; 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.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 }
%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.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] }

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) #1

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

; Function Attrs: inlinehint 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) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16)) #1

; 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) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver28setFrictionConstraintImpulseEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfo(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) #3 align 2 {
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca %class.b3Vector3, align 16
  %21 = alloca %class.b3Vector3, align 16
  %22 = alloca %class.b3Vector3, align 16
  %23 = alloca ptr, align 8
  %24 = alloca %class.b3Vector3, align 16
  %25 = alloca %class.b3Vector3, align 16
  %26 = alloca %class.b3Vector3, align 16
  store ptr %0, ptr %9, align 8, !tbaa !5
  store ptr %1, ptr %10, align 8, !tbaa !5
  store ptr %2, ptr %11, align 8, !tbaa !5
  store ptr %3, ptr %12, align 8, !tbaa !5
  store i32 %4, ptr %13, align 4, !tbaa !9
  store i32 %5, ptr %14, align 4, !tbaa !9
  store ptr %6, ptr %15, align 8, !tbaa !5
  store ptr %7, ptr %16, align 8, !tbaa !5
  %27 = load ptr, ptr %9, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #4
  %28 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %27, i32 0, i32 1
  %29 = load i32, ptr %13, align 4, !tbaa !9
  %30 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %28, i32 noundef %29)
  store ptr %30, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #4
  %31 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %27, i32 0, i32 1
  %32 = load i32, ptr %14, align 4, !tbaa !9
  %33 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %31, i32 noundef %32)
  store ptr %33, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #4
  %34 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %27, i32 0, i32 4
  %35 = load ptr, ptr %12, align 8, !tbaa !5
  %36 = getelementptr inbounds %struct.b3SolverConstraint, ptr %35, i32 0, i32 18
  %37 = load i32, ptr %36, align 4, !tbaa !11
  %38 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintEixEi(ptr noundef nonnull align 8 dereferenceable(25) %34, i32 noundef %37)
  store ptr %38, ptr %19, align 8, !tbaa !5
  %39 = load ptr, ptr %16, align 8, !tbaa !5
  %40 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %39, i32 0, i32 16
  %41 = load i32, ptr %40, align 4, !tbaa !15
  %42 = and i32 %41, 4
  %43 = icmp ne i32 %42, 0
  br i1 %43, label %44, label %128

44:                                               ; preds = %8
  %45 = load ptr, ptr %15, align 8, !tbaa !5
  %46 = getelementptr inbounds %struct.b3ContactPoint, ptr %45, i32 0, i32 9
  %47 = load float, ptr %46, align 16, !tbaa !17
  %48 = load ptr, ptr %16, align 8, !tbaa !5
  %49 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %48, i32 0, i32 15
  %50 = load float, ptr %49, align 4, !tbaa !20
  %51 = fmul float %47, %50
  %52 = load ptr, ptr %19, align 8, !tbaa !5
  %53 = getelementptr inbounds %struct.b3SolverConstraint, ptr %52, i32 0, i32 6
  store float %51, ptr %53, align 4, !tbaa !21
  %54 = load ptr, ptr %10, align 8, !tbaa !5
  %55 = load ptr, ptr %17, align 8, !tbaa !5
  %56 = getelementptr inbounds %struct.b3SolverBody, ptr %55, i32 0, i32 10
  %57 = load i32, ptr %56, align 16, !tbaa !22
  %58 = sext i32 %57 to i64
  %59 = getelementptr inbounds %struct.b3RigidBodyData, ptr %54, i64 %58
  %60 = getelementptr inbounds %struct.b3RigidBodyData, ptr %59, i32 0, i32 5
  %61 = load float, ptr %60, align 4, !tbaa !23
  %62 = fcmp une float %61, 0.000000e+00
  br i1 %62, label %63, label %86

63:                                               ; preds = %44
  %64 = load ptr, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #4
  %65 = load ptr, ptr %19, align 8, !tbaa !5
  %66 = getelementptr inbounds %struct.b3SolverConstraint, ptr %65, i32 0, i32 1
  %67 = load ptr, ptr %10, align 8, !tbaa !5
  %68 = load ptr, ptr %17, align 8, !tbaa !5
  %69 = getelementptr inbounds %struct.b3SolverBody, ptr %68, i32 0, i32 10
  %70 = load i32, ptr %69, align 16, !tbaa !22
  %71 = sext i32 %70 to i64
  %72 = getelementptr inbounds %struct.b3RigidBodyData, ptr %67, i64 %71
  %73 = getelementptr inbounds %struct.b3RigidBodyData, ptr %72, i32 0, i32 5
  %74 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %66, ptr noundef nonnull align 4 dereferenceable(4) %73)
  %75 = getelementptr inbounds %class.b3Vector3, ptr %20, i32 0, i32 0
  %76 = getelementptr inbounds %union.anon, ptr %75, i32 0, i32 0
  %77 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %76, i32 0, i32 0
  %78 = extractvalue { <2 x float>, <2 x float> } %74, 0
  store <2 x float> %78, ptr %77, align 16
  %79 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %76, i32 0, i32 1
  %80 = extractvalue { <2 x float>, <2 x float> } %74, 1
  store <2 x float> %80, ptr %79, align 8
  %81 = load ptr, ptr %19, align 8, !tbaa !5
  %82 = getelementptr inbounds %struct.b3SolverConstraint, ptr %81, i32 0, i32 3
  %83 = load ptr, ptr %19, align 8, !tbaa !5
  %84 = getelementptr inbounds %struct.b3SolverConstraint, ptr %83, i32 0, i32 6
  %85 = load float, ptr %84, align 4, !tbaa !21
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %64, ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 16 dereferenceable(16) %82, float noundef %85)
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #4
  br label %86

86:                                               ; preds = %63, %44
  %87 = load ptr, ptr %10, align 8, !tbaa !5
  %88 = load ptr, ptr %18, align 8, !tbaa !5
  %89 = getelementptr inbounds %struct.b3SolverBody, ptr %88, i32 0, i32 10
  %90 = load i32, ptr %89, align 16, !tbaa !22
  %91 = sext i32 %90 to i64
  %92 = getelementptr inbounds %struct.b3RigidBodyData, ptr %87, i64 %91
  %93 = getelementptr inbounds %struct.b3RigidBodyData, ptr %92, i32 0, i32 5
  %94 = load float, ptr %93, align 4, !tbaa !23
  %95 = fcmp une float %94, 0.000000e+00
  br i1 %95, label %96, label %127

96:                                               ; preds = %86
  %97 = load ptr, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #4
  %98 = load ptr, ptr %19, align 8, !tbaa !5
  %99 = getelementptr inbounds %struct.b3SolverConstraint, ptr %98, i32 0, i32 1
  %100 = load ptr, ptr %10, align 8, !tbaa !5
  %101 = load ptr, ptr %18, align 8, !tbaa !5
  %102 = getelementptr inbounds %struct.b3SolverBody, ptr %101, i32 0, i32 10
  %103 = load i32, ptr %102, align 16, !tbaa !22
  %104 = sext i32 %103 to i64
  %105 = getelementptr inbounds %struct.b3RigidBodyData, ptr %100, i64 %104
  %106 = getelementptr inbounds %struct.b3RigidBodyData, ptr %105, i32 0, i32 5
  %107 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %99, ptr noundef nonnull align 4 dereferenceable(4) %106)
  %108 = getelementptr inbounds %class.b3Vector3, ptr %21, i32 0, i32 0
  %109 = getelementptr inbounds %union.anon, ptr %108, i32 0, i32 0
  %110 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %109, i32 0, i32 0
  %111 = extractvalue { <2 x float>, <2 x float> } %107, 0
  store <2 x float> %111, ptr %110, align 16
  %112 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %109, i32 0, i32 1
  %113 = extractvalue { <2 x float>, <2 x float> } %107, 1
  store <2 x float> %113, ptr %112, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #4
  %114 = load ptr, ptr %19, align 8, !tbaa !5
  %115 = getelementptr inbounds %struct.b3SolverConstraint, ptr %114, i32 0, i32 4
  %116 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %115)
  %117 = getelementptr inbounds %class.b3Vector3, ptr %22, i32 0, i32 0
  %118 = getelementptr inbounds %union.anon, ptr %117, i32 0, i32 0
  %119 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %118, i32 0, i32 0
  %120 = extractvalue { <2 x float>, <2 x float> } %116, 0
  store <2 x float> %120, ptr %119, align 16
  %121 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %118, i32 0, i32 1
  %122 = extractvalue { <2 x float>, <2 x float> } %116, 1
  store <2 x float> %122, ptr %121, align 8
  %123 = load ptr, ptr %19, align 8, !tbaa !5
  %124 = getelementptr inbounds %struct.b3SolverConstraint, ptr %123, i32 0, i32 6
  %125 = load float, ptr %124, align 4, !tbaa !21
  %126 = fneg float %125
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %97, ptr noundef nonnull align 16 dereferenceable(16) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, float noundef %126)
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #4
  br label %127

127:                                              ; preds = %96, %86
  br label %131

128:                                              ; preds = %8
  %129 = load ptr, ptr %19, align 8, !tbaa !5
  %130 = getelementptr inbounds %struct.b3SolverConstraint, ptr %129, i32 0, i32 6
  store float 0.000000e+00, ptr %130, align 4, !tbaa !21
  br label %131

131:                                              ; preds = %128, %127
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #4
  %132 = load ptr, ptr %16, align 8, !tbaa !5
  %133 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %132, i32 0, i32 16
  %134 = load i32, ptr %133, align 4, !tbaa !15
  %135 = and i32 %134, 16
  %136 = icmp ne i32 %135, 0
  br i1 %136, label %137, label %237

137:                                              ; preds = %131
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #4
  %138 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %27, i32 0, i32 4
  %139 = load ptr, ptr %12, align 8, !tbaa !5
  %140 = getelementptr inbounds %struct.b3SolverConstraint, ptr %139, i32 0, i32 18
  %141 = load i32, ptr %140, align 4, !tbaa !11
  %142 = add nsw i32 %141, 1
  %143 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintEixEi(ptr noundef nonnull align 8 dereferenceable(25) %138, i32 noundef %142)
  store ptr %143, ptr %23, align 8, !tbaa !5
  %144 = load ptr, ptr %16, align 8, !tbaa !5
  %145 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %144, i32 0, i32 16
  %146 = load i32, ptr %145, align 4, !tbaa !15
  %147 = and i32 %146, 4
  %148 = icmp ne i32 %147, 0
  br i1 %148, label %149, label %233

149:                                              ; preds = %137
  %150 = load ptr, ptr %15, align 8, !tbaa !5
  %151 = getelementptr inbounds %struct.b3ContactPoint, ptr %150, i32 0, i32 10
  %152 = load float, ptr %151, align 4, !tbaa !27
  %153 = load ptr, ptr %16, align 8, !tbaa !5
  %154 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %153, i32 0, i32 15
  %155 = load float, ptr %154, align 4, !tbaa !20
  %156 = fmul float %152, %155
  %157 = load ptr, ptr %23, align 8, !tbaa !5
  %158 = getelementptr inbounds %struct.b3SolverConstraint, ptr %157, i32 0, i32 6
  store float %156, ptr %158, align 4, !tbaa !21
  %159 = load ptr, ptr %10, align 8, !tbaa !5
  %160 = load ptr, ptr %17, align 8, !tbaa !5
  %161 = getelementptr inbounds %struct.b3SolverBody, ptr %160, i32 0, i32 10
  %162 = load i32, ptr %161, align 16, !tbaa !22
  %163 = sext i32 %162 to i64
  %164 = getelementptr inbounds %struct.b3RigidBodyData, ptr %159, i64 %163
  %165 = getelementptr inbounds %struct.b3RigidBodyData, ptr %164, i32 0, i32 5
  %166 = load float, ptr %165, align 4, !tbaa !23
  %167 = fcmp une float %166, 0.000000e+00
  br i1 %167, label %168, label %191

168:                                              ; preds = %149
  %169 = load ptr, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #4
  %170 = load ptr, ptr %23, align 8, !tbaa !5
  %171 = getelementptr inbounds %struct.b3SolverConstraint, ptr %170, i32 0, i32 1
  %172 = load ptr, ptr %10, align 8, !tbaa !5
  %173 = load ptr, ptr %17, align 8, !tbaa !5
  %174 = getelementptr inbounds %struct.b3SolverBody, ptr %173, i32 0, i32 10
  %175 = load i32, ptr %174, align 16, !tbaa !22
  %176 = sext i32 %175 to i64
  %177 = getelementptr inbounds %struct.b3RigidBodyData, ptr %172, i64 %176
  %178 = getelementptr inbounds %struct.b3RigidBodyData, ptr %177, i32 0, i32 5
  %179 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %171, ptr noundef nonnull align 4 dereferenceable(4) %178)
  %180 = getelementptr inbounds %class.b3Vector3, ptr %24, i32 0, i32 0
  %181 = getelementptr inbounds %union.anon, ptr %180, i32 0, i32 0
  %182 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %181, i32 0, i32 0
  %183 = extractvalue { <2 x float>, <2 x float> } %179, 0
  store <2 x float> %183, ptr %182, align 16
  %184 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %181, i32 0, i32 1
  %185 = extractvalue { <2 x float>, <2 x float> } %179, 1
  store <2 x float> %185, ptr %184, align 8
  %186 = load ptr, ptr %23, align 8, !tbaa !5
  %187 = getelementptr inbounds %struct.b3SolverConstraint, ptr %186, i32 0, i32 3
  %188 = load ptr, ptr %23, align 8, !tbaa !5
  %189 = getelementptr inbounds %struct.b3SolverConstraint, ptr %188, i32 0, i32 6
  %190 = load float, ptr %189, align 4, !tbaa !21
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %169, ptr noundef nonnull align 16 dereferenceable(16) %24, ptr noundef nonnull align 16 dereferenceable(16) %187, float noundef %190)
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #4
  br label %191

191:                                              ; preds = %168, %149
  %192 = load ptr, ptr %10, align 8, !tbaa !5
  %193 = load ptr, ptr %18, align 8, !tbaa !5
  %194 = getelementptr inbounds %struct.b3SolverBody, ptr %193, i32 0, i32 10
  %195 = load i32, ptr %194, align 16, !tbaa !22
  %196 = sext i32 %195 to i64
  %197 = getelementptr inbounds %struct.b3RigidBodyData, ptr %192, i64 %196
  %198 = getelementptr inbounds %struct.b3RigidBodyData, ptr %197, i32 0, i32 5
  %199 = load float, ptr %198, align 4, !tbaa !23
  %200 = fcmp une float %199, 0.000000e+00
  br i1 %200, label %201, label %232

201:                                              ; preds = %191
  %202 = load ptr, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #4
  %203 = load ptr, ptr %23, align 8, !tbaa !5
  %204 = getelementptr inbounds %struct.b3SolverConstraint, ptr %203, i32 0, i32 1
  %205 = load ptr, ptr %10, align 8, !tbaa !5
  %206 = load ptr, ptr %18, align 8, !tbaa !5
  %207 = getelementptr inbounds %struct.b3SolverBody, ptr %206, i32 0, i32 10
  %208 = load i32, ptr %207, align 16, !tbaa !22
  %209 = sext i32 %208 to i64
  %210 = getelementptr inbounds %struct.b3RigidBodyData, ptr %205, i64 %209
  %211 = getelementptr inbounds %struct.b3RigidBodyData, ptr %210, i32 0, i32 5
  %212 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %204, ptr noundef nonnull align 4 dereferenceable(4) %211)
  %213 = getelementptr inbounds %class.b3Vector3, ptr %25, i32 0, i32 0
  %214 = getelementptr inbounds %union.anon, ptr %213, i32 0, i32 0
  %215 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %214, i32 0, i32 0
  %216 = extractvalue { <2 x float>, <2 x float> } %212, 0
  store <2 x float> %216, ptr %215, align 16
  %217 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %214, i32 0, i32 1
  %218 = extractvalue { <2 x float>, <2 x float> } %212, 1
  store <2 x float> %218, ptr %217, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #4
  %219 = load ptr, ptr %23, align 8, !tbaa !5
  %220 = getelementptr inbounds %struct.b3SolverConstraint, ptr %219, i32 0, i32 4
  %221 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %220)
  %222 = getelementptr inbounds %class.b3Vector3, ptr %26, i32 0, i32 0
  %223 = getelementptr inbounds %union.anon, ptr %222, i32 0, i32 0
  %224 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %223, i32 0, i32 0
  %225 = extractvalue { <2 x float>, <2 x float> } %221, 0
  store <2 x float> %225, ptr %224, align 16
  %226 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %223, i32 0, i32 1
  %227 = extractvalue { <2 x float>, <2 x float> } %221, 1
  store <2 x float> %227, ptr %226, align 8
  %228 = load ptr, ptr %23, align 8, !tbaa !5
  %229 = getelementptr inbounds %struct.b3SolverConstraint, ptr %228, i32 0, i32 6
  %230 = load float, ptr %229, align 4, !tbaa !21
  %231 = fneg float %230
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %202, ptr noundef nonnull align 16 dereferenceable(16) %25, ptr noundef nonnull align 16 dereferenceable(16) %26, float noundef %231)
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #4
  br label %232

232:                                              ; preds = %201, %191
  br label %236

233:                                              ; preds = %137
  %234 = load ptr, ptr %23, align 8, !tbaa !5
  %235 = getelementptr inbounds %struct.b3SolverConstraint, ptr %234, i32 0, i32 6
  store float 0.000000e+00, ptr %235, align 4, !tbaa !21
  br label %236

236:                                              ; preds = %233, %232
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #4
  br label %237

237:                                              ; preds = %236, %131
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #4
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintEixEi(ptr noundef nonnull align 8 dereferenceable(25), i32 noundef) #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { 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 #4 = { 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 = !{!12, !10, i64 140}
!12 = !{!"_ZTS18b3SolverConstraint", !13, i64 0, !13, i64 16, !13, i64 32, !13, i64 48, !13, 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}
!13 = !{!"_ZTS9b3Vector3", !7, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = !{!16, !10, i64 64}
!16 = !{!"_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}
!17 = !{!18, !14, i64 96}
!18 = !{!"_ZTS14b3ContactPoint", !13, i64 0, !13, i64 16, !13, i64 32, !14, i64 48, !14, i64 52, !14, i64 56, !14, i64 60, !13, i64 64, !13, i64 80, !14, i64 96, !14, i64 100, !14, i64 104, !14, i64 108, !14, i64 112, !14, i64 116, !14, i64 120, !19, i64 124}
!19 = !{!"bool", !7, i64 0}
!20 = !{!16, !14, i64 60}
!21 = !{!12, !14, i64 84}
!22 = !{!7, !7, i64 0}
!23 = !{!24, !14, i64 68}
!24 = !{!"_ZTS15b3RigidBodyData", !13, i64 0, !25, i64 16, !13, i64 32, !13, i64 48, !10, i64 64, !14, i64 68, !14, i64 72, !14, i64 76}
!25 = !{!"_ZTS12b3Quaternion", !26, i64 0}
!26 = !{!"_ZTS10b3QuadWord", !7, i64 0}
!27 = !{!18, !14, i64 100}


; 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] }

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #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: 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 #1 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 #1

; 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 #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver28setFrictionConstraintImpulseEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfo(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr nocapture noundef readnone %2, ptr nocapture noundef nonnull readonly align 16 dereferenceable(160) %3, i32 noundef %4, i32 noundef %5, ptr nocapture noundef nonnull readonly align 16 dereferenceable(128) %6, ptr nocapture noundef nonnull readonly align 4 dereferenceable(84) %7) local_unnamed_addr #3 align 2 {
  %9 = alloca %class.b3Vector3, align 16
  %10 = alloca %class.b3Vector3, align 16
  %11 = alloca %class.b3Vector3, align 16
  %12 = alloca %class.b3Vector3, align 16
  %13 = alloca %class.b3Vector3, align 16
  %14 = alloca %class.b3Vector3, align 16
  %15 = getelementptr inbounds i8, ptr %0, i64 8
  %16 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %15, i32 noundef %4)
  %17 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %15, i32 noundef %5)
  %18 = getelementptr inbounds i8, ptr %0, i64 104
  %19 = getelementptr inbounds i8, ptr %3, i64 140
  %20 = load i32, ptr %19, align 4, !tbaa !5
  %21 = tail call noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintEixEi(ptr noundef nonnull align 8 dereferenceable(25) %18, i32 noundef %20)
  %22 = getelementptr inbounds i8, ptr %7, i64 64
  %23 = load i32, ptr %22, align 4, !tbaa !12
  %24 = and i32 %23, 4
  %.not = icmp eq i32 %24, 0
  br i1 %.not, label %66, label %25

25:                                               ; preds = %8
  %26 = getelementptr inbounds i8, ptr %6, i64 96
  %27 = load float, ptr %26, align 16, !tbaa !14
  %28 = getelementptr inbounds i8, ptr %7, i64 60
  %29 = load float, ptr %28, align 4, !tbaa !17
  %30 = fmul float %27, %29
  %31 = getelementptr inbounds i8, ptr %21, i64 84
  store float %30, ptr %31, align 4, !tbaa !18
  %32 = getelementptr inbounds i8, ptr %16, i64 208
  %33 = load i32, ptr %32, align 16, !tbaa !19
  %34 = sext i32 %33 to i64
  %35 = getelementptr inbounds %struct.b3RigidBodyData, ptr %1, i64 %34, i32 5
  %36 = load float, ptr %35, align 4, !tbaa !20
  %37 = fcmp une float %36, 0.000000e+00
  br i1 %37, label %38, label %46

38:                                               ; preds = %25
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #4
  %39 = getelementptr inbounds i8, ptr %21, i64 16
  %40 = tail call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %39, ptr noundef nonnull align 4 dereferenceable(4) %35)
  %41 = extractvalue { <2 x float>, <2 x float> } %40, 0
  store <2 x float> %41, ptr %9, align 16
  %42 = getelementptr inbounds i8, ptr %9, i64 8
  %43 = extractvalue { <2 x float>, <2 x float> } %40, 1
  store <2 x float> %43, ptr %42, align 8
  %44 = getelementptr inbounds i8, ptr %21, i64 48
  %45 = load float, ptr %31, align 4, !tbaa !18
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %16, ptr noundef nonnull align 16 dereferenceable(16) %9, ptr noundef nonnull align 16 dereferenceable(16) %44, float noundef %45)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #4
  br label %46

46:                                               ; preds = %38, %25
  %47 = getelementptr inbounds i8, ptr %17, i64 208
  %48 = load i32, ptr %47, align 16, !tbaa !19
  %49 = sext i32 %48 to i64
  %50 = getelementptr inbounds %struct.b3RigidBodyData, ptr %1, i64 %49, i32 5
  %51 = load float, ptr %50, align 4, !tbaa !20
  %52 = fcmp une float %51, 0.000000e+00
  br i1 %52, label %53, label %68

53:                                               ; preds = %46
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #4
  %54 = getelementptr inbounds i8, ptr %21, i64 16
  %55 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %54, ptr noundef nonnull align 4 dereferenceable(4) %50)
  %56 = extractvalue { <2 x float>, <2 x float> } %55, 0
  store <2 x float> %56, ptr %10, align 16
  %57 = getelementptr inbounds i8, ptr %10, i64 8
  %58 = extractvalue { <2 x float>, <2 x float> } %55, 1
  store <2 x float> %58, ptr %57, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #4
  %59 = getelementptr inbounds i8, ptr %21, i64 64
  %60 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %59)
  %61 = extractvalue { <2 x float>, <2 x float> } %60, 0
  store <2 x float> %61, ptr %11, align 16
  %62 = getelementptr inbounds i8, ptr %11, i64 8
  %63 = extractvalue { <2 x float>, <2 x float> } %60, 1
  store <2 x float> %63, ptr %62, align 8
  %64 = load float, ptr %31, align 4, !tbaa !18
  %65 = fneg float %64
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %17, ptr noundef nonnull align 16 dereferenceable(16) %10, ptr noundef nonnull align 16 dereferenceable(16) %11, float noundef %65)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #4
  br label %68

66:                                               ; preds = %8
  %67 = getelementptr inbounds i8, ptr %21, i64 84
  store float 0.000000e+00, ptr %67, align 4, !tbaa !18
  br label %68

68:                                               ; preds = %46, %53, %66
  %69 = load i32, ptr %22, align 4, !tbaa !12
  %70 = and i32 %69, 16
  %.not47 = icmp eq i32 %70, 0
  br i1 %.not47, label %120, label %71

71:                                               ; preds = %68
  %72 = load i32, ptr %19, align 4, !tbaa !5
  %73 = add nsw i32 %72, 1
  %74 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintEixEi(ptr noundef nonnull align 8 dereferenceable(25) %18, i32 noundef %73)
  %75 = load i32, ptr %22, align 4, !tbaa !12
  %76 = and i32 %75, 4
  %.not48 = icmp eq i32 %76, 0
  br i1 %.not48, label %118, label %77

77:                                               ; preds = %71
  %78 = getelementptr inbounds i8, ptr %6, i64 100
  %79 = load float, ptr %78, align 4, !tbaa !24
  %80 = getelementptr inbounds i8, ptr %7, i64 60
  %81 = load float, ptr %80, align 4, !tbaa !17
  %82 = fmul float %79, %81
  %83 = getelementptr inbounds i8, ptr %74, i64 84
  store float %82, ptr %83, align 4, !tbaa !18
  %84 = getelementptr inbounds i8, ptr %16, i64 208
  %85 = load i32, ptr %84, align 16, !tbaa !19
  %86 = sext i32 %85 to i64
  %87 = getelementptr inbounds %struct.b3RigidBodyData, ptr %1, i64 %86, i32 5
  %88 = load float, ptr %87, align 4, !tbaa !20
  %89 = fcmp une float %88, 0.000000e+00
  br i1 %89, label %90, label %98

90:                                               ; preds = %77
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #4
  %91 = getelementptr inbounds i8, ptr %74, i64 16
  %92 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %91, ptr noundef nonnull align 4 dereferenceable(4) %87)
  %93 = extractvalue { <2 x float>, <2 x float> } %92, 0
  store <2 x float> %93, ptr %12, align 16
  %94 = getelementptr inbounds i8, ptr %12, i64 8
  %95 = extractvalue { <2 x float>, <2 x float> } %92, 1
  store <2 x float> %95, ptr %94, align 8
  %96 = getelementptr inbounds i8, ptr %74, i64 48
  %97 = load float, ptr %83, align 4, !tbaa !18
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %16, ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 16 dereferenceable(16) %96, float noundef %97)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #4
  br label %98

98:                                               ; preds = %90, %77
  %99 = getelementptr inbounds i8, ptr %17, i64 208
  %100 = load i32, ptr %99, align 16, !tbaa !19
  %101 = sext i32 %100 to i64
  %102 = getelementptr inbounds %struct.b3RigidBodyData, ptr %1, i64 %101, i32 5
  %103 = load float, ptr %102, align 4, !tbaa !20
  %104 = fcmp une float %103, 0.000000e+00
  br i1 %104, label %105, label %120

105:                                              ; preds = %98
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #4
  %106 = getelementptr inbounds i8, ptr %74, i64 16
  %107 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %106, ptr noundef nonnull align 4 dereferenceable(4) %102)
  %108 = extractvalue { <2 x float>, <2 x float> } %107, 0
  store <2 x float> %108, ptr %13, align 16
  %109 = getelementptr inbounds i8, ptr %13, i64 8
  %110 = extractvalue { <2 x float>, <2 x float> } %107, 1
  store <2 x float> %110, ptr %109, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #4
  %111 = getelementptr inbounds i8, ptr %74, i64 64
  %112 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %111)
  %113 = extractvalue { <2 x float>, <2 x float> } %112, 0
  store <2 x float> %113, ptr %14, align 16
  %114 = getelementptr inbounds i8, ptr %14, i64 8
  %115 = extractvalue { <2 x float>, <2 x float> } %112, 1
  store <2 x float> %115, ptr %114, align 8
  %116 = load float, ptr %83, align 4, !tbaa !18
  %117 = fneg float %116
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %17, ptr noundef nonnull align 16 dereferenceable(16) %13, ptr noundef nonnull align 16 dereferenceable(16) %14, float noundef %117)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #4
  br label %120

118:                                              ; preds = %71
  %119 = getelementptr inbounds i8, ptr %74, i64 84
  store float 0.000000e+00, ptr %119, align 4, !tbaa !18
  br label %120

120:                                              ; preds = %118, %105, %98, %68
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintEixEi(ptr noundef nonnull align 8 dereferenceable(25), i32 noundef) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { 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 #4 = { 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, !11, i64 140}
!6 = !{!"_ZTS18b3SolverConstraint", !7, i64 0, !7, i64 16, !7, i64 32, !7, i64 48, !7, i64 64, !10, i64 80, !10, i64 84, !11, i64 88, !11, i64 92, !10, i64 96, !10, i64 100, !10, i64 104, !10, i64 108, !10, i64 112, !10, i64 116, !10, i64 120, !8, i64 128, !11, i64 136, !11, i64 140, !11, i64 144, !11, i64 148}
!7 = !{!"_ZTS9b3Vector3", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"float", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!13, !11, i64 64}
!13 = !{!"_ZTS23b3ContactSolverInfoData", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !11, i64 20, !10, i64 24, !10, i64 28, !10, i64 32, !10, i64 36, !10, i64 40, !11, i64 44, !10, i64 48, !10, i64 52, !10, i64 56, !10, i64 60, !11, i64 64, !11, i64 68, !11, i64 72, !10, i64 76, !10, i64 80}
!14 = !{!15, !10, i64 96}
!15 = !{!"_ZTS14b3ContactPoint", !7, i64 0, !7, i64 16, !7, i64 32, !10, i64 48, !10, i64 52, !10, i64 56, !10, i64 60, !7, i64 64, !7, i64 80, !10, i64 96, !10, i64 100, !10, i64 104, !10, i64 108, !10, i64 112, !10, i64 116, !10, i64 120, !16, i64 124}
!16 = !{!"bool", !8, i64 0}
!17 = !{!13, !10, i64 60}
!18 = !{!6, !10, i64 84}
!19 = !{!8, !8, i64 0}
!20 = !{!21, !10, i64 68}
!21 = !{!"_ZTS15b3RigidBodyData", !7, i64 0, !22, i64 16, !7, i64 32, !7, i64 48, !11, i64 64, !10, i64 68, !10, i64 72, !10, i64 76}
!22 = !{!"_ZTS12b3Quaternion", !23, i64 0}
!23 = !{!"_ZTS10b3QuadWord", !8, i64 0}
!24 = !{!15, !10, i64 100}


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