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

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver23setupFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintRK9b3Vector3iiR14b3ContactPointS8_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 ptr, align 8
  %32 = alloca ptr, align 8
  %33 = alloca ptr, align 8
  %34 = alloca ptr, align 8
  %35 = alloca %class.b3Vector3, align 16
  %36 = alloca %class.b3Vector3, align 16
  %37 = alloca %class.b3Vector3, align 16
  %38 = alloca %class.b3Vector3, align 16
  %39 = alloca %class.b3Vector3, align 16
  %40 = alloca float, align 4
  %41 = alloca %class.b3Vector3, align 16
  %42 = alloca float, align 4
  %43 = alloca float, align 4
  %44 = alloca %class.b3Vector3, align 16
  %45 = alloca %class.b3Vector3, align 16
  %46 = alloca %class.b3Vector3, align 16
  %47 = alloca float, align 4
  %48 = alloca float, align 4
  %49 = alloca float, align 4
  %50 = alloca float, align 4
  %51 = alloca float, align 4
  %52 = alloca %class.b3Vector3, align 16
  %53 = alloca %class.b3Vector3, align 16
  %54 = alloca float, align 4
  %55 = alloca %class.b3Vector3, align 16
  %56 = alloca %class.b3Vector3, align 16
  %57 = alloca float, align 4
  %58 = 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
  %59 = load ptr, ptr %16, align 8
  %60 = load ptr, ptr %20, align 8, !tbaa !5
  %61 = load ptr, ptr %19, align 8, !tbaa !5
  %62 = getelementptr inbounds %struct.b3SolverConstraint, ptr %61, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %62, ptr align 16 %60, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #8
  %63 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %59, i32 0, i32 1
  %64 = load i32, ptr %21, align 4, !tbaa !9
  %65 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %63, i32 noundef %64)
  store ptr %65, ptr %31, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  %66 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %59, i32 0, i32 1
  %67 = load i32, ptr %22, align 4, !tbaa !9
  %68 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %66, i32 noundef %67)
  store ptr %68, ptr %32, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #8
  %69 = load ptr, ptr %17, align 8, !tbaa !5
  %70 = load ptr, ptr %31, align 8, !tbaa !5
  %71 = getelementptr inbounds %struct.b3SolverBody, ptr %70, i32 0, i32 10
  %72 = load i32, ptr %71, align 16, !tbaa !14
  %73 = sext i32 %72 to i64
  %74 = getelementptr inbounds %struct.b3RigidBodyData, ptr %69, i64 %73
  store ptr %74, ptr %33, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #8
  %75 = load ptr, ptr %17, align 8, !tbaa !5
  %76 = load ptr, ptr %32, align 8, !tbaa !5
  %77 = getelementptr inbounds %struct.b3SolverBody, ptr %76, i32 0, i32 10
  %78 = load i32, ptr %77, align 16, !tbaa !14
  %79 = sext i32 %78 to i64
  %80 = getelementptr inbounds %struct.b3RigidBodyData, ptr %75, i64 %79
  store ptr %80, ptr %34, align 8, !tbaa !5
  %81 = load i32, ptr %21, align 4, !tbaa !9
  %82 = load ptr, ptr %19, align 8, !tbaa !5
  %83 = getelementptr inbounds %struct.b3SolverConstraint, ptr %82, i32 0, i32 19
  store i32 %81, ptr %83, align 16, !tbaa !15
  %84 = load i32, ptr %22, align 4, !tbaa !9
  %85 = load ptr, ptr %19, align 8, !tbaa !5
  %86 = getelementptr inbounds %struct.b3SolverConstraint, ptr %85, i32 0, i32 20
  store i32 %84, ptr %86, align 4, !tbaa !18
  %87 = load ptr, ptr %23, align 8, !tbaa !5
  %88 = getelementptr inbounds %struct.b3ContactPoint, ptr %87, i32 0, i32 6
  %89 = load float, ptr %88, align 4, !tbaa !19
  %90 = load ptr, ptr %19, align 8, !tbaa !5
  %91 = getelementptr inbounds %struct.b3SolverConstraint, ptr %90, i32 0, i32 9
  store float %89, ptr %91, align 16, !tbaa !22
  %92 = load ptr, ptr %19, align 8, !tbaa !5
  %93 = getelementptr inbounds %struct.b3SolverConstraint, ptr %92, i32 0, i32 16
  store ptr null, ptr %93, align 16, !tbaa !14
  %94 = load ptr, ptr %19, align 8, !tbaa !5
  %95 = getelementptr inbounds %struct.b3SolverConstraint, ptr %94, i32 0, i32 6
  store float 0.000000e+00, ptr %95, align 4, !tbaa !23
  %96 = load ptr, ptr %19, align 8, !tbaa !5
  %97 = getelementptr inbounds %struct.b3SolverConstraint, ptr %96, i32 0, i32 5
  store float 0.000000e+00, ptr %97, align 16, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #8
  %98 = load ptr, ptr %24, align 8, !tbaa !5
  %99 = load ptr, ptr %19, align 8, !tbaa !5
  %100 = getelementptr inbounds %struct.b3SolverConstraint, ptr %99, i32 0, i32 1
  %101 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %98, ptr noundef nonnull align 16 dereferenceable(16) %100)
  %102 = getelementptr inbounds %class.b3Vector3, ptr %35, i32 0, i32 0
  %103 = getelementptr inbounds %union.anon, ptr %102, i32 0, i32 0
  %104 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %103, i32 0, i32 0
  %105 = extractvalue { <2 x float>, <2 x float> } %101, 0
  store <2 x float> %105, ptr %104, align 16
  %106 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %103, i32 0, i32 1
  %107 = extractvalue { <2 x float>, <2 x float> } %101, 1
  store <2 x float> %107, ptr %106, align 8
  %108 = load ptr, ptr %19, align 8, !tbaa !5
  %109 = getelementptr inbounds %struct.b3SolverConstraint, ptr %108, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %109, ptr align 16 %35, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %36) #8
  %110 = load ptr, ptr %33, align 8, !tbaa !5
  %111 = icmp ne ptr %110, null
  br i1 %111, label %112, label %127

112:                                              ; preds = %15
  %113 = load ptr, ptr %18, align 8, !tbaa !5
  %114 = load ptr, ptr %31, align 8, !tbaa !5
  %115 = getelementptr inbounds %struct.b3SolverBody, ptr %114, i32 0, i32 10
  %116 = load i32, ptr %115, align 16, !tbaa !14
  %117 = sext i32 %116 to i64
  %118 = getelementptr inbounds %struct.b3InertiaData, ptr %113, i64 %117
  %119 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %118)
  %120 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %119, ptr noundef nonnull align 16 dereferenceable(16) %35)
  %121 = getelementptr inbounds %class.b3Vector3, ptr %36, i32 0, i32 0
  %122 = getelementptr inbounds %union.anon, ptr %121, i32 0, i32 0
  %123 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %122, i32 0, i32 0
  %124 = extractvalue { <2 x float>, <2 x float> } %120, 0
  store <2 x float> %124, ptr %123, align 16
  %125 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %122, i32 0, i32 1
  %126 = extractvalue { <2 x float>, <2 x float> } %120, 1
  store <2 x float> %126, ptr %125, align 8
  br label %135

127:                                              ; preds = %15
  %128 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %129 = getelementptr inbounds %class.b3Vector3, ptr %36, i32 0, i32 0
  %130 = getelementptr inbounds %union.anon, ptr %129, i32 0, i32 0
  %131 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %130, i32 0, i32 0
  %132 = extractvalue { <2 x float>, <2 x float> } %128, 0
  store <2 x float> %132, ptr %131, align 16
  %133 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %130, i32 0, i32 1
  %134 = extractvalue { <2 x float>, <2 x float> } %128, 1
  store <2 x float> %134, ptr %133, align 8
  br label %135

135:                                              ; preds = %127, %112
  %136 = load ptr, ptr %19, align 8, !tbaa !5
  %137 = getelementptr inbounds %struct.b3SolverConstraint, ptr %136, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %137, ptr align 16 %36, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #8
  %138 = load ptr, ptr %25, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #8
  %139 = load ptr, ptr %19, align 8, !tbaa !5
  %140 = getelementptr inbounds %struct.b3SolverConstraint, ptr %139, i32 0, i32 1
  %141 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %140)
  %142 = getelementptr inbounds %class.b3Vector3, ptr %38, i32 0, i32 0
  %143 = getelementptr inbounds %union.anon, ptr %142, i32 0, i32 0
  %144 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %143, i32 0, i32 0
  %145 = extractvalue { <2 x float>, <2 x float> } %141, 0
  store <2 x float> %145, ptr %144, align 16
  %146 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %143, i32 0, i32 1
  %147 = extractvalue { <2 x float>, <2 x float> } %141, 1
  store <2 x float> %147, ptr %146, align 8
  %148 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %138, ptr noundef nonnull align 16 dereferenceable(16) %38)
  %149 = getelementptr inbounds %class.b3Vector3, ptr %37, i32 0, i32 0
  %150 = getelementptr inbounds %union.anon, ptr %149, i32 0, i32 0
  %151 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %150, i32 0, i32 0
  %152 = extractvalue { <2 x float>, <2 x float> } %148, 0
  store <2 x float> %152, ptr %151, align 16
  %153 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %150, i32 0, i32 1
  %154 = extractvalue { <2 x float>, <2 x float> } %148, 1
  store <2 x float> %154, ptr %153, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #8
  %155 = load ptr, ptr %19, align 8, !tbaa !5
  %156 = getelementptr inbounds %struct.b3SolverConstraint, ptr %155, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %156, ptr align 16 %37, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #8
  %157 = load ptr, ptr %34, align 8, !tbaa !5
  %158 = icmp ne ptr %157, null
  br i1 %158, label %159, label %174

159:                                              ; preds = %135
  %160 = load ptr, ptr %18, align 8, !tbaa !5
  %161 = load ptr, ptr %32, align 8, !tbaa !5
  %162 = getelementptr inbounds %struct.b3SolverBody, ptr %161, i32 0, i32 10
  %163 = load i32, ptr %162, align 16, !tbaa !14
  %164 = sext i32 %163 to i64
  %165 = getelementptr inbounds %struct.b3InertiaData, ptr %160, i64 %164
  %166 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %165)
  %167 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %166, ptr noundef nonnull align 16 dereferenceable(16) %37)
  %168 = getelementptr inbounds %class.b3Vector3, ptr %39, i32 0, i32 0
  %169 = getelementptr inbounds %union.anon, ptr %168, i32 0, i32 0
  %170 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %169, i32 0, i32 0
  %171 = extractvalue { <2 x float>, <2 x float> } %167, 0
  store <2 x float> %171, ptr %170, align 16
  %172 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %169, i32 0, i32 1
  %173 = extractvalue { <2 x float>, <2 x float> } %167, 1
  store <2 x float> %173, ptr %172, align 8
  br label %182

174:                                              ; preds = %135
  %175 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %176 = getelementptr inbounds %class.b3Vector3, ptr %39, i32 0, i32 0
  %177 = getelementptr inbounds %union.anon, ptr %176, i32 0, i32 0
  %178 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %177, i32 0, i32 0
  %179 = extractvalue { <2 x float>, <2 x float> } %175, 0
  store <2 x float> %179, ptr %178, align 16
  %180 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %177, i32 0, i32 1
  %181 = extractvalue { <2 x float>, <2 x float> } %175, 1
  store <2 x float> %181, ptr %180, align 8
  br label %182

182:                                              ; preds = %174, %159
  %183 = load ptr, ptr %19, align 8, !tbaa !5
  %184 = getelementptr inbounds %struct.b3SolverConstraint, ptr %183, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %184, ptr align 16 %39, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #8
  store float 0.000000e+00, ptr %42, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #8
  store float 0.000000e+00, ptr %43, align 4, !tbaa !11
  %185 = load ptr, ptr %33, align 8, !tbaa !5
  %186 = icmp ne ptr %185, null
  br i1 %186, label %187, label %204

187:                                              ; preds = %182
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #8
  %188 = load ptr, ptr %19, align 8, !tbaa !5
  %189 = getelementptr inbounds %struct.b3SolverConstraint, ptr %188, i32 0, i32 3
  %190 = load ptr, ptr %24, align 8, !tbaa !5
  %191 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %189, ptr noundef nonnull align 16 dereferenceable(16) %190)
  %192 = getelementptr inbounds %class.b3Vector3, ptr %44, i32 0, i32 0
  %193 = getelementptr inbounds %union.anon, ptr %192, i32 0, i32 0
  %194 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %193, i32 0, i32 0
  %195 = extractvalue { <2 x float>, <2 x float> } %191, 0
  store <2 x float> %195, ptr %194, align 16
  %196 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %193, i32 0, i32 1
  %197 = extractvalue { <2 x float>, <2 x float> } %191, 1
  store <2 x float> %197, ptr %196, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %44, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #8
  %198 = load ptr, ptr %33, align 8, !tbaa !5
  %199 = getelementptr inbounds %struct.b3RigidBodyData, ptr %198, i32 0, i32 5
  %200 = load float, ptr %199, align 4, !tbaa !25
  %201 = load ptr, ptr %20, align 8, !tbaa !5
  %202 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %201, ptr noundef nonnull align 16 dereferenceable(16) %41)
  %203 = fadd float %200, %202
  store float %203, ptr %42, align 4, !tbaa !11
  br label %204

204:                                              ; preds = %187, %182
  %205 = load ptr, ptr %34, align 8, !tbaa !5
  %206 = icmp ne ptr %205, null
  br i1 %206, label %207, label %231

207:                                              ; preds = %204
  call void @llvm.lifetime.start.p0(i64 16, ptr %45) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %46) #8
  %208 = load ptr, ptr %19, align 8, !tbaa !5
  %209 = getelementptr inbounds %struct.b3SolverConstraint, ptr %208, i32 0, i32 4
  %210 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %209)
  %211 = getelementptr inbounds %class.b3Vector3, ptr %46, 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
  %217 = load ptr, ptr %25, align 8, !tbaa !5
  %218 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %46, ptr noundef nonnull align 16 dereferenceable(16) %217)
  %219 = getelementptr inbounds %class.b3Vector3, ptr %45, 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
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %45, i64 16, i1 false), !tbaa.struct !13
  call void @llvm.lifetime.end.p0(i64 16, ptr %46) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %45) #8
  %225 = load ptr, ptr %34, align 8, !tbaa !5
  %226 = getelementptr inbounds %struct.b3RigidBodyData, ptr %225, i32 0, i32 5
  %227 = load float, ptr %226, align 4, !tbaa !25
  %228 = load ptr, ptr %20, align 8, !tbaa !5
  %229 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %228, ptr noundef nonnull align 16 dereferenceable(16) %41)
  %230 = fadd float %227, %229
  store float %230, ptr %43, align 4, !tbaa !11
  br label %231

231:                                              ; preds = %207, %204
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #8
  %232 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %59, i32 0, i32 14
  %233 = load i8, ptr %232, align 8, !tbaa !29, !range !42, !noundef !43
  %234 = trunc i8 %233 to i1
  br i1 %234, label %235, label %241

235:                                              ; preds = %231
  %236 = load float, ptr %28, align 4, !tbaa !11
  %237 = load float, ptr %42, align 4, !tbaa !11
  %238 = load float, ptr %43, align 4, !tbaa !11
  %239 = fadd float %237, %238
  %240 = fdiv float %236, %239
  store float %240, ptr %47, align 4, !tbaa !11
  store float %240, ptr %40, align 4, !tbaa !11
  br label %285

241:                                              ; preds = %231
  %242 = load float, ptr %28, align 4, !tbaa !11
  %243 = load float, ptr %42, align 4, !tbaa !11
  %244 = load float, ptr %43, align 4, !tbaa !11
  %245 = fadd float %243, %244
  %246 = fdiv float %242, %245
  store float %246, ptr %47, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #8
  %247 = load ptr, ptr %33, align 8, !tbaa !5
  %248 = getelementptr inbounds %struct.b3RigidBodyData, ptr %247, i32 0, i32 5
  %249 = load float, ptr %248, align 4, !tbaa !25
  %250 = fcmp une float %249, 0.000000e+00
  br i1 %250, label %251, label %259

251:                                              ; preds = %241
  %252 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %59, i32 0, i32 10
  %253 = load ptr, ptr %31, align 8, !tbaa !5
  %254 = getelementptr inbounds %struct.b3SolverBody, ptr %253, i32 0, i32 10
  %255 = load i32, ptr %254, align 16, !tbaa !14
  %256 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25) %252, i32 noundef %255)
  %257 = load i32, ptr %256, align 4, !tbaa !9
  %258 = sitofp i32 %257 to float
  br label %260

259:                                              ; preds = %241
  br label %260

260:                                              ; preds = %259, %251
  %261 = phi float [ %258, %251 ], [ 1.000000e+00, %259 ]
  store float %261, ptr %48, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #8
  %262 = load ptr, ptr %34, align 8, !tbaa !5
  %263 = getelementptr inbounds %struct.b3RigidBodyData, ptr %262, i32 0, i32 5
  %264 = load float, ptr %263, align 4, !tbaa !25
  %265 = fcmp une float %264, 0.000000e+00
  br i1 %265, label %266, label %274

266:                                              ; preds = %260
  %267 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %59, i32 0, i32 10
  %268 = load ptr, ptr %32, align 8, !tbaa !5
  %269 = getelementptr inbounds %struct.b3SolverBody, ptr %268, i32 0, i32 10
  %270 = load i32, ptr %269, align 16, !tbaa !14
  %271 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25) %267, i32 noundef %270)
  %272 = load i32, ptr %271, align 4, !tbaa !9
  %273 = sitofp i32 %272 to float
  br label %275

274:                                              ; preds = %260
  br label %275

275:                                              ; preds = %274, %266
  %276 = phi float [ %273, %266 ], [ 1.000000e+00, %274 ]
  store float %276, ptr %49, align 4, !tbaa !11
  %277 = load float, ptr %28, align 4, !tbaa !11
  %278 = load float, ptr %42, align 4, !tbaa !11
  %279 = load float, ptr %48, align 4, !tbaa !11
  %280 = load float, ptr %43, align 4, !tbaa !11
  %281 = load float, ptr %49, align 4, !tbaa !11
  %282 = fmul float %280, %281
  %283 = call float @llvm.fmuladd.f32(float %278, float %279, float %282)
  %284 = fdiv float %277, %283
  store float %284, ptr %40, align 4, !tbaa !11
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #8
  br label %285

285:                                              ; preds = %275, %235
  %286 = load float, ptr %47, align 4, !tbaa !11
  %287 = load ptr, ptr %19, align 8, !tbaa !5
  %288 = getelementptr inbounds %struct.b3SolverConstraint, ptr %287, i32 0, i32 10
  store float %286, ptr %288, align 4, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %51) #8
  %289 = load ptr, ptr %19, align 8, !tbaa !5
  %290 = getelementptr inbounds %struct.b3SolverConstraint, ptr %289, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #8
  %291 = load ptr, ptr %33, align 8, !tbaa !5
  %292 = icmp ne ptr %291, null
  br i1 %292, label %293, label %296

293:                                              ; preds = %285
  %294 = load ptr, ptr %31, align 8, !tbaa !5
  %295 = getelementptr inbounds %struct.b3SolverBody, ptr %294, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %52, ptr align 16 %295, i64 16, i1 false), !tbaa.struct !13
  br label %304

296:                                              ; preds = %285
  %297 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %298 = getelementptr inbounds %class.b3Vector3, ptr %52, i32 0, i32 0
  %299 = getelementptr inbounds %union.anon, ptr %298, i32 0, i32 0
  %300 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %299, i32 0, i32 0
  %301 = extractvalue { <2 x float>, <2 x float> } %297, 0
  store <2 x float> %301, ptr %300, align 16
  %302 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %299, i32 0, i32 1
  %303 = extractvalue { <2 x float>, <2 x float> } %297, 1
  store <2 x float> %303, ptr %302, align 8
  br label %304

304:                                              ; preds = %296, %293
  %305 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %290, ptr noundef nonnull align 16 dereferenceable(16) %52)
  %306 = load ptr, ptr %19, align 8, !tbaa !5
  %307 = getelementptr inbounds %struct.b3SolverConstraint, ptr %306, i32 0, i32 0
  call void @llvm.lifetime.start.p0(i64 16, ptr %53) #8
  %308 = load ptr, ptr %33, align 8, !tbaa !5
  %309 = icmp ne ptr %308, null
  br i1 %309, label %310, label %313

310:                                              ; preds = %304
  %311 = load ptr, ptr %31, align 8, !tbaa !5
  %312 = getelementptr inbounds %struct.b3SolverBody, ptr %311, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %53, ptr align 16 %312, i64 16, i1 false), !tbaa.struct !13
  br label %321

313:                                              ; preds = %304
  %314 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %315 = getelementptr inbounds %class.b3Vector3, ptr %53, i32 0, i32 0
  %316 = getelementptr inbounds %union.anon, ptr %315, i32 0, i32 0
  %317 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %316, i32 0, i32 0
  %318 = extractvalue { <2 x float>, <2 x float> } %314, 0
  store <2 x float> %318, ptr %317, align 16
  %319 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %316, i32 0, i32 1
  %320 = extractvalue { <2 x float>, <2 x float> } %314, 1
  store <2 x float> %320, ptr %319, align 8
  br label %321

321:                                              ; preds = %313, %310
  %322 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %307, ptr noundef nonnull align 16 dereferenceable(16) %53)
  %323 = fadd float %305, %322
  call void @llvm.lifetime.end.p0(i64 16, ptr %53) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #8
  store float %323, ptr %51, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %54) #8
  %324 = load ptr, ptr %19, align 8, !tbaa !5
  %325 = getelementptr inbounds %struct.b3SolverConstraint, ptr %324, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 16, ptr %55) #8
  %326 = load ptr, ptr %34, align 8, !tbaa !5
  %327 = icmp ne ptr %326, null
  br i1 %327, label %328, label %331

328:                                              ; preds = %321
  %329 = load ptr, ptr %32, align 8, !tbaa !5
  %330 = getelementptr inbounds %struct.b3SolverBody, ptr %329, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %55, ptr align 16 %330, i64 16, i1 false), !tbaa.struct !13
  br label %339

331:                                              ; preds = %321
  %332 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %333 = getelementptr inbounds %class.b3Vector3, ptr %55, i32 0, i32 0
  %334 = getelementptr inbounds %union.anon, ptr %333, i32 0, i32 0
  %335 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %334, i32 0, i32 0
  %336 = extractvalue { <2 x float>, <2 x float> } %332, 0
  store <2 x float> %336, ptr %335, align 16
  %337 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %334, i32 0, i32 1
  %338 = extractvalue { <2 x float>, <2 x float> } %332, 1
  store <2 x float> %338, ptr %337, align 8
  br label %339

339:                                              ; preds = %331, %328
  %340 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %325, ptr noundef nonnull align 16 dereferenceable(16) %55)
  %341 = fneg float %340
  %342 = load ptr, ptr %19, align 8, !tbaa !5
  %343 = getelementptr inbounds %struct.b3SolverConstraint, ptr %342, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 16, ptr %56) #8
  %344 = load ptr, ptr %34, align 8, !tbaa !5
  %345 = icmp ne ptr %344, null
  br i1 %345, label %346, label %349

346:                                              ; preds = %339
  %347 = load ptr, ptr %32, align 8, !tbaa !5
  %348 = getelementptr inbounds %struct.b3SolverBody, ptr %347, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %56, ptr align 16 %348, i64 16, i1 false), !tbaa.struct !13
  br label %357

349:                                              ; preds = %339
  %350 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %351 = getelementptr inbounds %class.b3Vector3, ptr %56, i32 0, i32 0
  %352 = getelementptr inbounds %union.anon, ptr %351, i32 0, i32 0
  %353 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %352, i32 0, i32 0
  %354 = extractvalue { <2 x float>, <2 x float> } %350, 0
  store <2 x float> %354, ptr %353, align 16
  %355 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %352, i32 0, i32 1
  %356 = extractvalue { <2 x float>, <2 x float> } %350, 1
  store <2 x float> %356, ptr %355, align 8
  br label %357

357:                                              ; preds = %349, %346
  %358 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %343, ptr noundef nonnull align 16 dereferenceable(16) %56)
  %359 = fadd float %341, %358
  call void @llvm.lifetime.end.p0(i64 16, ptr %56) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %55) #8
  store float %359, ptr %54, align 4, !tbaa !11
  %360 = load float, ptr %51, align 4, !tbaa !11
  %361 = load float, ptr %54, align 4, !tbaa !11
  %362 = fadd float %360, %361
  store float %362, ptr %50, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %57) #8
  %363 = load float, ptr %29, align 4, !tbaa !11
  %364 = load float, ptr %50, align 4, !tbaa !11
  %365 = fsub float %363, %364
  store float %365, ptr %57, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %58) #8
  %366 = load float, ptr %57, align 4, !tbaa !11
  %367 = load float, ptr %40, align 4, !tbaa !11
  %368 = fmul float %366, %367
  store float %368, ptr %58, align 4, !tbaa !11
  %369 = load float, ptr %58, align 4, !tbaa !11
  %370 = load ptr, ptr %19, align 8, !tbaa !5
  %371 = getelementptr inbounds %struct.b3SolverConstraint, ptr %370, i32 0, i32 11
  store float %369, ptr %371, align 8, !tbaa !45
  %372 = load float, ptr %30, align 4, !tbaa !11
  %373 = load ptr, ptr %19, align 8, !tbaa !5
  %374 = getelementptr inbounds %struct.b3SolverConstraint, ptr %373, i32 0, i32 12
  store float %372, ptr %374, align 4, !tbaa !46
  %375 = load ptr, ptr %19, align 8, !tbaa !5
  %376 = getelementptr inbounds %struct.b3SolverConstraint, ptr %375, i32 0, i32 13
  store float 0.000000e+00, ptr %376, align 16, !tbaa !47
  %377 = load ptr, ptr %19, align 8, !tbaa !5
  %378 = getelementptr inbounds %struct.b3SolverConstraint, ptr %377, i32 0, i32 14
  store float 1.000000e+10, ptr %378, align 4, !tbaa !48
  call void @llvm.lifetime.end.p0(i64 4, ptr %58) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %51) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #8
  ret void
}

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare hidden noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef) #7

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress 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 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress 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 #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!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 60}
!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 = !{!26, !12, i64 68}
!26 = !{!"_ZTS15b3RigidBodyData", !17, i64 0, !27, i64 16, !17, i64 32, !17, i64 48, !10, i64 64, !12, i64 68, !12, i64 72, !12, i64 76}
!27 = !{!"_ZTS12b3Quaternion", !28, i64 0}
!28 = !{!"_ZTS10b3QuadWord", !7, i64 0}
!29 = !{!30, !21, i64 424}
!30 = !{!"_ZTS17b3PgsJacobiSolver", !31, i64 8, !33, i64 40, !33, i64 72, !33, i64 104, !33, i64 136, !35, i64 168, !35, i64 200, !35, i64 232, !37, i64 264, !35, i64 296, !35, i64 328, !39, i64 360, !39, i64 392, !21, i64 424, !10, i64 428, !10, i64 432, !41, i64 440}
!31 = !{!"_ZTS20b3AlignedObjectArrayI12b3SolverBodyE", !32, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !21, i64 24}
!32 = !{!"_ZTS18b3AlignedAllocatorI12b3SolverBodyLj16EE"}
!33 = !{!"_ZTS20b3AlignedObjectArrayI18b3SolverConstraintE", !34, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !21, i64 24}
!34 = !{!"_ZTS18b3AlignedAllocatorI18b3SolverConstraintLj16EE"}
!35 = !{!"_ZTS20b3AlignedObjectArrayIiE", !36, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !21, i64 24}
!36 = !{!"_ZTS18b3AlignedAllocatorIiLj16EE"}
!37 = !{!"_ZTS20b3AlignedObjectArrayIN17b3TypedConstraint17b3ConstraintInfo1EE", !38, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !21, i64 24}
!38 = !{!"_ZTS18b3AlignedAllocatorIN17b3TypedConstraint17b3ConstraintInfo1ELj16EE"}
!39 = !{!"_ZTS20b3AlignedObjectArrayI9b3Vector3E", !40, i64 0, !10, i64 4, !10, i64 8, !6, i64 16, !21, i64 24}
!40 = !{!"_ZTS18b3AlignedAllocatorI9b3Vector3Lj16EE"}
!41 = !{!"long", !7, i64 0}
!42 = !{i8 0, i8 2}
!43 = !{}
!44 = !{!16, !12, i64 100}
!45 = !{!16, !12, i64 104}
!46 = !{!16, !12, i64 108}
!47 = !{!16, !12, i64 112}
!48 = !{!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.b3RigidBodyData = type { %class.b3Vector3, %class.b3Quaternion, %class.b3Vector3, %class.b3Vector3, i32, float, float, float }
%class.b3Quaternion = type { %class.b3QuadWord }
%class.b3QuadWord = type { %union.anon.10 }
%union.anon.10 = type { [4 x float] }
%struct.b3InertiaData = type { %class.b3Matrix3x3, %class.b3Matrix3x3 }
%class.b3Matrix3x3 = type { [3 x %class.b3Vector3] }

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

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

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

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

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver23setupFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintRK9b3Vector3iiR14b3ContactPointS8_S8_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef readonly %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 noundef nonnull align 16 dereferenceable(16) %8, ptr noundef nonnull 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 = alloca %class.b3Vector3, align 16
  %25 = getelementptr inbounds i8, ptr %3, i64 16
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %25, ptr noundef nonnull align 16 dereferenceable(16) %4, i64 16, i1 false), !tbaa.struct !5
  %26 = getelementptr inbounds i8, ptr %0, i64 8
  %27 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %26, i32 noundef %5)
  %28 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %26, i32 noundef %6)
  %29 = getelementptr inbounds i8, ptr %27, i64 208
  %30 = load i32, ptr %29, align 16, !tbaa !6
  %31 = sext i32 %30 to i64
  %32 = getelementptr inbounds %struct.b3RigidBodyData, ptr %1, i64 %31
  %33 = getelementptr inbounds i8, ptr %28, i64 208
  %34 = load i32, ptr %33, align 16, !tbaa !6
  %35 = sext i32 %34 to i64
  %36 = getelementptr inbounds %struct.b3RigidBodyData, ptr %1, i64 %35
  %37 = getelementptr inbounds i8, ptr %3, i64 144
  store i32 %5, ptr %37, align 16, !tbaa !9
  %38 = getelementptr inbounds i8, ptr %3, i64 148
  store i32 %6, ptr %38, align 4, !tbaa !14
  %39 = getelementptr inbounds i8, ptr %7, i64 60
  %40 = load float, ptr %39, align 4, !tbaa !15
  %41 = getelementptr inbounds i8, ptr %3, i64 96
  store float %40, ptr %41, align 16, !tbaa !18
  %42 = getelementptr inbounds i8, ptr %3, i64 128
  store ptr null, ptr %42, align 16, !tbaa !6
  %43 = getelementptr inbounds i8, ptr %3, i64 80
  store <2 x float> zeroinitializer, ptr %43, align 16, !tbaa !19
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #8
  %44 = tail call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef nonnull align 16 dereferenceable(16) %25)
  %45 = extractvalue { <2 x float>, <2 x float> } %44, 0
  store <2 x float> %45, ptr %16, align 16
  %46 = getelementptr inbounds i8, ptr %16, i64 8
  %47 = extractvalue { <2 x float>, <2 x float> } %44, 1
  store <2 x float> %47, ptr %46, 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 !5
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %54, label %48

48:                                               ; preds = %15
  %49 = load i32, ptr %29, align 16, !tbaa !6
  %50 = sext i32 %49 to i64
  %51 = getelementptr inbounds %struct.b3InertiaData, ptr %2, i64 %50
  %52 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %51)
  %53 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %52, ptr noundef nonnull align 16 dereferenceable(16) %16)
  br label %56

54:                                               ; preds = %15
  %55 = 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 %56

56:                                               ; preds = %54, %48
  %.pn = phi { <2 x float>, <2 x float> } [ %53, %48 ], [ %55, %54 ]
  %.sroa.519.0 = extractvalue { <2 x float>, <2 x float> } %.pn, 1
  %.sroa.018.0 = extractvalue { <2 x float>, <2 x float> } %.pn, 0
  %57 = getelementptr inbounds i8, ptr %3, i64 48
  store <2 x float> %.sroa.018.0, ptr %57, align 16
  %.sroa.519.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  store <2 x float> %.sroa.519.0, ptr %.sroa.519.0..sroa_idx, align 8, !tbaa !6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #8
  %58 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %25)
  %59 = extractvalue { <2 x float>, <2 x float> } %58, 0
  store <2 x float> %59, ptr %18, align 16
  %60 = getelementptr inbounds i8, ptr %18, i64 8
  %61 = extractvalue { <2 x float>, <2 x float> } %58, 1
  store <2 x float> %61, ptr %60, align 8
  %62 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %9, ptr noundef nonnull align 16 dereferenceable(16) %18)
  %63 = extractvalue { <2 x float>, <2 x float> } %62, 0
  store <2 x float> %63, ptr %17, align 16
  %64 = getelementptr inbounds i8, ptr %17, i64 8
  %65 = extractvalue { <2 x float>, <2 x float> } %62, 1
  store <2 x float> %65, ptr %64, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #8
  %66 = getelementptr inbounds i8, ptr %3, i64 32
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %66, ptr noundef nonnull align 16 dereferenceable(16) %17, i64 16, i1 false), !tbaa.struct !5
  br i1 %.not, label %67, label %.thread108

67:                                               ; preds = %56
  %68 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %.sroa.5.097 = extractvalue { <2 x float>, <2 x float> } %68, 1
  %.sroa.017.098 = extractvalue { <2 x float>, <2 x float> } %68, 0
  %69 = getelementptr inbounds i8, ptr %3, i64 64
  store <2 x float> %.sroa.017.098, ptr %69, align 16
  %.sroa.5.0..sroa_idx99 = getelementptr inbounds i8, ptr %3, i64 72
  store <2 x float> %.sroa.5.097, ptr %.sroa.5.0..sroa_idx99, align 8, !tbaa !6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #8
  %70 = getelementptr inbounds i8, ptr %0, i64 424
  %71 = load i8, ptr %70, align 8, !tbaa !20, !range !34, !noundef !35
  %72 = trunc nuw i8 %71 to i1
  br i1 %72, label %139, label %103

.thread108:                                       ; preds = %56
  %73 = load i32, ptr %33, align 16, !tbaa !6
  %74 = sext i32 %73 to i64
  %75 = getelementptr inbounds %struct.b3InertiaData, ptr %2, i64 %74
  %76 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef %75)
  %77 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %76, ptr noundef nonnull align 16 dereferenceable(16) %17)
  %.sroa.5.0 = extractvalue { <2 x float>, <2 x float> } %77, 1
  %.sroa.017.0 = extractvalue { <2 x float>, <2 x float> } %77, 0
  %78 = getelementptr inbounds i8, ptr %3, i64 64
  store <2 x float> %.sroa.017.0, ptr %78, 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 !6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #8
  %79 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %57, ptr noundef nonnull align 16 dereferenceable(16) %8)
  %80 = extractvalue { <2 x float>, <2 x float> } %79, 0
  %81 = extractvalue { <2 x float>, <2 x float> } %79, 1
  store <2 x float> %80, ptr %19, align 16
  %.sroa.49.0..sroa_idx = getelementptr inbounds i8, ptr %19, i64 8
  store <2 x float> %81, ptr %.sroa.49.0..sroa_idx, align 8, !tbaa !6
  %82 = getelementptr inbounds i8, ptr %32, i64 68
  %83 = load float, ptr %82, align 4, !tbaa !36
  %84 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %4, ptr noundef nonnull align 16 dereferenceable(16) %19)
  %85 = fadd float %83, %84
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #8
  %86 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %78)
  %87 = extractvalue { <2 x float>, <2 x float> } %86, 0
  store <2 x float> %87, ptr %20, align 16
  %88 = getelementptr inbounds i8, ptr %20, i64 8
  %89 = extractvalue { <2 x float>, <2 x float> } %86, 1
  store <2 x float> %89, ptr %88, align 8
  %90 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 16 dereferenceable(16) %9)
  %91 = extractvalue { <2 x float>, <2 x float> } %90, 0
  %92 = extractvalue { <2 x float>, <2 x float> } %90, 1
  store <2 x float> %91, ptr %19, align 16
  store <2 x float> %92, ptr %.sroa.49.0..sroa_idx, align 8, !tbaa !6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #8
  %93 = getelementptr inbounds i8, ptr %36, i64 68
  %94 = load float, ptr %93, align 4, !tbaa !36
  %95 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %4, ptr noundef nonnull align 16 dereferenceable(16) %19)
  %96 = fadd float %94, %95
  %97 = getelementptr inbounds i8, ptr %0, i64 424
  %98 = load i8, ptr %97, align 8, !tbaa !20, !range !34, !noundef !35
  %99 = trunc nuw i8 %98 to i1
  br i1 %99, label %.thread115, label %103

.thread115:                                       ; preds = %.thread108
  %100 = fadd float %85, %96
  %101 = fdiv float %12, %100
  %102 = getelementptr inbounds i8, ptr %3, i64 100
  store float %101, ptr %102, align 4, !tbaa !40
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #8
  br label %131

103:                                              ; preds = %.thread108, %67
  %.088114 = phi float [ %96, %.thread108 ], [ 0.000000e+00, %67 ]
  %.087102112 = phi float [ %85, %.thread108 ], [ 0.000000e+00, %67 ]
  %104 = fadd float %.088114, %.087102112
  %105 = fdiv float %12, %104
  %106 = getelementptr inbounds i8, ptr %32, i64 68
  %107 = load float, ptr %106, align 4, !tbaa !36
  %108 = fcmp une float %107, 0.000000e+00
  br i1 %108, label %109, label %115

109:                                              ; preds = %103
  %110 = getelementptr inbounds i8, ptr %0, i64 296
  %111 = load i32, ptr %29, align 16, !tbaa !6
  %112 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25) %110, i32 noundef %111)
  %113 = load i32, ptr %112, align 4, !tbaa !41
  %114 = sitofp i32 %113 to float
  br label %115

115:                                              ; preds = %103, %109
  %116 = phi float [ %114, %109 ], [ 1.000000e+00, %103 ]
  %117 = getelementptr inbounds i8, ptr %36, i64 68
  %118 = load float, ptr %117, align 4, !tbaa !36
  %119 = fcmp une float %118, 0.000000e+00
  br i1 %119, label %120, label %.thread103

120:                                              ; preds = %115
  %121 = getelementptr inbounds i8, ptr %0, i64 296
  %122 = load i32, ptr %33, align 16, !tbaa !6
  %123 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN20b3AlignedObjectArrayIiEixEi(ptr noundef nonnull align 8 dereferenceable(25) %121, i32 noundef %122)
  %124 = load i32, ptr %123, align 4, !tbaa !41
  %125 = sitofp i32 %124 to float
  br label %.thread103

.thread103:                                       ; preds = %120, %115
  %126 = phi float [ %125, %120 ], [ 1.000000e+00, %115 ]
  %127 = fmul float %.088114, %126
  %128 = call float @llvm.fmuladd.f32(float %.087102112, float %116, float %127)
  %129 = fdiv float %12, %128
  %130 = getelementptr inbounds i8, ptr %3, i64 100
  store float %105, ptr %130, align 4, !tbaa !40
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #8
  br label %131

131:                                              ; preds = %.thread115, %.thread103
  %.0107 = phi float [ %129, %.thread103 ], [ %101, %.thread115 ]
  %132 = getelementptr inbounds i8, ptr %27, i64 176
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %21, ptr noundef nonnull align 16 dereferenceable(16) %132, i64 16, i1 false), !tbaa.struct !5
  %133 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %25, ptr noundef nonnull align 16 dereferenceable(16) %21)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #8
  %134 = getelementptr inbounds i8, ptr %27, i64 192
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %134, i64 16, i1 false), !tbaa.struct !5
  %135 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %22)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #8
  %136 = getelementptr inbounds i8, ptr %28, i64 176
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef nonnull align 16 dereferenceable(16) %136, i64 16, i1 false), !tbaa.struct !5
  %137 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %25, ptr noundef nonnull align 16 dereferenceable(16) %23)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #8
  %138 = getelementptr inbounds i8, ptr %28, i64 192
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %24, ptr noundef nonnull align 16 dereferenceable(16) %138, i64 16, i1 false), !tbaa.struct !5
  br label %161

139:                                              ; preds = %67
  %140 = fdiv float %12, 0.000000e+00
  %141 = getelementptr inbounds i8, ptr %3, i64 100
  store float %140, ptr %141, align 4, !tbaa !40
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #8
  %142 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %143 = extractvalue { <2 x float>, <2 x float> } %142, 0
  store <2 x float> %143, ptr %21, align 16
  %144 = getelementptr inbounds i8, ptr %21, i64 8
  %145 = extractvalue { <2 x float>, <2 x float> } %142, 1
  store <2 x float> %145, ptr %144, align 8
  %146 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %25, ptr noundef nonnull align 16 dereferenceable(16) %21)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #8
  %147 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %148 = extractvalue { <2 x float>, <2 x float> } %147, 0
  store <2 x float> %148, ptr %22, align 16
  %149 = getelementptr inbounds i8, ptr %22, i64 8
  %150 = extractvalue { <2 x float>, <2 x float> } %147, 1
  store <2 x float> %150, ptr %149, align 8
  %151 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %22)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #8
  %152 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %153 = extractvalue { <2 x float>, <2 x float> } %152, 0
  store <2 x float> %153, ptr %23, align 16
  %154 = getelementptr inbounds i8, ptr %23, i64 8
  %155 = extractvalue { <2 x float>, <2 x float> } %152, 1
  store <2 x float> %155, ptr %154, align 8
  %156 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %25, ptr noundef nonnull align 16 dereferenceable(16) %23)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #8
  %157 = call { <2 x float>, <2 x float> } @_Z13b3MakeVector3fff(float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %158 = extractvalue { <2 x float>, <2 x float> } %157, 0
  store <2 x float> %158, ptr %24, align 16
  %159 = getelementptr inbounds i8, ptr %24, i64 8
  %160 = extractvalue { <2 x float>, <2 x float> } %157, 1
  store <2 x float> %160, ptr %159, align 8
  br label %161

161:                                              ; preds = %139, %131
  %162 = phi float [ %156, %139 ], [ %137, %131 ]
  %163 = phi float [ %146, %139 ], [ %133, %131 ]
  %.0106120124128 = phi float [ %140, %139 ], [ %.0107, %131 ]
  %164 = phi float [ %151, %139 ], [ %135, %131 ]
  %165 = fadd float %163, %164
  %166 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %66, ptr noundef nonnull align 16 dereferenceable(16) %24)
  %167 = fsub float %166, %162
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %23) #8
  %168 = fadd float %165, %167
  %169 = fsub float %13, %168
  %170 = fmul float %.0106120124128, %169
  %171 = getelementptr inbounds i8, ptr %3, i64 104
  store float %170, ptr %171, align 8, !tbaa !42
  %172 = getelementptr inbounds i8, ptr %3, i64 108
  store float %14, ptr %172, align 4, !tbaa !43
  %173 = getelementptr inbounds i8, ptr %3, i64 112
  store <2 x float> <float 0.000000e+00, float 1.000000e+10>, ptr %173, align 16, !tbaa !19
  ret void
}

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare hidden noundef nonnull align 16 dereferenceable(48) ptr @_ZL24getInvInertiaTensorWorldP13b3InertiaData(ptr noundef) local_unnamed_addr #7

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

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress 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 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress 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 #8 = { nounwind }

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

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


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