; LLVM IR from ClementineAccount/Albuquerque :: lib/bullet/include/Bullet3Dynamics/ConstraintSolver (b3FixedConstraint)

; 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.0 }
%union.anon.0 = type { [4 x float] }
%class.b3Quaternion = type { %class.b3QuadWord }
%class.b3QuadWord = type { %union.anon.1 }
%union.anon.1 = type { [4 x float] }
%class.b3TypedConstraint = type { ptr, %struct.b3TypedObject, i32, %union.anon, float, i8, i8, i32, i32, i32, float, float, ptr }
%struct.b3TypedObject = type { i32 }
%union.anon = type { ptr }
%struct.b3RigidBodyData = type { %class.b3Vector3, %class.b3Quaternion, %class.b3Vector3, %class.b3Vector3, i32, float, float, float }
%"struct.b3TypedConstraint::b3ConstraintInfo2" = type { float, float, ptr, ptr, ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, i32, float }
%class.b3FixedConstraint = type { %class.b3TypedConstraint, %class.b3Vector3, %class.b3Vector3, %class.b3Quaternion }

; 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> } @_ZmlRK12b3QuaternionS1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #1

; Function Attrs: mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZNK12b3Quaternion7inverseEv(ptr noundef nonnull align 16 dereferenceable(16)) #2 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3FixedConstraint8getInfo2EPN17b3TypedConstraint17b3ConstraintInfo2EPK15b3RigidBodyData(ptr noundef nonnull align 16 dereferenceable(112) %0, ptr noundef %1, ptr noundef %2) unnamed_addr #3 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca %class.b3Vector3, align 16
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca %class.b3Vector3, align 16
  %16 = alloca %class.b3Vector3, align 16
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca float, align 4
  %21 = alloca %class.b3Vector3, align 16
  %22 = alloca %class.b3Vector3, align 16
  %23 = alloca %class.b3Vector3, align 16
  %24 = alloca %class.b3Vector3, align 16
  %25 = alloca i32, align 4
  %26 = alloca i32, align 4
  %27 = alloca i32, align 4
  %28 = alloca i32, align 4
  %29 = alloca %class.b3Vector3, align 16
  %30 = alloca float, align 4
  %31 = alloca %class.b3Quaternion, align 16
  %32 = alloca %class.b3Quaternion, align 16
  %33 = alloca float, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  %34 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  %35 = load ptr, ptr %6, align 8, !tbaa !5
  %36 = getelementptr inbounds %class.b3TypedConstraint, ptr %34, i32 0, i32 8
  %37 = load i32, ptr %36, align 4, !tbaa !9
  %38 = sext i32 %37 to i64
  %39 = getelementptr inbounds %struct.b3RigidBodyData, ptr %35, i64 %38
  %40 = getelementptr inbounds %struct.b3RigidBodyData, ptr %39, i32 0, i32 0
  store ptr %40, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #7
  %41 = load ptr, ptr %6, align 8, !tbaa !5
  %42 = getelementptr inbounds %class.b3TypedConstraint, ptr %34, i32 0, i32 8
  %43 = load i32, ptr %42, align 4, !tbaa !9
  %44 = sext i32 %43 to i64
  %45 = getelementptr inbounds %struct.b3RigidBodyData, ptr %41, i64 %44
  %46 = getelementptr inbounds %struct.b3RigidBodyData, ptr %45, i32 0, i32 1
  store ptr %46, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %47 = load ptr, ptr %6, align 8, !tbaa !5
  %48 = getelementptr inbounds %class.b3TypedConstraint, ptr %34, i32 0, i32 9
  %49 = load i32, ptr %48, align 8, !tbaa !15
  %50 = sext i32 %49 to i64
  %51 = getelementptr inbounds %struct.b3RigidBodyData, ptr %47, i64 %50
  %52 = getelementptr inbounds %struct.b3RigidBodyData, ptr %51, i32 0, i32 0
  store ptr %52, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %53 = load ptr, ptr %6, align 8, !tbaa !5
  %54 = getelementptr inbounds %class.b3TypedConstraint, ptr %34, i32 0, i32 9
  %55 = load i32, ptr %54, align 8, !tbaa !15
  %56 = sext i32 %55 to i64
  %57 = getelementptr inbounds %struct.b3RigidBodyData, ptr %53, i64 %56
  %58 = getelementptr inbounds %struct.b3RigidBodyData, ptr %57, i32 0, i32 1
  store ptr %58, ptr %10, align 8, !tbaa !5
  %59 = load ptr, ptr %5, align 8, !tbaa !5
  %60 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %59, i32 0, i32 2
  %61 = load ptr, ptr %60, align 8, !tbaa !16
  %62 = getelementptr inbounds float, ptr %61, i64 0
  store float 1.000000e+00, ptr %62, align 4, !tbaa !18
  %63 = load ptr, ptr %5, align 8, !tbaa !5
  %64 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %63, i32 0, i32 2
  %65 = load ptr, ptr %64, align 8, !tbaa !16
  %66 = load ptr, ptr %5, align 8, !tbaa !5
  %67 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %66, i32 0, i32 6
  %68 = load i32, ptr %67, align 8, !tbaa !19
  %69 = add nsw i32 %68, 1
  %70 = sext i32 %69 to i64
  %71 = getelementptr inbounds float, ptr %65, i64 %70
  store float 1.000000e+00, ptr %71, align 4, !tbaa !18
  %72 = load ptr, ptr %5, align 8, !tbaa !5
  %73 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %72, i32 0, i32 2
  %74 = load ptr, ptr %73, align 8, !tbaa !16
  %75 = load ptr, ptr %5, align 8, !tbaa !5
  %76 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %75, i32 0, i32 6
  %77 = load i32, ptr %76, align 8, !tbaa !19
  %78 = mul nsw i32 2, %77
  %79 = add nsw i32 %78, 2
  %80 = sext i32 %79 to i64
  %81 = getelementptr inbounds float, ptr %74, i64 %80
  store float 1.000000e+00, ptr %81, align 4, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 16, ptr %11) #7
  %82 = load ptr, ptr %8, align 8, !tbaa !5
  %83 = getelementptr inbounds %class.b3FixedConstraint, ptr %34, i32 0, i32 1
  %84 = call { <2 x float>, <2 x float> } @_Z12b3QuatRotateRK12b3QuaternionRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %82, ptr noundef nonnull align 16 dereferenceable(16) %83)
  %85 = getelementptr inbounds %class.b3Vector3, ptr %11, i32 0, i32 0
  %86 = getelementptr inbounds %union.anon.0, ptr %85, i32 0, i32 0
  %87 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %86, i32 0, i32 0
  %88 = extractvalue { <2 x float>, <2 x float> } %84, 0
  store <2 x float> %88, ptr %87, align 16
  %89 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %86, i32 0, i32 1
  %90 = extractvalue { <2 x float>, <2 x float> } %84, 1
  store <2 x float> %90, ptr %89, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %91 = load ptr, ptr %5, align 8, !tbaa !5
  %92 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %91, i32 0, i32 3
  %93 = load ptr, ptr %92, align 8, !tbaa !20
  store ptr %93, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %94 = load ptr, ptr %5, align 8, !tbaa !5
  %95 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %94, i32 0, i32 3
  %96 = load ptr, ptr %95, align 8, !tbaa !20
  %97 = load ptr, ptr %5, align 8, !tbaa !5
  %98 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %97, i32 0, i32 6
  %99 = load i32, ptr %98, align 8, !tbaa !19
  %100 = sext i32 %99 to i64
  %101 = getelementptr inbounds float, ptr %96, i64 %100
  store ptr %101, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %102 = load ptr, ptr %5, align 8, !tbaa !5
  %103 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %102, i32 0, i32 3
  %104 = load ptr, ptr %103, align 8, !tbaa !20
  %105 = load ptr, ptr %5, align 8, !tbaa !5
  %106 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %105, i32 0, i32 6
  %107 = load i32, ptr %106, align 8, !tbaa !19
  %108 = mul nsw i32 2, %107
  %109 = sext i32 %108 to i64
  %110 = getelementptr inbounds float, ptr %104, i64 %109
  store ptr %110, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %15) #7
  %111 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %11)
  %112 = getelementptr inbounds %class.b3Vector3, ptr %15, i32 0, i32 0
  %113 = getelementptr inbounds %union.anon.0, ptr %112, i32 0, i32 0
  %114 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %113, i32 0, i32 0
  %115 = extractvalue { <2 x float>, <2 x float> } %111, 0
  store <2 x float> %115, ptr %114, align 16
  %116 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %113, i32 0, i32 1
  %117 = extractvalue { <2 x float>, <2 x float> } %111, 1
  store <2 x float> %117, ptr %116, align 8
  %118 = load ptr, ptr %12, align 8, !tbaa !5
  %119 = load ptr, ptr %13, align 8, !tbaa !5
  %120 = load ptr, ptr %14, align 8, !tbaa !5
  call void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16) %15, ptr noundef %118, ptr noundef %119, ptr noundef %120)
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  %121 = load ptr, ptr %5, align 8, !tbaa !5
  %122 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %121, i32 0, i32 4
  %123 = load ptr, ptr %122, align 8, !tbaa !21
  %124 = icmp ne ptr %123, null
  br i1 %124, label %125, label %149

125:                                              ; preds = %3
  %126 = load ptr, ptr %5, align 8, !tbaa !5
  %127 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %126, i32 0, i32 4
  %128 = load ptr, ptr %127, align 8, !tbaa !21
  %129 = getelementptr inbounds float, ptr %128, i64 0
  store float -1.000000e+00, ptr %129, align 4, !tbaa !18
  %130 = load ptr, ptr %5, align 8, !tbaa !5
  %131 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %130, i32 0, i32 4
  %132 = load ptr, ptr %131, align 8, !tbaa !21
  %133 = load ptr, ptr %5, align 8, !tbaa !5
  %134 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %133, i32 0, i32 6
  %135 = load i32, ptr %134, align 8, !tbaa !19
  %136 = add nsw i32 %135, 1
  %137 = sext i32 %136 to i64
  %138 = getelementptr inbounds float, ptr %132, i64 %137
  store float -1.000000e+00, ptr %138, align 4, !tbaa !18
  %139 = load ptr, ptr %5, align 8, !tbaa !5
  %140 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %139, i32 0, i32 4
  %141 = load ptr, ptr %140, align 8, !tbaa !21
  %142 = load ptr, ptr %5, align 8, !tbaa !5
  %143 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %142, i32 0, i32 6
  %144 = load i32, ptr %143, align 8, !tbaa !19
  %145 = mul nsw i32 2, %144
  %146 = add nsw i32 %145, 2
  %147 = sext i32 %146 to i64
  %148 = getelementptr inbounds float, ptr %141, i64 %147
  store float -1.000000e+00, ptr %148, align 4, !tbaa !18
  br label %149

149:                                              ; preds = %125, %3
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #7
  %150 = load ptr, ptr %10, align 8, !tbaa !5
  %151 = getelementptr inbounds %class.b3FixedConstraint, ptr %34, i32 0, i32 2
  %152 = call { <2 x float>, <2 x float> } @_Z12b3QuatRotateRK12b3QuaternionRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %150, ptr noundef nonnull align 16 dereferenceable(16) %151)
  %153 = getelementptr inbounds %class.b3Vector3, ptr %16, i32 0, i32 0
  %154 = getelementptr inbounds %union.anon.0, 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
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #7
  %159 = load ptr, ptr %5, align 8, !tbaa !5
  %160 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %159, i32 0, i32 5
  %161 = load ptr, ptr %160, align 8, !tbaa !22
  store ptr %161, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #7
  %162 = load ptr, ptr %5, align 8, !tbaa !5
  %163 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %162, i32 0, i32 5
  %164 = load ptr, ptr %163, align 8, !tbaa !22
  %165 = load ptr, ptr %5, align 8, !tbaa !5
  %166 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %165, i32 0, i32 6
  %167 = load i32, ptr %166, align 8, !tbaa !19
  %168 = sext i32 %167 to i64
  %169 = getelementptr inbounds float, ptr %164, i64 %168
  store ptr %169, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #7
  %170 = load ptr, ptr %5, align 8, !tbaa !5
  %171 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %170, i32 0, i32 5
  %172 = load ptr, ptr %171, align 8, !tbaa !22
  %173 = load ptr, ptr %5, align 8, !tbaa !5
  %174 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %173, i32 0, i32 6
  %175 = load i32, ptr %174, align 8, !tbaa !19
  %176 = mul nsw i32 2, %175
  %177 = sext i32 %176 to i64
  %178 = getelementptr inbounds float, ptr %172, i64 %177
  store ptr %178, ptr %19, align 8, !tbaa !5
  %179 = load ptr, ptr %17, align 8, !tbaa !5
  %180 = load ptr, ptr %18, align 8, !tbaa !5
  %181 = load ptr, ptr %19, align 8, !tbaa !5
  call void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef %179, ptr noundef %180, ptr noundef %181)
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #7
  %182 = load ptr, ptr %5, align 8, !tbaa !5
  %183 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %182, i32 0, i32 0
  %184 = load float, ptr %183, align 8, !tbaa !23
  %185 = load ptr, ptr %5, align 8, !tbaa !5
  %186 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %185, i32 0, i32 1
  %187 = load float, ptr %186, align 4, !tbaa !24
  %188 = fmul float %184, %187
  store float %188, ptr %20, align 4, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #7
  %189 = load ptr, ptr %9, align 8, !tbaa !5
  %190 = call { <2 x float>, <2 x float> } @_ZplRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %189)
  %191 = getelementptr inbounds %class.b3Vector3, ptr %24, i32 0, i32 0
  %192 = getelementptr inbounds %union.anon.0, 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
  %197 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %24, ptr noundef nonnull align 16 dereferenceable(16) %11)
  %198 = getelementptr inbounds %class.b3Vector3, ptr %23, i32 0, i32 0
  %199 = getelementptr inbounds %union.anon.0, ptr %198, i32 0, i32 0
  %200 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %199, i32 0, i32 0
  %201 = extractvalue { <2 x float>, <2 x float> } %197, 0
  store <2 x float> %201, ptr %200, align 16
  %202 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %199, i32 0, i32 1
  %203 = extractvalue { <2 x float>, <2 x float> } %197, 1
  store <2 x float> %203, ptr %202, align 8
  %204 = load ptr, ptr %7, align 8, !tbaa !5
  %205 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef nonnull align 16 dereferenceable(16) %204)
  %206 = getelementptr inbounds %class.b3Vector3, ptr %22, i32 0, i32 0
  %207 = getelementptr inbounds %union.anon.0, ptr %206, i32 0, i32 0
  %208 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %207, i32 0, i32 0
  %209 = extractvalue { <2 x float>, <2 x float> } %205, 0
  store <2 x float> %209, ptr %208, align 16
  %210 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %207, i32 0, i32 1
  %211 = extractvalue { <2 x float>, <2 x float> } %205, 1
  store <2 x float> %211, ptr %210, align 8
  %212 = call { <2 x float>, <2 x float> } @_ZmlRKfRK9b3Vector3(ptr noundef nonnull align 4 dereferenceable(4) %20, ptr noundef nonnull align 16 dereferenceable(16) %22)
  %213 = getelementptr inbounds %class.b3Vector3, ptr %21, i32 0, i32 0
  %214 = getelementptr inbounds %union.anon.0, 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.end.p0(i64 16, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  store i32 0, ptr %25, align 4, !tbaa !25
  br label %219

219:                                              ; preds = %238, %149
  %220 = load i32, ptr %25, align 4, !tbaa !25
  %221 = icmp slt i32 %220, 3
  br i1 %221, label %222, label %241

222:                                              ; preds = %219
  %223 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %21)
  %224 = load i32, ptr %25, align 4, !tbaa !25
  %225 = sext i32 %224 to i64
  %226 = getelementptr inbounds float, ptr %223, i64 %225
  %227 = load float, ptr %226, align 4, !tbaa !18
  %228 = load ptr, ptr %5, align 8, !tbaa !5
  %229 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %228, i32 0, i32 7
  %230 = load ptr, ptr %229, align 8, !tbaa !26
  %231 = load i32, ptr %25, align 4, !tbaa !25
  %232 = load ptr, ptr %5, align 8, !tbaa !5
  %233 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %232, i32 0, i32 6
  %234 = load i32, ptr %233, align 8, !tbaa !19
  %235 = mul nsw i32 %231, %234
  %236 = sext i32 %235 to i64
  %237 = getelementptr inbounds float, ptr %230, i64 %236
  store float %227, ptr %237, align 4, !tbaa !18
  br label %238

238:                                              ; preds = %222
  %239 = load i32, ptr %25, align 4, !tbaa !25
  %240 = add nsw i32 %239, 1
  store i32 %240, ptr %25, align 4, !tbaa !25
  br label %219, !llvm.loop !27

241:                                              ; preds = %219
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  store i32 3, ptr %26, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #7
  %242 = load ptr, ptr %5, align 8, !tbaa !5
  %243 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %242, i32 0, i32 6
  %244 = load i32, ptr %243, align 8, !tbaa !19
  store i32 %244, ptr %27, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #7
  %245 = load i32, ptr %26, align 4, !tbaa !25
  %246 = load i32, ptr %27, align 4, !tbaa !25
  %247 = mul nsw i32 %245, %246
  store i32 %247, ptr %28, align 4, !tbaa !25
  %248 = load ptr, ptr %5, align 8, !tbaa !5
  %249 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %248, i32 0, i32 3
  %250 = load ptr, ptr %249, align 8, !tbaa !20
  %251 = load i32, ptr %28, align 4, !tbaa !25
  %252 = sext i32 %251 to i64
  %253 = getelementptr inbounds float, ptr %250, i64 %252
  store float 1.000000e+00, ptr %253, align 4, !tbaa !18
  %254 = load ptr, ptr %5, align 8, !tbaa !5
  %255 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %254, i32 0, i32 3
  %256 = load ptr, ptr %255, align 8, !tbaa !20
  %257 = load i32, ptr %28, align 4, !tbaa !25
  %258 = load i32, ptr %27, align 4, !tbaa !25
  %259 = add nsw i32 %257, %258
  %260 = add nsw i32 %259, 1
  %261 = sext i32 %260 to i64
  %262 = getelementptr inbounds float, ptr %256, i64 %261
  store float 1.000000e+00, ptr %262, align 4, !tbaa !18
  %263 = load ptr, ptr %5, align 8, !tbaa !5
  %264 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %263, i32 0, i32 3
  %265 = load ptr, ptr %264, align 8, !tbaa !20
  %266 = load i32, ptr %28, align 4, !tbaa !25
  %267 = load i32, ptr %27, align 4, !tbaa !25
  %268 = mul nsw i32 %267, 2
  %269 = add nsw i32 %266, %268
  %270 = add nsw i32 %269, 2
  %271 = sext i32 %270 to i64
  %272 = getelementptr inbounds float, ptr %265, i64 %271
  store float 1.000000e+00, ptr %272, align 4, !tbaa !18
  %273 = load ptr, ptr %5, align 8, !tbaa !5
  %274 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %273, i32 0, i32 5
  %275 = load ptr, ptr %274, align 8, !tbaa !22
  %276 = icmp ne ptr %275, null
  br i1 %276, label %277, label %303

277:                                              ; preds = %241
  %278 = load ptr, ptr %5, align 8, !tbaa !5
  %279 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %278, i32 0, i32 5
  %280 = load ptr, ptr %279, align 8, !tbaa !22
  %281 = load i32, ptr %28, align 4, !tbaa !25
  %282 = sext i32 %281 to i64
  %283 = getelementptr inbounds float, ptr %280, i64 %282
  store float -1.000000e+00, ptr %283, align 4, !tbaa !18
  %284 = load ptr, ptr %5, align 8, !tbaa !5
  %285 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %284, i32 0, i32 5
  %286 = load ptr, ptr %285, align 8, !tbaa !22
  %287 = load i32, ptr %28, align 4, !tbaa !25
  %288 = load i32, ptr %27, align 4, !tbaa !25
  %289 = add nsw i32 %287, %288
  %290 = add nsw i32 %289, 1
  %291 = sext i32 %290 to i64
  %292 = getelementptr inbounds float, ptr %286, i64 %291
  store float -1.000000e+00, ptr %292, align 4, !tbaa !18
  %293 = load ptr, ptr %5, align 8, !tbaa !5
  %294 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %293, i32 0, i32 5
  %295 = load ptr, ptr %294, align 8, !tbaa !22
  %296 = load i32, ptr %28, align 4, !tbaa !25
  %297 = load i32, ptr %27, align 4, !tbaa !25
  %298 = mul nsw i32 %297, 2
  %299 = add nsw i32 %296, %298
  %300 = add nsw i32 %299, 2
  %301 = sext i32 %300 to i64
  %302 = getelementptr inbounds float, ptr %295, i64 %301
  store float -1.000000e+00, ptr %302, align 4, !tbaa !18
  br label %303

303:                                              ; preds = %277, %241
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #7
  %304 = load ptr, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #7
  %305 = load ptr, ptr %10, align 8, !tbaa !5
  %306 = call { <2 x float>, <2 x float> } @_ZNK12b3Quaternion7inverseEv(ptr noundef nonnull align 16 dereferenceable(16) %305)
  %307 = getelementptr inbounds %class.b3Quaternion, ptr %32, i32 0, i32 0
  %308 = getelementptr inbounds %class.b3QuadWord, ptr %307, i32 0, i32 0
  %309 = getelementptr inbounds %union.anon.1, ptr %308, i32 0, i32 0
  %310 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %309, i32 0, i32 0
  %311 = extractvalue { <2 x float>, <2 x float> } %306, 0
  store <2 x float> %311, ptr %310, align 16
  %312 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %309, i32 0, i32 1
  %313 = extractvalue { <2 x float>, <2 x float> } %306, 1
  store <2 x float> %313, ptr %312, align 8
  %314 = call { <2 x float>, <2 x float> } @_ZmlRK12b3QuaternionS1_(ptr noundef nonnull align 16 dereferenceable(16) %304, ptr noundef nonnull align 16 dereferenceable(16) %32)
  %315 = getelementptr inbounds %class.b3Quaternion, ptr %31, i32 0, i32 0
  %316 = getelementptr inbounds %class.b3QuadWord, ptr %315, i32 0, i32 0
  %317 = getelementptr inbounds %union.anon.1, ptr %316, i32 0, i32 0
  %318 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %317, i32 0, i32 0
  %319 = extractvalue { <2 x float>, <2 x float> } %314, 0
  store <2 x float> %319, ptr %318, align 16
  %320 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %317, i32 0, i32 1
  %321 = extractvalue { <2 x float>, <2 x float> } %314, 1
  store <2 x float> %321, ptr %320, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #7
  %322 = getelementptr inbounds %class.b3FixedConstraint, ptr %34, i32 0, i32 3
  call void @_ZN15b3TransformUtil32calculateDiffAxisAngleQuaternionERK12b3QuaternionS2_R9b3Vector3Rf(ptr noundef nonnull align 16 dereferenceable(16) %322, ptr noundef nonnull align 16 dereferenceable(16) %31, ptr noundef nonnull align 16 dereferenceable(16) %29, ptr noundef nonnull align 4 dereferenceable(4) %30)
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #7
  %323 = load float, ptr %30, align 4, !tbaa !18
  %324 = fneg float %323
  store float %324, ptr %33, align 4, !tbaa !18
  %325 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector3mLERKf(ptr noundef nonnull align 16 dereferenceable(16) %29, ptr noundef nonnull align 4 dereferenceable(4) %33)
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #7
  store i32 0, ptr %25, align 4, !tbaa !25
  br label %326

326:                                              ; preds = %348, %303
  %327 = load i32, ptr %25, align 4, !tbaa !25
  %328 = icmp slt i32 %327, 3
  br i1 %328, label %329, label %351

329:                                              ; preds = %326
  %330 = load float, ptr %20, align 4, !tbaa !18
  %331 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %29)
  %332 = load i32, ptr %25, align 4, !tbaa !25
  %333 = sext i32 %332 to i64
  %334 = getelementptr inbounds float, ptr %331, i64 %333
  %335 = load float, ptr %334, align 4, !tbaa !18
  %336 = fmul float %330, %335
  %337 = load ptr, ptr %5, align 8, !tbaa !5
  %338 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %337, i32 0, i32 7
  %339 = load ptr, ptr %338, align 8, !tbaa !26
  %340 = load i32, ptr %25, align 4, !tbaa !25
  %341 = add nsw i32 3, %340
  %342 = load ptr, ptr %5, align 8, !tbaa !5
  %343 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %342, i32 0, i32 6
  %344 = load i32, ptr %343, align 8, !tbaa !19
  %345 = mul nsw i32 %341, %344
  %346 = sext i32 %345 to i64
  %347 = getelementptr inbounds float, ptr %339, i64 %346
  store float %336, ptr %347, align 4, !tbaa !18
  br label %348

348:                                              ; preds = %329
  %349 = load i32, ptr %25, align 4, !tbaa !25
  %350 = add nsw i32 %349, 1
  store i32 %350, ptr %25, align 4, !tbaa !25
  br label %326, !llvm.loop !29

351:                                              ; preds = %326
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #7
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_Z12b3QuatRotateRK12b3QuaternionRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #4

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, ptr noundef, ptr noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRKfRK9b3Vector3(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(16)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZplRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15b3TransformUtil32calculateDiffAxisAngleQuaternionERK12b3QuaternionS2_R9b3Vector3Rf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector3mLERKf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) #6 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress 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 #2 = { mustprogress 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 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="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 #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 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !12, i64 36}
!10 = !{!"_ZTS17b3TypedConstraint", !11, i64 8, !12, i64 12, !7, i64 16, !13, i64 24, !14, i64 28, !14, i64 29, !12, i64 32, !12, i64 36, !12, i64 40, !13, i64 44, !13, i64 48, !6, i64 56}
!11 = !{!"_ZTS13b3TypedObject", !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!"float", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!10, !12, i64 40}
!16 = !{!17, !6, i64 8}
!17 = !{!"_ZTSN17b3TypedConstraint17b3ConstraintInfo2E", !13, i64 0, !13, i64 4, !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !12, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !6, i64 72, !6, i64 80, !12, i64 88, !13, i64 92}
!18 = !{!13, !13, i64 0}
!19 = !{!17, !12, i64 40}
!20 = !{!17, !6, i64 16}
!21 = !{!17, !6, i64 24}
!22 = !{!17, !6, i64 32}
!23 = !{!17, !13, i64 0}
!24 = !{!17, !13, i64 4}
!25 = !{!12, !12, i64 0}
!26 = !{!17, !6, i64 48}
!27 = distinct !{!27, !28}
!28 = !{!"llvm.loop.mustprogress"}
!29 = distinct !{!29, !28}


; 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.0 }
%union.anon.0 = type { [4 x float] }
%class.b3Quaternion = type { %class.b3QuadWord }
%class.b3QuadWord = type { %union.anon.1 }
%union.anon.1 = type { [4 x float] }
%struct.b3RigidBodyData = type { %class.b3Vector3, %class.b3Quaternion, %class.b3Vector3, %class.b3Vector3, i32, float, float, 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> } @_ZmlRK12b3QuaternionS1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZNK12b3Quaternion7inverseEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3FixedConstraint8getInfo2EPN17b3TypedConstraint17b3ConstraintInfo2EPK15b3RigidBodyData(ptr noundef nonnull align 16 dereferenceable(112) %0, ptr nocapture noundef readonly %1, ptr noundef %2) unnamed_addr #3 align 2 {
  %4 = alloca %class.b3Vector3, align 16
  %5 = alloca %class.b3Vector3, align 16
  %6 = alloca %class.b3Vector3, align 16
  %7 = alloca float, align 4
  %8 = alloca %class.b3Vector3, align 16
  %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 float, align 4
  %14 = alloca %class.b3Quaternion, align 16
  %15 = alloca %class.b3Quaternion, align 16
  %16 = alloca float, align 4
  %17 = getelementptr inbounds i8, ptr %0, i64 36
  %18 = load i32, ptr %17, align 4, !tbaa !5
  %19 = sext i32 %18 to i64
  %20 = getelementptr inbounds %struct.b3RigidBodyData, ptr %2, i64 %19
  %21 = getelementptr inbounds i8, ptr %20, i64 16
  %22 = getelementptr inbounds i8, ptr %0, i64 40
  %23 = load i32, ptr %22, align 8, !tbaa !14
  %24 = sext i32 %23 to i64
  %25 = getelementptr inbounds %struct.b3RigidBodyData, ptr %2, i64 %24
  %26 = getelementptr inbounds i8, ptr %25, i64 16
  %27 = getelementptr inbounds i8, ptr %1, i64 8
  %28 = load ptr, ptr %27, align 8, !tbaa !15
  store float 1.000000e+00, ptr %28, align 4, !tbaa !17
  %29 = getelementptr inbounds i8, ptr %1, i64 40
  %30 = load i32, ptr %29, align 8, !tbaa !18
  %31 = sext i32 %30 to i64
  %32 = getelementptr float, ptr %28, i64 %31
  %33 = getelementptr i8, ptr %32, i64 4
  store float 1.000000e+00, ptr %33, align 4, !tbaa !17
  %34 = shl nsw i32 %30, 1
  %35 = sext i32 %34 to i64
  %36 = getelementptr float, ptr %28, i64 %35
  %37 = getelementptr i8, ptr %36, i64 8
  store float 1.000000e+00, ptr %37, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #7
  %38 = getelementptr inbounds i8, ptr %0, i64 64
  %39 = tail call { <2 x float>, <2 x float> } @_Z12b3QuatRotateRK12b3QuaternionRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %21, ptr noundef nonnull align 16 dereferenceable(16) %38)
  %40 = extractvalue { <2 x float>, <2 x float> } %39, 0
  store <2 x float> %40, ptr %4, align 16
  %41 = getelementptr inbounds i8, ptr %4, i64 8
  %42 = extractvalue { <2 x float>, <2 x float> } %39, 1
  store <2 x float> %42, ptr %41, align 8
  %43 = getelementptr inbounds i8, ptr %1, i64 16
  %44 = load ptr, ptr %43, align 8, !tbaa !19
  %45 = load i32, ptr %29, align 8, !tbaa !18
  %46 = sext i32 %45 to i64
  %47 = getelementptr inbounds float, ptr %44, i64 %46
  %48 = shl nsw i32 %45, 1
  %49 = sext i32 %48 to i64
  %50 = getelementptr inbounds float, ptr %44, i64 %49
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #7
  %51 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %4)
  %52 = extractvalue { <2 x float>, <2 x float> } %51, 0
  store <2 x float> %52, ptr %5, align 16
  %53 = getelementptr inbounds i8, ptr %5, i64 8
  %54 = extractvalue { <2 x float>, <2 x float> } %51, 1
  store <2 x float> %54, ptr %53, align 8
  call void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef %44, ptr noundef %47, ptr noundef %50)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  %55 = getelementptr inbounds i8, ptr %1, i64 24
  %56 = load ptr, ptr %55, align 8, !tbaa !20
  %.not = icmp eq ptr %56, null
  br i1 %.not, label %66, label %57

57:                                               ; preds = %3
  store float -1.000000e+00, ptr %56, align 4, !tbaa !17
  %58 = load i32, ptr %29, align 8, !tbaa !18
  %59 = sext i32 %58 to i64
  %60 = getelementptr float, ptr %56, i64 %59
  %61 = getelementptr i8, ptr %60, i64 4
  store float -1.000000e+00, ptr %61, align 4, !tbaa !17
  %62 = shl nsw i32 %58, 1
  %63 = sext i32 %62 to i64
  %64 = getelementptr float, ptr %56, i64 %63
  %65 = getelementptr i8, ptr %64, i64 8
  store float -1.000000e+00, ptr %65, align 4, !tbaa !17
  br label %66

66:                                               ; preds = %57, %3
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #7
  %67 = getelementptr inbounds i8, ptr %0, i64 80
  %68 = call { <2 x float>, <2 x float> } @_Z12b3QuatRotateRK12b3QuaternionRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %26, ptr noundef nonnull align 16 dereferenceable(16) %67)
  %69 = extractvalue { <2 x float>, <2 x float> } %68, 0
  store <2 x float> %69, ptr %6, align 16
  %70 = getelementptr inbounds i8, ptr %6, i64 8
  %71 = extractvalue { <2 x float>, <2 x float> } %68, 1
  store <2 x float> %71, ptr %70, align 8
  %72 = getelementptr inbounds i8, ptr %1, i64 32
  %73 = load ptr, ptr %72, align 8, !tbaa !21
  %74 = load i32, ptr %29, align 8, !tbaa !18
  %75 = sext i32 %74 to i64
  %76 = getelementptr inbounds float, ptr %73, i64 %75
  %77 = shl nsw i32 %74, 1
  %78 = sext i32 %77 to i64
  %79 = getelementptr inbounds float, ptr %73, i64 %78
  call void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef %73, ptr noundef %76, ptr noundef %79)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %7) #7
  %80 = load float, ptr %1, align 8, !tbaa !22
  %81 = getelementptr inbounds i8, ptr %1, i64 4
  %82 = load float, ptr %81, align 4, !tbaa !23
  %83 = fmul float %80, %82
  store float %83, ptr %7, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #7
  %84 = call { <2 x float>, <2 x float> } @_ZplRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %25)
  %85 = extractvalue { <2 x float>, <2 x float> } %84, 0
  store <2 x float> %85, ptr %11, align 16
  %86 = getelementptr inbounds i8, ptr %11, i64 8
  %87 = extractvalue { <2 x float>, <2 x float> } %84, 1
  store <2 x float> %87, ptr %86, align 8
  %88 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %11, ptr noundef nonnull align 16 dereferenceable(16) %4)
  %89 = extractvalue { <2 x float>, <2 x float> } %88, 0
  store <2 x float> %89, ptr %10, align 16
  %90 = getelementptr inbounds i8, ptr %10, i64 8
  %91 = extractvalue { <2 x float>, <2 x float> } %88, 1
  store <2 x float> %91, ptr %90, align 8
  %92 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %10, ptr noundef nonnull align 16 dereferenceable(16) %20)
  %93 = extractvalue { <2 x float>, <2 x float> } %92, 0
  store <2 x float> %93, ptr %9, align 16
  %94 = getelementptr inbounds i8, ptr %9, i64 8
  %95 = extractvalue { <2 x float>, <2 x float> } %92, 1
  store <2 x float> %95, ptr %94, align 8
  %96 = call { <2 x float>, <2 x float> } @_ZmlRKfRK9b3Vector3(ptr noundef nonnull align 4 dereferenceable(4) %7, ptr noundef nonnull align 16 dereferenceable(16) %9)
  %97 = extractvalue { <2 x float>, <2 x float> } %96, 0
  store <2 x float> %97, ptr %8, align 16
  %98 = getelementptr inbounds i8, ptr %8, i64 8
  %99 = extractvalue { <2 x float>, <2 x float> } %96, 1
  store <2 x float> %99, ptr %98, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #7
  %100 = getelementptr inbounds i8, ptr %1, i64 48
  %101 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %8)
  %102 = load float, ptr %101, align 4, !tbaa !17
  %103 = load ptr, ptr %100, align 8, !tbaa !24
  store float %102, ptr %103, align 4, !tbaa !17
  %104 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %8)
  %105 = getelementptr inbounds i8, ptr %104, i64 4
  %106 = load float, ptr %105, align 4, !tbaa !17
  %107 = load ptr, ptr %100, align 8, !tbaa !24
  %108 = load i32, ptr %29, align 8, !tbaa !18
  %109 = sext i32 %108 to i64
  %110 = getelementptr inbounds float, ptr %107, i64 %109
  store float %106, ptr %110, align 4, !tbaa !17
  %111 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %8)
  %112 = getelementptr inbounds i8, ptr %111, i64 8
  %113 = load float, ptr %112, align 4, !tbaa !17
  %114 = load ptr, ptr %100, align 8, !tbaa !24
  %115 = load i32, ptr %29, align 8, !tbaa !18
  %116 = shl nsw i32 %115, 1
  %117 = sext i32 %116 to i64
  %118 = getelementptr inbounds float, ptr %114, i64 %117
  store float %113, ptr %118, align 4, !tbaa !17
  %119 = mul nsw i32 %115, 3
  %120 = load ptr, ptr %43, align 8, !tbaa !19
  %121 = sext i32 %119 to i64
  %122 = getelementptr inbounds float, ptr %120, i64 %121
  store float 1.000000e+00, ptr %122, align 4, !tbaa !17
  %123 = shl nsw i32 %115, 2
  %124 = or disjoint i32 %123, 1
  %125 = sext i32 %124 to i64
  %126 = getelementptr inbounds float, ptr %120, i64 %125
  store float 1.000000e+00, ptr %126, align 4, !tbaa !17
  %127 = mul nsw i32 %115, 5
  %128 = add nsw i32 %127, 2
  %129 = sext i32 %128 to i64
  %130 = getelementptr inbounds float, ptr %120, i64 %129
  store float 1.000000e+00, ptr %130, align 4, !tbaa !17
  %131 = load ptr, ptr %72, align 8, !tbaa !21
  %.not73 = icmp eq ptr %131, null
  br i1 %.not73, label %136, label %132

132:                                              ; preds = %66
  %133 = getelementptr inbounds float, ptr %131, i64 %121
  store float -1.000000e+00, ptr %133, align 4, !tbaa !17
  %134 = getelementptr inbounds float, ptr %131, i64 %125
  store float -1.000000e+00, ptr %134, align 4, !tbaa !17
  %135 = getelementptr inbounds float, ptr %131, i64 %129
  store float -1.000000e+00, ptr %135, align 4, !tbaa !17
  br label %136

136:                                              ; preds = %132, %66
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %13) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #7
  %137 = call { <2 x float>, <2 x float> } @_ZNK12b3Quaternion7inverseEv(ptr noundef nonnull align 16 dereferenceable(16) %26)
  %138 = extractvalue { <2 x float>, <2 x float> } %137, 0
  store <2 x float> %138, ptr %15, align 16
  %139 = getelementptr inbounds i8, ptr %15, i64 8
  %140 = extractvalue { <2 x float>, <2 x float> } %137, 1
  store <2 x float> %140, ptr %139, align 8
  %141 = call { <2 x float>, <2 x float> } @_ZmlRK12b3QuaternionS1_(ptr noundef nonnull align 16 dereferenceable(16) %21, ptr noundef nonnull align 16 dereferenceable(16) %15)
  %142 = extractvalue { <2 x float>, <2 x float> } %141, 0
  store <2 x float> %142, ptr %14, align 16
  %143 = getelementptr inbounds i8, ptr %14, i64 8
  %144 = extractvalue { <2 x float>, <2 x float> } %141, 1
  store <2 x float> %144, ptr %143, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #7
  %145 = getelementptr inbounds i8, ptr %0, i64 96
  call void @_ZN15b3TransformUtil32calculateDiffAxisAngleQuaternionERK12b3QuaternionS2_R9b3Vector3Rf(ptr noundef nonnull align 16 dereferenceable(16) %145, ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 4 dereferenceable(4) %13)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %16) #7
  %146 = load float, ptr %13, align 4, !tbaa !17
  %147 = fneg float %146
  store float %147, ptr %16, align 4, !tbaa !17
  %148 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector3mLERKf(ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 4 dereferenceable(4) %16)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %16) #7
  %149 = load float, ptr %7, align 4, !tbaa !17
  %150 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %12)
  %151 = load float, ptr %150, align 4, !tbaa !17
  %152 = fmul float %149, %151
  %153 = load ptr, ptr %100, align 8, !tbaa !24
  %154 = load i32, ptr %29, align 8, !tbaa !18
  %155 = mul nsw i32 %154, 3
  %156 = sext i32 %155 to i64
  %157 = getelementptr inbounds float, ptr %153, i64 %156
  store float %152, ptr %157, align 4, !tbaa !17
  %158 = load float, ptr %7, align 4, !tbaa !17
  %159 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %12)
  %160 = getelementptr inbounds i8, ptr %159, i64 4
  %161 = load float, ptr %160, align 4, !tbaa !17
  %162 = fmul float %158, %161
  %163 = load ptr, ptr %100, align 8, !tbaa !24
  %164 = load i32, ptr %29, align 8, !tbaa !18
  %165 = shl nsw i32 %164, 2
  %166 = sext i32 %165 to i64
  %167 = getelementptr inbounds float, ptr %163, i64 %166
  store float %162, ptr %167, align 4, !tbaa !17
  %168 = load float, ptr %7, align 4, !tbaa !17
  %169 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %12)
  %170 = getelementptr inbounds i8, ptr %169, i64 8
  %171 = load float, ptr %170, align 4, !tbaa !17
  %172 = fmul float %168, %171
  %173 = load ptr, ptr %100, align 8, !tbaa !24
  %174 = load i32, ptr %29, align 8, !tbaa !18
  %175 = mul nsw i32 %174, 5
  %176 = sext i32 %175 to i64
  %177 = getelementptr inbounds float, ptr %173, i64 %176
  store float %172, ptr %177, align 4, !tbaa !17
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #7
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_Z12b3QuatRotateRK12b3QuaternionRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRKfRK9b3Vector3(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZplRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15b3TransformUtil32calculateDiffAxisAngleQuaternionERK12b3QuaternionS2_R9b3Vector3Rf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector3mLERKf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #6 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress 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 #2 = { mustprogress 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 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="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 #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, !8, i64 36}
!6 = !{!"_ZTS17b3TypedConstraint", !7, i64 8, !8, i64 12, !9, i64 16, !11, i64 24, !12, i64 28, !12, i64 29, !8, i64 32, !8, i64 36, !8, i64 40, !11, i64 44, !11, i64 48, !13, i64 56}
!7 = !{!"_ZTS13b3TypedObject", !8, i64 0}
!8 = !{!"int", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"float", !9, i64 0}
!12 = !{!"bool", !9, i64 0}
!13 = !{!"any pointer", !9, i64 0}
!14 = !{!6, !8, i64 40}
!15 = !{!16, !13, i64 8}
!16 = !{!"_ZTSN17b3TypedConstraint17b3ConstraintInfo2E", !11, i64 0, !11, i64 4, !13, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !8, i64 40, !13, i64 48, !13, i64 56, !13, i64 64, !13, i64 72, !13, i64 80, !8, i64 88, !11, i64 92}
!17 = !{!11, !11, i64 0}
!18 = !{!16, !8, i64 40}
!19 = !{!16, !13, i64 16}
!20 = !{!16, !13, i64 24}
!21 = !{!16, !13, i64 32}
!22 = !{!16, !11, i64 0}
!23 = !{!16, !11, i64 4}
!24 = !{!16, !13, i64 48}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,LICMPass,LoopRotatePass,PostOrderFunctionAttrsPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass