; 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] }
%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 }
%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 }

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #1

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16)) #3

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

; Function Attrs: mustprogress nounwind uwtable
declare hidden noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef) #4

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver30setupRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintRK9b3Vector3iiR14b3ContactPointS8_S8_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(160) %3, ptr noundef nonnull align 16 dereferenceable(16) %4, i32 noundef %5, i32 noundef %6, ptr noundef nonnull align 16 dereferenceable(128) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef nonnull align 16 dereferenceable(16) %9, ptr noundef %10, ptr noundef %11, float noundef %12, float noundef %13, float noundef %14) #5 align 2 {
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca i32, align 4
  %22 = alloca i32, align 4
  %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 float, align 4
  %29 = alloca float, align 4
  %30 = alloca float, align 4
  %31 = alloca %class.b3Vector3, align 16
  %32 = alloca ptr, align 8
  %33 = alloca ptr, align 8
  %34 = alloca ptr, align 8
  %35 = alloca ptr, align 8
  %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 float, align 4
  %44 = alloca float, align 4
  %45 = alloca %class.b3Vector3, align 16
  %46 = alloca %class.b3Vector3, align 16
  %47 = alloca float, align 4
  %48 = alloca %class.b3Vector3, align 16
  %49 = alloca %class.b3Vector3, align 16
  %50 = alloca float, align 4
  %51 = alloca float, align 4
  store ptr %0, ptr %16, align 8, !tbaa !5
  store ptr %1, ptr %17, align 8, !tbaa !5
  store ptr %2, ptr %18, align 8, !tbaa !5
  store ptr %3, ptr %19, align 8, !tbaa !5
  store ptr %4, ptr %20, align 8, !tbaa !5
  store i32 %5, ptr %21, align 4, !tbaa !9
  store i32 %6, ptr %22, align 4, !tbaa !9
  store ptr %7, ptr %23, align 8, !tbaa !5
  store ptr %8, ptr %24, align 8, !tbaa !5
  store ptr %9, ptr %25, align 8, !tbaa !5
  store ptr %10, ptr %26, align 8, !tbaa !5
  store ptr %11, ptr %27, align 8, !tbaa !5
  store float %12, ptr %28, align 4, !tbaa !11
  store float %13, ptr %29, align 4, !tbaa !11
  store float %14, ptr %30, align 4, !tbaa !11
  %52 = load ptr, ptr %16, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #6
  %53 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %54 = getelementptr inbounds %class.b3Vector3, ptr %31, i32 0, i32 0
  %55 = getelementptr inbounds %union.anon, ptr %54, i32 0, i32 0
  %56 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %55, i32 0, i32 0
  %57 = extractvalue { <2 x float>, <2 x float> } %53, 0
  store <2 x float> %57, ptr %56, align 16
  %58 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %55, i32 0, i32 1
  %59 = extractvalue { <2 x float>, <2 x float> } %53, 1
  store <2 x float> %59, ptr %58, align 8
  %60 = load ptr, ptr %19, align 8, !tbaa !5
  %61 = getelementptr inbounds %struct.b3SolverConstraint, ptr %60, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %61, ptr align 16 %31, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #6
  %62 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %52, i32 0, i32 1
  %63 = load i32, ptr %21, align 4, !tbaa !9
  %64 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %62, i32 noundef %63)
  store ptr %64, ptr %32, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #6
  %65 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %52, i32 0, i32 1
  %66 = load i32, ptr %22, align 4, !tbaa !9
  %67 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %65, i32 noundef %66)
  store ptr %67, ptr %33, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #6
  %68 = load ptr, ptr %17, align 8, !tbaa !5
  %69 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %52, i32 0, i32 1
  %70 = load i32, ptr %21, align 4, !tbaa !9
  %71 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %69, i32 noundef %70)
  %72 = getelementptr inbounds %struct.b3SolverBody, ptr %71, i32 0, i32 10
  %73 = load i32, ptr %72, align 16, !tbaa !14
  %74 = sext i32 %73 to i64
  %75 = getelementptr inbounds %struct.b3RigidBodyData, ptr %68, i64 %74
  store ptr %75, ptr %34, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #6
  %76 = load ptr, ptr %17, align 8, !tbaa !5
  %77 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %52, i32 0, i32 1
  %78 = load i32, ptr %22, align 4, !tbaa !9
  %79 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %77, i32 noundef %78)
  %80 = getelementptr inbounds %struct.b3SolverBody, ptr %79, i32 0, i32 10
  %81 = load i32, ptr %80, align 16, !tbaa !14
  %82 = sext i32 %81 to i64
  %83 = getelementptr inbounds %struct.b3RigidBodyData, ptr %76, i64 %82
  store ptr %83, ptr %35, align 8, !tbaa !5
  %84 = load i32, ptr %21, align 4, !tbaa !9
  %85 = load ptr, ptr %19, align 8, !tbaa !5
  %86 = getelementptr inbounds %struct.b3SolverConstraint, ptr %85, i32 0, i32 19
  store i32 %84, ptr %86, align 16, !tbaa !15
  %87 = load i32, ptr %22, align 4, !tbaa !9
  %88 = load ptr, ptr %19, align 8, !tbaa !5
  %89 = getelementptr inbounds %struct.b3SolverConstraint, ptr %88, i32 0, i32 20
  store i32 %87, ptr %89, align 4, !tbaa !18
  %90 = load ptr, ptr %23, align 8, !tbaa !5
  %91 = getelementptr inbounds %struct.b3ContactPoint, ptr %90, i32 0, i32 11
  %92 = load float, ptr %91, align 8, !tbaa !19
  %93 = load ptr, ptr %19, align 8, !tbaa !5
  %94 = getelementptr inbounds %struct.b3SolverConstraint, ptr %93, i32 0, i32 9
  store float %92, ptr %94, align 16, !tbaa !22
  %95 = load ptr, ptr %19, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct.b3SolverConstraint, ptr %95, i32 0, i32 16
  store ptr null, ptr %96, align 16, !tbaa !14
  %97 = load ptr, ptr %19, align 8, !tbaa !5
  %98 = getelementptr inbounds %struct.b3SolverConstraint, ptr %97, i32 0, i32 6
  store float 0.000000e+00, ptr %98, align 4, !tbaa !23
  %99 = load ptr, ptr %19, align 8, !tbaa !5
  %100 = getelementptr inbounds %struct.b3SolverConstraint, ptr %99, i32 0, i32 5
  store float 0.000000e+00, ptr %100, align 16, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 16, ptr %36) #6
  %101 = load ptr, ptr %20, align 8, !tbaa !5
  %102 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %101)
  %103 = getelementptr inbounds %class.b3Vector3, ptr %36, i32 0, i32 0
  %104 = getelementptr inbounds %union.anon, ptr %103, i32 0, i32 0
  %105 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %104, i32 0, i32 0
  %106 = extractvalue { <2 x float>, <2 x float> } %102, 0
  store <2 x float> %106, ptr %105, align 16
  %107 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %104, i32 0, i32 1
  %108 = extractvalue { <2 x float>, <2 x float> } %102, 1
  store <2 x float> %108, ptr %107, align 8
  %109 = load ptr, ptr %19, align 8, !tbaa !5
  %110 = getelementptr inbounds %struct.b3SolverConstraint, ptr %109, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %110, ptr align 16 %36, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #6
  %111 = load ptr, ptr %34, align 8, !tbaa !5
  %112 = icmp ne ptr %111, null
  br i1 %112, label %113, label %128

113:                                              ; preds = %15
  %114 = load ptr, ptr %18, align 8, !tbaa !5
  %115 = load ptr, ptr %32, align 8, !tbaa !5
  %116 = getelementptr inbounds %struct.b3SolverBody, ptr %115, i32 0, i32 10
  %117 = load i32, ptr %116, align 16, !tbaa !14
  %118 = sext i32 %117 to i64
  %119 = getelementptr inbounds %struct.b3InertiaData, ptr %114, i64 %118
  %120 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %119)
  %121 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %120, ptr noundef nonnull align 16 dereferenceable(16) %36)
  %122 = getelementptr inbounds %class.b3Vector3, ptr %37, i32 0, i32 0
  %123 = getelementptr inbounds %union.anon, ptr %122, i32 0, i32 0
  %124 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %123, i32 0, i32 0
  %125 = extractvalue { <2 x float>, <2 x float> } %121, 0
  store <2 x float> %125, ptr %124, align 16
  %126 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %123, i32 0, i32 1
  %127 = extractvalue { <2 x float>, <2 x float> } %121, 1
  store <2 x float> %127, ptr %126, align 8
  br label %136

128:                                              ; preds = %15
  %129 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %130 = getelementptr inbounds %class.b3Vector3, ptr %37, i32 0, i32 0
  %131 = getelementptr inbounds %union.anon, ptr %130, i32 0, i32 0
  %132 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %131, i32 0, i32 0
  %133 = extractvalue { <2 x float>, <2 x float> } %129, 0
  store <2 x float> %133, ptr %132, align 16
  %134 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %131, i32 0, i32 1
  %135 = extractvalue { <2 x float>, <2 x float> } %129, 1
  store <2 x float> %135, ptr %134, align 8
  br label %136

136:                                              ; preds = %128, %113
  %137 = load ptr, ptr %19, align 8, !tbaa !5
  %138 = getelementptr inbounds %struct.b3SolverConstraint, ptr %137, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %138, ptr align 16 %37, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #6
  %139 = load ptr, ptr %20, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %38, ptr align 16 %139, i64 16, i1 false), !tbaa.struct !13
  %140 = load ptr, ptr %19, align 8, !tbaa !5
  %141 = getelementptr inbounds %struct.b3SolverConstraint, ptr %140, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %141, ptr align 16 %38, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #6
  %142 = load ptr, ptr %35, align 8, !tbaa !5
  %143 = icmp ne ptr %142, null
  br i1 %143, label %144, label %159

144:                                              ; preds = %136
  %145 = load ptr, ptr %18, align 8, !tbaa !5
  %146 = load ptr, ptr %33, align 8, !tbaa !5
  %147 = getelementptr inbounds %struct.b3SolverBody, ptr %146, i32 0, i32 10
  %148 = load i32, ptr %147, align 16, !tbaa !14
  %149 = sext i32 %148 to i64
  %150 = getelementptr inbounds %struct.b3InertiaData, ptr %145, i64 %149
  %151 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %150)
  %152 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %151, ptr noundef nonnull align 16 dereferenceable(16) %38)
  %153 = getelementptr inbounds %class.b3Vector3, ptr %39, i32 0, i32 0
  %154 = getelementptr inbounds %union.anon, ptr %153, i32 0, i32 0
  %155 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %154, i32 0, i32 0
  %156 = extractvalue { <2 x float>, <2 x float> } %152, 0
  store <2 x float> %156, ptr %155, align 16
  %157 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %154, i32 0, i32 1
  %158 = extractvalue { <2 x float>, <2 x float> } %152, 1
  store <2 x float> %158, ptr %157, align 8
  br label %167

159:                                              ; preds = %136
  %160 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %161 = getelementptr inbounds %class.b3Vector3, ptr %39, i32 0, i32 0
  %162 = getelementptr inbounds %union.anon, ptr %161, i32 0, i32 0
  %163 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %162, i32 0, i32 0
  %164 = extractvalue { <2 x float>, <2 x float> } %160, 0
  store <2 x float> %164, ptr %163, align 16
  %165 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %162, i32 0, i32 1
  %166 = extractvalue { <2 x float>, <2 x float> } %160, 1
  store <2 x float> %166, ptr %165, align 8
  br label %167

167:                                              ; preds = %159, %144
  %168 = load ptr, ptr %19, align 8, !tbaa !5
  %169 = getelementptr inbounds %struct.b3SolverConstraint, ptr %168, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %169, ptr align 16 %39, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #6
  %170 = load ptr, ptr %34, align 8, !tbaa !5
  %171 = icmp ne ptr %170, null
  br i1 %171, label %172, label %189

172:                                              ; preds = %167
  %173 = load ptr, ptr %18, align 8, !tbaa !5
  %174 = load ptr, ptr %32, align 8, !tbaa !5
  %175 = getelementptr inbounds %struct.b3SolverBody, ptr %174, i32 0, i32 10
  %176 = load i32, ptr %175, align 16, !tbaa !14
  %177 = sext i32 %176 to i64
  %178 = getelementptr inbounds %struct.b3InertiaData, ptr %173, i64 %177
  %179 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %178)
  %180 = load ptr, ptr %19, align 8, !tbaa !5
  %181 = getelementptr inbounds %struct.b3SolverConstraint, ptr %180, i32 0, i32 0
  %182 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %179, ptr noundef nonnull align 16 dereferenceable(16) %181)
  %183 = getelementptr inbounds %class.b3Vector3, ptr %40, i32 0, i32 0
  %184 = getelementptr inbounds %union.anon, ptr %183, i32 0, i32 0
  %185 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %184, i32 0, i32 0
  %186 = extractvalue { <2 x float>, <2 x float> } %182, 0
  store <2 x float> %186, ptr %185, align 16
  %187 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %184, i32 0, i32 1
  %188 = extractvalue { <2 x float>, <2 x float> } %182, 1
  store <2 x float> %188, ptr %187, align 8
  br label %197

189:                                              ; preds = %167
  %190 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %191 = getelementptr inbounds %class.b3Vector3, ptr %40, i32 0, i32 0
  %192 = getelementptr inbounds %union.anon, ptr %191, i32 0, i32 0
  %193 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %192, i32 0, i32 0
  %194 = extractvalue { <2 x float>, <2 x float> } %190, 0
  store <2 x float> %194, ptr %193, align 16
  %195 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %192, i32 0, i32 1
  %196 = extractvalue { <2 x float>, <2 x float> } %190, 1
  store <2 x float> %196, ptr %195, align 8
  br label %197

197:                                              ; preds = %189, %172
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #6
  %198 = load ptr, ptr %35, align 8, !tbaa !5
  %199 = icmp ne ptr %198, null
  br i1 %199, label %200, label %217

200:                                              ; preds = %197
  %201 = load ptr, ptr %18, align 8, !tbaa !5
  %202 = load ptr, ptr %33, align 8, !tbaa !5
  %203 = getelementptr inbounds %struct.b3SolverBody, ptr %202, i32 0, i32 10
  %204 = load i32, ptr %203, align 16, !tbaa !14
  %205 = sext i32 %204 to i64
  %206 = getelementptr inbounds %struct.b3InertiaData, ptr %201, i64 %205
  %207 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %206)
  %208 = load ptr, ptr %19, align 8, !tbaa !5
  %209 = getelementptr inbounds %struct.b3SolverConstraint, ptr %208, i32 0, i32 2
  %210 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %207, ptr noundef nonnull align 16 dereferenceable(16) %209)
  %211 = getelementptr inbounds %class.b3Vector3, ptr %41, i32 0, i32 0
  %212 = getelementptr inbounds %union.anon, ptr %211, i32 0, i32 0
  %213 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %212, i32 0, i32 0
  %214 = extractvalue { <2 x float>, <2 x float> } %210, 0
  store <2 x float> %214, ptr %213, align 16
  %215 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %212, i32 0, i32 1
  %216 = extractvalue { <2 x float>, <2 x float> } %210, 1
  store <2 x float> %216, ptr %215, align 8
  br label %225

217:                                              ; preds = %197
  %218 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %219 = getelementptr inbounds %class.b3Vector3, ptr %41, i32 0, i32 0
  %220 = getelementptr inbounds %union.anon, ptr %219, i32 0, i32 0
  %221 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %220, i32 0, i32 0
  %222 = extractvalue { <2 x float>, <2 x float> } %218, 0
  store <2 x float> %222, ptr %221, align 16
  %223 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %220, i32 0, i32 1
  %224 = extractvalue { <2 x float>, <2 x float> } %218, 1
  store <2 x float> %224, ptr %223, align 8
  br label %225

225:                                              ; preds = %217, %200
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #6
  store float 0.000000e+00, ptr %42, align 4, !tbaa !11
  %226 = load ptr, ptr %19, align 8, !tbaa !5
  %227 = getelementptr inbounds %struct.b3SolverConstraint, ptr %226, i32 0, i32 0
  %228 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %40, ptr noundef nonnull align 16 dereferenceable(16) %227)
  %229 = load float, ptr %42, align 4, !tbaa !11
  %230 = fadd float %229, %228
  store float %230, ptr %42, align 4, !tbaa !11
  %231 = load ptr, ptr %19, align 8, !tbaa !5
  %232 = getelementptr inbounds %struct.b3SolverConstraint, ptr %231, i32 0, i32 2
  %233 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %41, ptr noundef nonnull align 16 dereferenceable(16) %232)
  %234 = load float, ptr %42, align 4, !tbaa !11
  %235 = fadd float %234, %233
  store float %235, ptr %42, align 4, !tbaa !11
  %236 = load float, ptr %42, align 4, !tbaa !11
  %237 = fdiv float 1.000000e+00, %236
  %238 = load ptr, ptr %19, align 8, !tbaa !5
  %239 = getelementptr inbounds %struct.b3SolverConstraint, ptr %238, i32 0, i32 10
  store float %237, ptr %239, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #6
  %240 = load ptr, ptr %19, align 8, !tbaa !5
  %241 = getelementptr inbounds %struct.b3SolverConstraint, ptr %240, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 16, ptr %45) #6
  %242 = load ptr, ptr %34, align 8, !tbaa !5
  %243 = icmp ne ptr %242, null
  br i1 %243, label %244, label %247

244:                                              ; preds = %225
  %245 = load ptr, ptr %32, align 8, !tbaa !5
  %246 = getelementptr inbounds %struct.b3SolverBody, ptr %245, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %45, ptr align 16 %246, i64 16, i1 false), !tbaa.struct !13
  br label %255

247:                                              ; preds = %225
  %248 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %249 = getelementptr inbounds %class.b3Vector3, ptr %45, i32 0, i32 0
  %250 = getelementptr inbounds %union.anon, ptr %249, i32 0, i32 0
  %251 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %250, i32 0, i32 0
  %252 = extractvalue { <2 x float>, <2 x float> } %248, 0
  store <2 x float> %252, ptr %251, align 16
  %253 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %250, i32 0, i32 1
  %254 = extractvalue { <2 x float>, <2 x float> } %248, 1
  store <2 x float> %254, ptr %253, align 8
  br label %255

255:                                              ; preds = %247, %244
  %256 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %241, ptr noundef nonnull align 16 dereferenceable(16) %45)
  %257 = load ptr, ptr %19, align 8, !tbaa !5
  %258 = getelementptr inbounds %struct.b3SolverConstraint, ptr %257, i32 0, i32 0
  call void @llvm.lifetime.start.p0(i64 16, ptr %46) #6
  %259 = load ptr, ptr %34, align 8, !tbaa !5
  %260 = icmp ne ptr %259, null
  br i1 %260, label %261, label %264

261:                                              ; preds = %255
  %262 = load ptr, ptr %32, align 8, !tbaa !5
  %263 = getelementptr inbounds %struct.b3SolverBody, ptr %262, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %46, ptr align 16 %263, i64 16, i1 false), !tbaa.struct !13
  br label %272

264:                                              ; preds = %255
  %265 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %266 = getelementptr inbounds %class.b3Vector3, ptr %46, i32 0, i32 0
  %267 = getelementptr inbounds %union.anon, ptr %266, i32 0, i32 0
  %268 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %267, i32 0, i32 0
  %269 = extractvalue { <2 x float>, <2 x float> } %265, 0
  store <2 x float> %269, ptr %268, align 16
  %270 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %267, i32 0, i32 1
  %271 = extractvalue { <2 x float>, <2 x float> } %265, 1
  store <2 x float> %271, ptr %270, align 8
  br label %272

272:                                              ; preds = %264, %261
  %273 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %258, ptr noundef nonnull align 16 dereferenceable(16) %46)
  %274 = fadd float %256, %273
  call void @llvm.lifetime.end.p0(i64 16, ptr %46) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %45) #6
  store float %274, ptr %44, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #6
  %275 = load ptr, ptr %19, align 8, !tbaa !5
  %276 = getelementptr inbounds %struct.b3SolverConstraint, ptr %275, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 16, ptr %48) #6
  %277 = load ptr, ptr %35, align 8, !tbaa !5
  %278 = icmp ne ptr %277, null
  br i1 %278, label %279, label %282

279:                                              ; preds = %272
  %280 = load ptr, ptr %33, align 8, !tbaa !5
  %281 = getelementptr inbounds %struct.b3SolverBody, ptr %280, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %48, ptr align 16 %281, i64 16, i1 false), !tbaa.struct !13
  br label %290

282:                                              ; preds = %272
  %283 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %284 = getelementptr inbounds %class.b3Vector3, ptr %48, i32 0, i32 0
  %285 = getelementptr inbounds %union.anon, ptr %284, i32 0, i32 0
  %286 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %285, i32 0, i32 0
  %287 = extractvalue { <2 x float>, <2 x float> } %283, 0
  store <2 x float> %287, ptr %286, align 16
  %288 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %285, i32 0, i32 1
  %289 = extractvalue { <2 x float>, <2 x float> } %283, 1
  store <2 x float> %289, ptr %288, align 8
  br label %290

290:                                              ; preds = %282, %279
  %291 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %276, ptr noundef nonnull align 16 dereferenceable(16) %48)
  %292 = fneg float %291
  %293 = load ptr, ptr %19, align 8, !tbaa !5
  %294 = getelementptr inbounds %struct.b3SolverConstraint, ptr %293, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 16, ptr %49) #6
  %295 = load ptr, ptr %35, align 8, !tbaa !5
  %296 = icmp ne ptr %295, null
  br i1 %296, label %297, label %300

297:                                              ; preds = %290
  %298 = load ptr, ptr %33, align 8, !tbaa !5
  %299 = getelementptr inbounds %struct.b3SolverBody, ptr %298, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %49, ptr align 16 %299, i64 16, i1 false), !tbaa.struct !13
  br label %308

300:                                              ; preds = %290
  %301 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %302 = getelementptr inbounds %class.b3Vector3, ptr %49, i32 0, i32 0
  %303 = getelementptr inbounds %union.anon, ptr %302, i32 0, i32 0
  %304 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %303, i32 0, i32 0
  %305 = extractvalue { <2 x float>, <2 x float> } %301, 0
  store <2 x float> %305, ptr %304, align 16
  %306 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %303, i32 0, i32 1
  %307 = extractvalue { <2 x float>, <2 x float> } %301, 1
  store <2 x float> %307, ptr %306, align 8
  br label %308

308:                                              ; preds = %300, %297
  %309 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %294, ptr noundef nonnull align 16 dereferenceable(16) %49)
  %310 = fadd float %292, %309
  call void @llvm.lifetime.end.p0(i64 16, ptr %49) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #6
  store float %310, ptr %47, align 4, !tbaa !11
  %311 = load float, ptr %44, align 4, !tbaa !11
  %312 = load float, ptr %47, align 4, !tbaa !11
  %313 = fadd float %311, %312
  store float %313, ptr %43, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #6
  %314 = load float, ptr %29, align 4, !tbaa !11
  %315 = load float, ptr %43, align 4, !tbaa !11
  %316 = fsub float %314, %315
  store float %316, ptr %50, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %51) #6
  %317 = load float, ptr %50, align 4, !tbaa !11
  %318 = load ptr, ptr %19, align 8, !tbaa !5
  %319 = getelementptr inbounds %struct.b3SolverConstraint, ptr %318, i32 0, i32 10
  %320 = load float, ptr %319, align 4, !tbaa !25
  %321 = fmul float %317, %320
  store float %321, ptr %51, align 4, !tbaa !11
  %322 = load float, ptr %51, align 4, !tbaa !11
  %323 = load ptr, ptr %19, align 8, !tbaa !5
  %324 = getelementptr inbounds %struct.b3SolverConstraint, ptr %323, i32 0, i32 11
  store float %322, ptr %324, align 8, !tbaa !26
  %325 = load float, ptr %30, align 4, !tbaa !11
  %326 = load ptr, ptr %19, align 8, !tbaa !5
  %327 = getelementptr inbounds %struct.b3SolverConstraint, ptr %326, i32 0, i32 12
  store float %325, ptr %327, align 4, !tbaa !27
  %328 = load ptr, ptr %19, align 8, !tbaa !5
  %329 = getelementptr inbounds %struct.b3SolverConstraint, ptr %328, i32 0, i32 13
  store float 0.000000e+00, ptr %329, align 16, !tbaa !28
  %330 = load ptr, ptr %19, align 8, !tbaa !5
  %331 = getelementptr inbounds %struct.b3SolverConstraint, ptr %330, i32 0, i32 14
  store float 1.000000e+10, ptr %331, align 4, !tbaa !29
  call void @llvm.lifetime.end.p0(i64 4, ptr %51) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #6
  ret void
}

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { 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 #4 = { 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 #5 = { 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 #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"float", !7, i64 0}
!13 = !{i64 0, i64 16, !14}
!14 = !{!7, !7, i64 0}
!15 = !{!16, !10, i64 144}
!16 = !{!"_ZTS18b3SolverConstraint", !17, i64 0, !17, i64 16, !17, i64 32, !17, i64 48, !17, i64 64, !12, i64 80, !12, i64 84, !10, i64 88, !10, i64 92, !12, i64 96, !12, i64 100, !12, i64 104, !12, i64 108, !12, i64 112, !12, i64 116, !12, i64 120, !7, i64 128, !10, i64 136, !10, i64 140, !10, i64 144, !10, i64 148}
!17 = !{!"_ZTS9b3Vector3", !7, i64 0}
!18 = !{!16, !10, i64 148}
!19 = !{!20, !12, i64 104}
!20 = !{!"_ZTS14b3ContactPoint", !17, i64 0, !17, i64 16, !17, i64 32, !12, i64 48, !12, i64 52, !12, i64 56, !12, i64 60, !17, i64 64, !17, i64 80, !12, i64 96, !12, i64 100, !12, i64 104, !12, i64 108, !12, i64 112, !12, i64 116, !12, i64 120, !21, i64 124}
!21 = !{!"bool", !7, i64 0}
!22 = !{!16, !12, i64 96}
!23 = !{!16, !12, i64 84}
!24 = !{!16, !12, i64 80}
!25 = !{!16, !12, i64 100}
!26 = !{!16, !12, i64 104}
!27 = !{!16, !12, i64 108}
!28 = !{!16, !12, i64 112}
!29 = !{!16, !12, 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.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: 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 #2 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 #3

; 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 #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 #2 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 #3

; Function Attrs: mustprogress nounwind uwtable
declare hidden noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver30setupRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintRK9b3Vector3iiR14b3ContactPointS8_S8_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef readnone %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(160) %3, ptr noundef nonnull align 16 dereferenceable(16) %4, i32 noundef %5, i32 noundef %6, ptr nocapture noundef nonnull readonly align 16 dereferenceable(128) %7, ptr nocapture noundef nonnull readnone align 16 dereferenceable(16) %8, ptr nocapture noundef nonnull readnone align 16 dereferenceable(16) %9, ptr nocapture noundef readnone %10, ptr nocapture noundef readnone %11, float noundef %12, float noundef %13, float noundef %14) local_unnamed_addr #5 align 2 {
  %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 = tail call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %25 = extractvalue { <2 x float>, <2 x float> } %24, 0
  %26 = extractvalue { <2 x float>, <2 x float> } %24, 1
  %27 = getelementptr inbounds i8, ptr %3, i64 16
  store <2 x float> %25, ptr %27, align 16
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 24
  store <2 x float> %26, ptr %.sroa.4.0..sroa_idx, align 8, !tbaa !5
  %28 = getelementptr inbounds i8, ptr %0, i64 8
  %29 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %28, i32 noundef %5)
  %30 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %28, i32 noundef %6)
  %31 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %28, i32 noundef %5)
  %32 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %28, i32 noundef %6)
  %33 = getelementptr inbounds i8, ptr %3, i64 144
  store i32 %5, ptr %33, align 16, !tbaa !8
  %34 = getelementptr inbounds i8, ptr %3, i64 148
  store i32 %6, ptr %34, align 4, !tbaa !13
  %35 = getelementptr inbounds i8, ptr %7, i64 104
  %36 = load float, ptr %35, align 8, !tbaa !14
  %37 = getelementptr inbounds i8, ptr %3, i64 96
  store float %36, ptr %37, align 16, !tbaa !17
  %38 = getelementptr inbounds i8, ptr %3, i64 128
  store ptr null, ptr %38, align 16, !tbaa !5
  %39 = getelementptr inbounds i8, ptr %3, i64 80
  store <2 x float> zeroinitializer, ptr %39, align 16, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #7
  %40 = tail call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %4)
  %41 = extractvalue { <2 x float>, <2 x float> } %40, 0
  store <2 x float> %41, ptr %16, align 16
  %42 = getelementptr inbounds i8, ptr %16, i64 8
  %43 = extractvalue { <2 x float>, <2 x float> } %40, 1
  store <2 x float> %43, ptr %42, align 8
  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 !19
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %73, label %44

44:                                               ; preds = %15
  %45 = getelementptr inbounds i8, ptr %29, i64 208
  %46 = load i32, ptr %45, align 16, !tbaa !5
  %47 = sext i32 %46 to i64
  %48 = getelementptr inbounds %struct.b3InertiaData, ptr %2, i64 %47
  %49 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %48)
  %50 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %49, ptr noundef nonnull align 16 dereferenceable(16) %16)
  %.sroa.59.0 = extractvalue { <2 x float>, <2 x float> } %50, 1
  %.sroa.08.0 = extractvalue { <2 x float>, <2 x float> } %50, 0
  %51 = getelementptr inbounds i8, ptr %3, i64 48
  store <2 x float> %.sroa.08.0, ptr %51, align 16
  %.sroa.59.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  store <2 x float> %.sroa.59.0, ptr %.sroa.59.0..sroa_idx, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #7
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %17, ptr noundef nonnull align 16 dereferenceable(16) %4, i64 16, i1 false), !tbaa.struct !19
  %52 = getelementptr inbounds i8, ptr %3, i64 32
  call void @llvm.memmove.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %52, ptr noundef nonnull align 16 dereferenceable(16) %4, i64 16, i1 false)
  %53 = getelementptr inbounds i8, ptr %30, i64 208
  %54 = load i32, ptr %53, align 16, !tbaa !5
  %55 = sext i32 %54 to i64
  %56 = getelementptr inbounds %struct.b3InertiaData, ptr %2, i64 %55
  %57 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %56)
  %58 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %57, ptr noundef nonnull align 16 dereferenceable(16) %17)
  %.sroa.5.0 = extractvalue { <2 x float>, <2 x float> } %58, 1
  %.sroa.0.0 = extractvalue { <2 x float>, <2 x float> } %58, 0
  %59 = getelementptr inbounds i8, ptr %3, i64 64
  store <2 x float> %.sroa.0.0, ptr %59, align 16
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 72
  store <2 x float> %.sroa.5.0, ptr %.sroa.5.0..sroa_idx, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #7
  %60 = load i32, ptr %45, align 16, !tbaa !5
  %61 = sext i32 %60 to i64
  %62 = getelementptr inbounds %struct.b3InertiaData, ptr %2, i64 %61
  %63 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %62)
  %64 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %63, ptr noundef nonnull align 16 dereferenceable(16) %3)
  %65 = extractvalue { <2 x float>, <2 x float> } %64, 0
  store <2 x float> %65, ptr %18, align 16
  %66 = getelementptr inbounds i8, ptr %18, i64 8
  %67 = extractvalue { <2 x float>, <2 x float> } %64, 1
  store <2 x float> %67, ptr %66, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #7
  %68 = load i32, ptr %53, align 16, !tbaa !5
  %69 = sext i32 %68 to i64
  %70 = getelementptr inbounds %struct.b3InertiaData, ptr %2, i64 %69
  %71 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %70)
  %72 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %71, ptr noundef nonnull align 16 dereferenceable(16) %52)
  br label %84

73:                                               ; preds = %15
  %74 = tail call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %.sroa.59.074 = extractvalue { <2 x float>, <2 x float> } %74, 1
  %.sroa.08.075 = extractvalue { <2 x float>, <2 x float> } %74, 0
  %75 = getelementptr inbounds i8, ptr %3, i64 48
  store <2 x float> %.sroa.08.075, ptr %75, align 16
  %.sroa.59.0..sroa_idx76 = getelementptr inbounds i8, ptr %3, i64 56
  store <2 x float> %.sroa.59.074, ptr %.sroa.59.0..sroa_idx76, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #7
  %76 = getelementptr inbounds i8, ptr %3, i64 32
  tail call void @llvm.memmove.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %76, ptr noundef nonnull align 16 dereferenceable(16) %4, i64 16, i1 false)
  %77 = tail call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %.sroa.5.079 = extractvalue { <2 x float>, <2 x float> } %77, 1
  %.sroa.0.080 = extractvalue { <2 x float>, <2 x float> } %77, 0
  %78 = getelementptr inbounds i8, ptr %3, i64 64
  store <2 x float> %.sroa.0.080, ptr %78, align 16
  %.sroa.5.0..sroa_idx81 = getelementptr inbounds i8, ptr %3, i64 72
  store <2 x float> %.sroa.5.079, ptr %.sroa.5.0..sroa_idx81, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #7
  %79 = tail call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %80 = extractvalue { <2 x float>, <2 x float> } %79, 0
  store <2 x float> %80, ptr %18, align 16
  %81 = getelementptr inbounds i8, ptr %18, i64 8
  %82 = extractvalue { <2 x float>, <2 x float> } %79, 1
  store <2 x float> %82, ptr %81, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #7
  %83 = tail 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 %84

84:                                               ; preds = %73, %44
  %.pn = phi { <2 x float>, <2 x float> } [ %83, %73 ], [ %72, %44 ]
  %85 = phi ptr [ %76, %73 ], [ %52, %44 ]
  %.sink = extractvalue { <2 x float>, <2 x float> } %.pn, 1
  %.sink86 = extractvalue { <2 x float>, <2 x float> } %.pn, 0
  store <2 x float> %.sink86, ptr %19, align 16
  %86 = getelementptr inbounds i8, ptr %19, i64 8
  store <2 x float> %.sink, ptr %86, align 8
  %87 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %18, ptr noundef nonnull align 16 dereferenceable(16) %3)
  %88 = fadd float %87, 0.000000e+00
  %89 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %19, ptr noundef nonnull align 16 dereferenceable(16) %85)
  %90 = fadd float %88, %89
  %91 = fdiv float 1.000000e+00, %90
  %92 = getelementptr inbounds i8, ptr %3, i64 100
  store float %91, ptr %92, align 4, !tbaa !20
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #7
  br i1 %.not, label %101, label %93

93:                                               ; preds = %84
  %94 = getelementptr inbounds i8, ptr %29, i64 176
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 16 dereferenceable(16) %94, i64 16, i1 false), !tbaa.struct !19
  %95 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %27, ptr noundef nonnull align 16 dereferenceable(16) %20)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #7
  %96 = getelementptr inbounds i8, ptr %29, i64 192
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %21, ptr noundef nonnull align 16 dereferenceable(16) %96, i64 16, i1 false), !tbaa.struct !19
  %97 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %21)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #7
  %98 = getelementptr inbounds i8, ptr %30, i64 176
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %98, i64 16, i1 false), !tbaa.struct !19
  %99 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %27, ptr noundef nonnull align 16 dereferenceable(16) %22)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #7
  %100 = getelementptr inbounds i8, ptr %30, i64 192
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef nonnull align 16 dereferenceable(16) %100, i64 16, i1 false), !tbaa.struct !19
  br label %121

101:                                              ; preds = %84
  %102 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %103 = extractvalue { <2 x float>, <2 x float> } %102, 0
  store <2 x float> %103, ptr %20, align 16
  %104 = getelementptr inbounds i8, ptr %20, i64 8
  %105 = extractvalue { <2 x float>, <2 x float> } %102, 1
  store <2 x float> %105, ptr %104, align 8
  %106 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %27, ptr noundef nonnull align 16 dereferenceable(16) %20)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #7
  %107 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %108 = extractvalue { <2 x float>, <2 x float> } %107, 0
  store <2 x float> %108, ptr %21, align 16
  %109 = getelementptr inbounds i8, ptr %21, i64 8
  %110 = extractvalue { <2 x float>, <2 x float> } %107, 1
  store <2 x float> %110, ptr %109, align 8
  %111 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %21)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #7
  %112 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %113 = extractvalue { <2 x float>, <2 x float> } %112, 0
  store <2 x float> %113, ptr %22, align 16
  %114 = getelementptr inbounds i8, ptr %22, i64 8
  %115 = extractvalue { <2 x float>, <2 x float> } %112, 1
  store <2 x float> %115, ptr %114, align 8
  %116 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %27, ptr noundef nonnull align 16 dereferenceable(16) %22)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #7
  %117 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %118 = extractvalue { <2 x float>, <2 x float> } %117, 0
  store <2 x float> %118, ptr %23, align 16
  %119 = getelementptr inbounds i8, ptr %23, i64 8
  %120 = extractvalue { <2 x float>, <2 x float> } %117, 1
  store <2 x float> %120, ptr %119, align 8
  br label %121

121:                                              ; preds = %101, %93
  %122 = phi float [ %116, %101 ], [ %99, %93 ]
  %123 = phi float [ %106, %101 ], [ %95, %93 ]
  %124 = phi float [ %111, %101 ], [ %97, %93 ]
  %125 = fadd float %123, %124
  %126 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %85, ptr noundef nonnull align 16 dereferenceable(16) %23)
  %127 = fsub float %126, %122
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #7
  %128 = fadd float %125, %127
  %129 = fsub float %13, %128
  %130 = load float, ptr %92, align 4, !tbaa !20
  %131 = fmul float %129, %130
  %132 = getelementptr inbounds i8, ptr %3, i64 104
  store float %131, ptr %132, align 8, !tbaa !21
  %133 = getelementptr inbounds i8, ptr %3, i64 108
  store float %14, ptr %133, align 4, !tbaa !22
  %134 = getelementptr inbounds i8, ptr %3, i64 112
  store <2 x float> <float 0.000000e+00, float 1.000000e+10>, ptr %134, align 16, !tbaa !18
  ret void
}

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memmove.p0.p0.i64(ptr nocapture writeonly, ptr nocapture readonly, i64, i1 immarg) #6

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { 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 #4 = { 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 #5 = { 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 #6 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #7 = { 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, !12, i64 144}
!9 = !{!"_ZTS18b3SolverConstraint", !10, i64 0, !10, i64 16, !10, i64 32, !10, i64 48, !10, i64 64, !11, i64 80, !11, i64 84, !12, i64 88, !12, i64 92, !11, i64 96, !11, i64 100, !11, i64 104, !11, i64 108, !11, i64 112, !11, i64 116, !11, i64 120, !6, i64 128, !12, i64 136, !12, i64 140, !12, i64 144, !12, i64 148}
!10 = !{!"_ZTS9b3Vector3", !6, i64 0}
!11 = !{!"float", !6, i64 0}
!12 = !{!"int", !6, i64 0}
!13 = !{!9, !12, i64 148}
!14 = !{!15, !11, i64 104}
!15 = !{!"_ZTS14b3ContactPoint", !10, i64 0, !10, i64 16, !10, i64 32, !11, i64 48, !11, i64 52, !11, i64 56, !11, i64 60, !10, i64 64, !10, i64 80, !11, i64 96, !11, i64 100, !11, i64 104, !11, i64 108, !11, i64 112, !11, i64 116, !11, i64 120, !16, i64 124}
!16 = !{!"bool", !6, i64 0}
!17 = !{!9, !11, i64 96}
!18 = !{!11, !11, i64 0}
!19 = !{i64 0, i64 16, !5}
!20 = !{!9, !11, i64 100}
!21 = !{!9, !11, i64 104}
!22 = !{!9, !11, i64 108}


; Effective O3 passes: DSEPass,EarlyCSEPass,GVNPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,MemCpyOptPass,MergedLoadStoreMotionPass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass,TailCallElimPass