializer, ptr %203, align 16, !tbaa !8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %26) #8
  br i1 %.not, label %213, label %204

204:                                              ; preds = %.thread200, %202
  %205 = getelementptr inbounds i8, ptr %39, i64 176
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %26, ptr noundef nonnull align 16 dereferenceable(16) %205, i64 16, i1 false), !tbaa.struct !36
  %206 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %146, ptr noundef nonnull align 16 dereferenceable(16) %26)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %27) #8
  %207 = getelementptr inbounds i8, ptr %39, i64 192
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %27, ptr noundef nonnull align 16 dereferenceable(16) %207, i64 16, i1 false), !tbaa.struct !36
  %208 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %27)
  %209 = fadd float %206, %208
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %28) #8
  %210 = getelementptr inbounds i8, ptr %40, i64 176
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %28, ptr noundef nonnull align 16 dereferenceable(16) %210, i64 16, i1 false), !tbaa.struct !36
  %211 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %146, ptr noundef nonnull align 16 dereferenceable(16) %28)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %29) #8
  %212 = getelementptr inbounds i8, ptr %40, i64 192
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %29, ptr noundef nonnull align 16 dereferenceable(16) %212, i64 16, i1 false), !tbaa.struct !36
  br label %234

213:                                              ; preds = %202, %.thread199
  %214 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %215 = extractvalue { <2 x float>, <2 x float> } %214, 0
  store <2 x float> %215, ptr %26, align 16
  %216 = getelementptr inbounds i8, ptr %26, i64 8
  %217 = extractvalue { <2 x float>, <2 x float> } %214, 1
  store <2 x float> %217, ptr %216, align 8
  %218 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %146, ptr noundef nonnull align 16 dereferenceable(16) %26)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %27) #8
  %219 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %220 = extractvalue { <2 x float>, <2 x float> } %219, 0
  store <2 x float> %220, ptr %27, align 16
  %221 = getelementptr inbounds i8, ptr %27, i64 8
  %222 = extractvalue { <2 x float>, <2 x float> } %219, 1
  store <2 x float> %222, ptr %221, align 8
  %223 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %27)
  %224 = fadd float %218, %223
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %28) #8
  %225 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %226 = extractvalue { <2 x float>, <2 x float> } %225, 0
  store <2 x float> %226, ptr %28, align 16
  %227 = getelementptr inbounds i8, ptr %28, i64 8
  %228 = extractvalue { <2 x float>, <2 x float> } %225, 1
  store <2 x float> %228, ptr %227, align 8
  %229 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %146, ptr noundef nonnull align 16 dereferenceable(16) %28)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %29) #8
  %230 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %231 = extractvalue { <2 x float>, <2 x float> } %230, 0
  store <2 x float> %231, ptr %29, align 16
  %232 = getelementptr inbounds i8, ptr %29, i64 8
  %233 = extractvalue { <2 x float>, <2 x float> } %230, 1
  store <2 x float> %233, ptr %232, align 8
  br label %234

234:                                              ; preds = %213, %204
  %235 = phi float [ %229, %213 ], [ %211, %204 ]
  %236 = phi float [ %224, %213 ], [ %209, %204 ]
  %237 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %150, ptr noundef nonnull align 16 dereferenceable(16) %29)
  %238 = fsub float %237, %235
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %29) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %28) #8
  %239 = fadd float %236, %238
  %240 = fsub float %.0162, %239
  %241 = getelementptr inbounds i8, ptr %7, i64 44
  %242 = load i32, ptr %241, align 4, !tbaa !48
  %.not178 = icmp eq i32 %242, 0
  %243 = getelementptr inbounds i8, ptr %7, i64 48
  %244 = load float, ptr %243, align 4
  %245 = fcmp ogt float %154, %244
  %or.cond = select i1 %.not178, i1 true, i1 %245
  %246 = fcmp ogt float %154, 0.000000e+00
  br i1 %246, label %247, label %252

247:                                              ; preds = %234
  %248 = getelementptr inbounds i8, ptr %7, i64 12
  %249 = load float, ptr %248, align 4, !tbaa !49
  %250 = fdiv float %154, %249
  %251 = fsub float %240, %250
  br label %258

252:                                              ; preds = %234
  %.0.in.v = select i1 %or.cond, i64 32, i64 36
  %.0.in = getelementptr inbounds i8, ptr %7, i64 %.0.in.v
  %.0 = load float, ptr %.0.in, align 4, !tbaa !8
  %253 = fneg float %154
  %254 = fmul float %.0, %253
  %255 = getelementptr inbounds i8, ptr %7, i64 12
  %256 = load float, ptr %255, align 4, !tbaa !49
  %257 = fdiv float %254, %256
  br label %258

258:                                              ; preds = %252, %247
  %.0157 = phi float [ 0.000000e+00, %247 ], [ %257, %252 ]
  %.0156 = phi float [ %251, %247 ], [ %240, %252 ]
  %259 = fmul float %.0158, %.0157
  %260 = fmul float %.0158, %.0156
  %261 = fadd float %259, %260
  %.sink204 = select i1 %or.cond, float %261, float %260
  %.sink = select i1 %or.cond, float 0.000000e+00, float %259
  %262 = getelementptr inbounds i8, ptr %3, i64 104
  store float %.sink204, ptr %262, align 8
  %263 = getelementptr inbounds i8, ptr %3, i64 120
  store float %.sink, ptr %263, align 8
  %264 = getelementptr inbounds i8, ptr %3, i64 108
  store <2 x float> zeroinitializer, ptr %264, align 4, !tbaa !8
  %265 = getelementptr inbounds i8, ptr %3, i64 116
  store float 1.000000e+10, ptr %265, align 4, !tbaa !50
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #8
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZN14b3ContactPoint19getPositionWorldOnAEv(ptr noundef nonnull align 16 dereferenceable(128)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZN14b3ContactPoint19getPositionWorldOnBEv(ptr noundef nonnull align 16 dereferenceable(128)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(64) ptr @_ZNK12b3SolverBody17getWorldTransformEv(ptr noundef nonnull align 16 dereferenceable(228)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN14b3ContactPoint11getDistanceEv(ptr noundef nonnull align 16 dereferenceable(128)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare hidden { <2 x float>, <2 x float> } @_ZL23getVelocityInLocalPointP15b3RigidBodyDataRK9b3Vector3(ptr noundef, ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #7

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { inlinehint mustprogress 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 mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress 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 #6 = { inlinehint mustprogress 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 #7 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"omnipotent char", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !9, i64 0}
!9 = !{!"float", !6, i64 0}
!10 = !{!11, !9, i64 68}
!11 = !{!"_ZTS15b3RigidBodyData", !12, i64 0, !13, i64 16, !12, i64 32, !12, i64 48, !15, i64 64, !9, i64 68, !9, i64 72, !9, i64 76}
!12 = !{!"_ZTS9b3Vector3", !6, i64 0}
!13 = !{!"_ZTS12b3Quaternion", !14, i64 0}
!14 = !{!"_ZTS10b3QuadWord", !6, i64 0}
!15 = !{!"int", !6, i64 0}
!16 = !{!17, !21, i64 424}
!17 = !{!"_ZTS17b3PgsJacobiSolver", !18, i64 8, !22, i64 40, !22, i64 72, !22, i64 104, !22, i64 136, !24, i64 168, !24, i64 200, !24, i64 232, !26, i64 264, !24, i64 296, !24, i64 328, !28, i64 360, !28, i64 392, !21, i64 424, !15, i64 428, !15, i64 432, !30, i64 440}
!18 = !{!"_ZTS20b3AlignedObjectArrayI12b3SolverBodyE", !19, i64 0, !15, i64 4, !15, i64 8, !20, i64 16, !21, i64 24}
!19 = !{!"_ZTS18b3AlignedAllocatorI12b3SolverBodyLj16EE"}
!20 = !{!"any pointer", !6, i64 0}
!21 = !{!"bool", !6, i64 0}
!22 = !{!"_ZTS20b3AlignedObjectArrayI18b3SolverConstraintE", !23, i64 0, !15, i64 4, !15, i64 8, !20, i64 16, !21, i64 24}
!23 = !{!"_ZTS18b3AlignedAllocatorI18b3SolverConstraintLj16EE"}
!24 = !{!"_ZTS20b3AlignedObjectArrayIiE", !25, i64 0, !15, i64 4, !15, i64 8, !20, i64 16, !21, i64 24}
!25 = !{!"_ZTS18b3AlignedAllocatorIiLj16EE"}
!26 = !{!"_ZTS20b3AlignedObjectArrayIN17b3TypedConstraint17b3ConstraintInfo1EE", !27, i64 0, !15, i64 4, !15, i64 8, !20, i64 16, !21, i64 24}
!27 = !{!"_ZTS18b3AlignedAllocatorIN17b3TypedConstraint17b3ConstraintInfo1ELj16EE"}
!28 = !{!"_ZTS20b3AlignedObjectArrayI9b3Vector3E", !29, i64 0, !15, i64 4, !15, i64 8, !20, i64 16, !21, i64 24}
!29 = !{!"_ZTS18b3AlignedAllocatorI9b3Vector3Lj16EE"}
!30 = !{!"long", !6, i64 0}
!31 = !{i8 0, i8 2}
!32 = !{}
!33 = !{!15, !15, i64 0}
!34 = !{!35, !9, i64 100}
!35 = !{!"_ZTS18b3SolverConstraint", !12, i64 0, !12, i64 16, !12, i64 32, !12, i64 48, !12, i64 64, !9, i64 80, !9, i64 84, !15, i64 88, !15, i64 92, !9, i64 96, !9, i64 100, !9, i64 104, !9, i64 108, !9, i64 112, !9, i64 116, !9, i64 120, !6, i64 128, !15, i64 136, !15, i64 140, !15, i64 144, !15, i64 148}
!36 = !{i64 0, i64 16, !5}
!37 = !{!38, !9, i64 56}
!38 = !{!"_ZTS23b3ContactSolverInfoData", !9, i64 0, !9, i64 4, !9, i64 8, !9, i64 12, !9, i64 16, !15, i64 20, !9, i64 24, !9, i64 28, !9, i64 32, !9, i64 36, !9, i64 40, !15, i64 44, !9, i64 48, !9, i64 52, !9, i64 56, !9, i64 60, !15, i64 64, !15, i64 68, !15, i64 72, !9, i64 76, !9, i64 80}
!39 = !{!40, !9, i64 60}
!40 = !{!"_ZTS14b3ContactPoint", !12, i64 0, !12, i64 16, !12, i64 32, !9, i64 48, !9, i64 52, !9, i64 56, !9, i64 60, !12, i64 64, !12, i64 80, !9, i64 96, !9, i64 100, !9, i64 104, !9, i64 108, !9, i64 112, !9, i64 116, !9, i64 120, !21, i64 124}
!41 = !{!35, !9, i64 96}
!42 = !{!40, !9, i64 56}
!43 = !{!38, !15, i64 64}
!44 = !{!40, !9, i64 48}
!45 = !{!38, !9, i64 60}
!46 = !{!35, !9, i64 84}
!47 = !{!35, !9, i64 80}
!48 = !{!38, !15, i64 44}
!49 = !{!38, !9, i64 12}
!50 = !{!35, !9, i64 116}


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