; LLVM IR from ClementineAccount/Albuquerque :: lib/bullet/include/Bullet3Dynamics/ConstraintSolver (b3Point2PointConstraint)

; 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] }
%"struct.b3TypedConstraint::b3ConstraintInfo2" = type { float, float, ptr, ptr, ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, i32, float }
%class.b3Point2PointConstraint = type { %class.b3TypedConstraint, %class.b3Vector3, %class.b3Vector3, i32, float, float, %struct.b3ConstraintSetting, [8 x i8] }
%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.b3ConstraintSetting = type { float, float, float }

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN23b3Point2PointConstraint18getInfo2NonVirtualEPN17b3TypedConstraint17b3ConstraintInfo2ERK11b3TransformS5_(ptr noundef nonnull align 16 dereferenceable(120) %0, ptr noundef %1, ptr noundef nonnull align 16 dereferenceable(64) %2, ptr noundef nonnull align 16 dereferenceable(64) %3) #1 align 2 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca %class.b3Vector3, align 16
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca %class.b3Vector3, align 16
  %14 = alloca %class.b3Vector3, align 16
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca float, align 4
  %19 = alloca float, align 4
  %20 = alloca i32, align 4
  %21 = alloca float, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store ptr %3, ptr %8, align 8, !tbaa !5
  %22 = load ptr, ptr %5, align 8
  %23 = load ptr, ptr %6, align 8, !tbaa !5
  %24 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %23, i32 0, i32 2
  %25 = load ptr, ptr %24, align 8, !tbaa !9
  %26 = getelementptr inbounds float, ptr %25, i64 0
  store float 1.000000e+00, ptr %26, align 4, !tbaa !13
  %27 = load ptr, ptr %6, align 8, !tbaa !5
  %28 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %27, i32 0, i32 2
  %29 = load ptr, ptr %28, align 8, !tbaa !9
  %30 = load ptr, ptr %6, align 8, !tbaa !5
  %31 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %30, i32 0, i32 6
  %32 = load i32, ptr %31, align 8, !tbaa !14
  %33 = add nsw i32 %32, 1
  %34 = sext i32 %33 to i64
  %35 = getelementptr inbounds float, ptr %29, i64 %34
  store float 1.000000e+00, ptr %35, align 4, !tbaa !13
  %36 = load ptr, ptr %6, align 8, !tbaa !5
  %37 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %36, i32 0, i32 2
  %38 = load ptr, ptr %37, align 8, !tbaa !9
  %39 = load ptr, ptr %6, align 8, !tbaa !5
  %40 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %39, i32 0, i32 6
  %41 = load i32, ptr %40, align 8, !tbaa !14
  %42 = mul nsw i32 2, %41
  %43 = add nsw i32 %42, 2
  %44 = sext i32 %43 to i64
  %45 = getelementptr inbounds float, ptr %38, i64 %44
  store float 1.000000e+00, ptr %45, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #7
  %46 = load ptr, ptr %7, align 8, !tbaa !5
  %47 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNK11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64) %46)
  %48 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK23b3Point2PointConstraint11getPivotInAEv(ptr noundef nonnull align 16 dereferenceable(120) %22)
  %49 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %47, ptr noundef nonnull align 16 dereferenceable(16) %48)
  %50 = getelementptr inbounds %class.b3Vector3, ptr %9, i32 0, i32 0
  %51 = getelementptr inbounds %union.anon.0, ptr %50, i32 0, i32 0
  %52 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %51, i32 0, i32 0
  %53 = extractvalue { <2 x float>, <2 x float> } %49, 0
  store <2 x float> %53, ptr %52, align 16
  %54 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %51, i32 0, i32 1
  %55 = extractvalue { <2 x float>, <2 x float> } %49, 1
  store <2 x float> %55, ptr %54, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %56 = load ptr, ptr %6, align 8, !tbaa !5
  %57 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %56, i32 0, i32 3
  %58 = load ptr, ptr %57, align 8, !tbaa !15
  store ptr %58, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %59 = load ptr, ptr %6, align 8, !tbaa !5
  %60 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %59, i32 0, i32 3
  %61 = load ptr, ptr %60, align 8, !tbaa !15
  %62 = load ptr, ptr %6, align 8, !tbaa !5
  %63 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %62, i32 0, i32 6
  %64 = load i32, ptr %63, align 8, !tbaa !14
  %65 = sext i32 %64 to i64
  %66 = getelementptr inbounds float, ptr %61, i64 %65
  store ptr %66, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %67 = load ptr, ptr %6, align 8, !tbaa !5
  %68 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %67, i32 0, i32 3
  %69 = load ptr, ptr %68, align 8, !tbaa !15
  %70 = load ptr, ptr %6, align 8, !tbaa !5
  %71 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %70, i32 0, i32 6
  %72 = load i32, ptr %71, align 8, !tbaa !14
  %73 = mul nsw i32 2, %72
  %74 = sext i32 %73 to i64
  %75 = getelementptr inbounds float, ptr %69, i64 %74
  store ptr %75, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %13) #7
  %76 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %9)
  %77 = getelementptr inbounds %class.b3Vector3, ptr %13, i32 0, i32 0
  %78 = getelementptr inbounds %union.anon.0, ptr %77, i32 0, i32 0
  %79 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %78, i32 0, i32 0
  %80 = extractvalue { <2 x float>, <2 x float> } %76, 0
  store <2 x float> %80, ptr %79, align 16
  %81 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %78, i32 0, i32 1
  %82 = extractvalue { <2 x float>, <2 x float> } %76, 1
  store <2 x float> %82, ptr %81, align 8
  %83 = load ptr, ptr %10, align 8, !tbaa !5
  %84 = load ptr, ptr %11, align 8, !tbaa !5
  %85 = load ptr, ptr %12, align 8, !tbaa !5
  call void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16) %13, ptr noundef %83, ptr noundef %84, ptr noundef %85)
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  %86 = load ptr, ptr %6, align 8, !tbaa !5
  %87 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %86, i32 0, i32 4
  %88 = load ptr, ptr %87, align 8, !tbaa !16
  %89 = icmp ne ptr %88, null
  br i1 %89, label %90, label %114

90:                                               ; preds = %4
  %91 = load ptr, ptr %6, align 8, !tbaa !5
  %92 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %91, i32 0, i32 4
  %93 = load ptr, ptr %92, align 8, !tbaa !16
  %94 = getelementptr inbounds float, ptr %93, i64 0
  store float -1.000000e+00, ptr %94, align 4, !tbaa !13
  %95 = load ptr, ptr %6, align 8, !tbaa !5
  %96 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %95, i32 0, i32 4
  %97 = load ptr, ptr %96, align 8, !tbaa !16
  %98 = load ptr, ptr %6, align 8, !tbaa !5
  %99 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %98, i32 0, i32 6
  %100 = load i32, ptr %99, align 8, !tbaa !14
  %101 = add nsw i32 %100, 1
  %102 = sext i32 %101 to i64
  %103 = getelementptr inbounds float, ptr %97, i64 %102
  store float -1.000000e+00, ptr %103, align 4, !tbaa !13
  %104 = load ptr, ptr %6, align 8, !tbaa !5
  %105 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %104, i32 0, i32 4
  %106 = load ptr, ptr %105, align 8, !tbaa !16
  %107 = load ptr, ptr %6, align 8, !tbaa !5
  %108 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %107, i32 0, i32 6
  %109 = load i32, ptr %108, align 8, !tbaa !14
  %110 = mul nsw i32 2, %109
  %111 = add nsw i32 %110, 2
  %112 = sext i32 %111 to i64
  %113 = getelementptr inbounds float, ptr %106, i64 %112
  store float -1.000000e+00, ptr %113, align 4, !tbaa !13
  br label %114

114:                                              ; preds = %90, %4
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #7
  %115 = load ptr, ptr %8, align 8, !tbaa !5
  %116 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNK11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64) %115)
  %117 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK23b3Point2PointConstraint11getPivotInBEv(ptr noundef nonnull align 16 dereferenceable(120) %22)
  %118 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %116, ptr noundef nonnull align 16 dereferenceable(16) %117)
  %119 = getelementptr inbounds %class.b3Vector3, ptr %14, i32 0, i32 0
  %120 = getelementptr inbounds %union.anon.0, ptr %119, i32 0, i32 0
  %121 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %120, i32 0, i32 0
  %122 = extractvalue { <2 x float>, <2 x float> } %118, 0
  store <2 x float> %122, ptr %121, align 16
  %123 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %120, i32 0, i32 1
  %124 = extractvalue { <2 x float>, <2 x float> } %118, 1
  store <2 x float> %124, ptr %123, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  %125 = load ptr, ptr %6, align 8, !tbaa !5
  %126 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %125, i32 0, i32 5
  %127 = load ptr, ptr %126, align 8, !tbaa !17
  store ptr %127, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  %128 = load ptr, ptr %6, align 8, !tbaa !5
  %129 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %128, i32 0, i32 5
  %130 = load ptr, ptr %129, align 8, !tbaa !17
  %131 = load ptr, ptr %6, align 8, !tbaa !5
  %132 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %131, i32 0, i32 6
  %133 = load i32, ptr %132, align 8, !tbaa !14
  %134 = sext i32 %133 to i64
  %135 = getelementptr inbounds float, ptr %130, i64 %134
  store ptr %135, ptr %16, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #7
  %136 = load ptr, ptr %6, align 8, !tbaa !5
  %137 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %136, i32 0, i32 5
  %138 = load ptr, ptr %137, align 8, !tbaa !17
  %139 = load ptr, ptr %6, align 8, !tbaa !5
  %140 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %139, i32 0, i32 6
  %141 = load i32, ptr %140, align 8, !tbaa !14
  %142 = mul nsw i32 2, %141
  %143 = sext i32 %142 to i64
  %144 = getelementptr inbounds float, ptr %138, i64 %143
  store ptr %144, ptr %17, align 8, !tbaa !5
  %145 = load ptr, ptr %15, align 8, !tbaa !5
  %146 = load ptr, ptr %16, align 8, !tbaa !5
  %147 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef %145, ptr noundef %146, ptr noundef %147)
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #7
  %148 = getelementptr inbounds %class.b3Point2PointConstraint, ptr %22, i32 0, i32 3
  %149 = load i32, ptr %148, align 16, !tbaa !18
  %150 = and i32 %149, 1
  %151 = icmp ne i32 %150, 0
  br i1 %151, label %152, label %155

152:                                              ; preds = %114
  %153 = getelementptr inbounds %class.b3Point2PointConstraint, ptr %22, i32 0, i32 4
  %154 = load float, ptr %153, align 4, !tbaa !25
  br label %159

155:                                              ; preds = %114
  %156 = load ptr, ptr %6, align 8, !tbaa !5
  %157 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %156, i32 0, i32 1
  %158 = load float, ptr %157, align 4, !tbaa !26
  br label %159

159:                                              ; preds = %155, %152
  %160 = phi float [ %154, %152 ], [ %158, %155 ]
  store float %160, ptr %18, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #7
  %161 = load ptr, ptr %6, align 8, !tbaa !5
  %162 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %161, i32 0, i32 0
  %163 = load float, ptr %162, align 8, !tbaa !27
  %164 = load float, ptr %18, align 4, !tbaa !13
  %165 = fmul float %163, %164
  store float %165, ptr %19, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #7
  store i32 0, ptr %20, align 4, !tbaa !28
  br label %166

166:                                              ; preds = %209, %159
  %167 = load i32, ptr %20, align 4, !tbaa !28
  %168 = icmp slt i32 %167, 3
  br i1 %168, label %169, label %212

169:                                              ; preds = %166
  %170 = load float, ptr %19, align 4, !tbaa !13
  %171 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %14)
  %172 = load i32, ptr %20, align 4, !tbaa !28
  %173 = sext i32 %172 to i64
  %174 = getelementptr inbounds float, ptr %171, i64 %173
  %175 = load float, ptr %174, align 4, !tbaa !13
  %176 = load ptr, ptr %8, align 8, !tbaa !5
  %177 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %176)
  %178 = call noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16) %177)
  %179 = load i32, ptr %20, align 4, !tbaa !28
  %180 = sext i32 %179 to i64
  %181 = getelementptr inbounds float, ptr %178, i64 %180
  %182 = load float, ptr %181, align 4, !tbaa !13
  %183 = fadd float %175, %182
  %184 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %9)
  %185 = load i32, ptr %20, align 4, !tbaa !28
  %186 = sext i32 %185 to i64
  %187 = getelementptr inbounds float, ptr %184, i64 %186
  %188 = load float, ptr %187, align 4, !tbaa !13
  %189 = fsub float %183, %188
  %190 = load ptr, ptr %7, align 8, !tbaa !5
  %191 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %190)
  %192 = call noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16) %191)
  %193 = load i32, ptr %20, align 4, !tbaa !28
  %194 = sext i32 %193 to i64
  %195 = getelementptr inbounds float, ptr %192, i64 %194
  %196 = load float, ptr %195, align 4, !tbaa !13
  %197 = fsub float %189, %196
  %198 = fmul float %170, %197
  %199 = load ptr, ptr %6, align 8, !tbaa !5
  %200 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %199, i32 0, i32 7
  %201 = load ptr, ptr %200, align 8, !tbaa !29
  %202 = load i32, ptr %20, align 4, !tbaa !28
  %203 = load ptr, ptr %6, align 8, !tbaa !5
  %204 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %203, i32 0, i32 6
  %205 = load i32, ptr %204, align 8, !tbaa !14
  %206 = mul nsw i32 %202, %205
  %207 = sext i32 %206 to i64
  %208 = getelementptr inbounds float, ptr %201, i64 %207
  store float %198, ptr %208, align 4, !tbaa !13
  br label %209

209:                                              ; preds = %169
  %210 = load i32, ptr %20, align 4, !tbaa !28
  %211 = add nsw i32 %210, 1
  store i32 %211, ptr %20, align 4, !tbaa !28
  br label %166, !llvm.loop !30

212:                                              ; preds = %166
  %213 = getelementptr inbounds %class.b3Point2PointConstraint, ptr %22, i32 0, i32 3
  %214 = load i32, ptr %213, align 16, !tbaa !18
  %215 = and i32 %214, 2
  %216 = icmp ne i32 %215, 0
  br i1 %216, label %217, label %238

217:                                              ; preds = %212
  store i32 0, ptr %20, align 4, !tbaa !28
  br label %218

218:                                              ; preds = %234, %217
  %219 = load i32, ptr %20, align 4, !tbaa !28
  %220 = icmp slt i32 %219, 3
  br i1 %220, label %221, label %237

221:                                              ; preds = %218
  %222 = getelementptr inbounds %class.b3Point2PointConstraint, ptr %22, i32 0, i32 5
  %223 = load float, ptr %222, align 8, !tbaa !32
  %224 = load ptr, ptr %6, align 8, !tbaa !5
  %225 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %224, i32 0, i32 8
  %226 = load ptr, ptr %225, align 8, !tbaa !33
  %227 = load i32, ptr %20, align 4, !tbaa !28
  %228 = load ptr, ptr %6, align 8, !tbaa !5
  %229 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %228, i32 0, i32 6
  %230 = load i32, ptr %229, align 8, !tbaa !14
  %231 = mul nsw i32 %227, %230
  %232 = sext i32 %231 to i64
  %233 = getelementptr inbounds float, ptr %226, i64 %232
  store float %223, ptr %233, align 4, !tbaa !13
  br label %234

234:                                              ; preds = %221
  %235 = load i32, ptr %20, align 4, !tbaa !28
  %236 = add nsw i32 %235, 1
  store i32 %236, ptr %20, align 4, !tbaa !28
  br label %218, !llvm.loop !34

237:                                              ; preds = %218
  br label %238

238:                                              ; preds = %237, %212
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #7
  %239 = getelementptr inbounds %class.b3Point2PointConstraint, ptr %22, i32 0, i32 6
  %240 = getelementptr inbounds %struct.b3ConstraintSetting, ptr %239, i32 0, i32 2
  %241 = load float, ptr %240, align 4, !tbaa !35
  store float %241, ptr %21, align 4, !tbaa !13
  store i32 0, ptr %20, align 4, !tbaa !28
  br label %242

242:                                              ; preds = %275, %238
  %243 = load i32, ptr %20, align 4, !tbaa !28
  %244 = icmp slt i32 %243, 3
  br i1 %244, label %245, label %278

245:                                              ; preds = %242
  %246 = getelementptr inbounds %class.b3Point2PointConstraint, ptr %22, i32 0, i32 6
  %247 = getelementptr inbounds %struct.b3ConstraintSetting, ptr %246, i32 0, i32 2
  %248 = load float, ptr %247, align 4, !tbaa !35
  %249 = fcmp ogt float %248, 0.000000e+00
  br i1 %249, label %250, label %274

250:                                              ; preds = %245
  %251 = load float, ptr %21, align 4, !tbaa !13
  %252 = fneg float %251
  %253 = load ptr, ptr %6, align 8, !tbaa !5
  %254 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %253, i32 0, i32 9
  %255 = load ptr, ptr %254, align 8, !tbaa !36
  %256 = load i32, ptr %20, align 4, !tbaa !28
  %257 = load ptr, ptr %6, align 8, !tbaa !5
  %258 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %257, i32 0, i32 6
  %259 = load i32, ptr %258, align 8, !tbaa !14
  %260 = mul nsw i32 %256, %259
  %261 = sext i32 %260 to i64
  %262 = getelementptr inbounds float, ptr %255, i64 %261
  store float %252, ptr %262, align 4, !tbaa !13
  %263 = load float, ptr %21, align 4, !tbaa !13
  %264 = load ptr, ptr %6, align 8, !tbaa !5
  %265 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %264, i32 0, i32 10
  %266 = load ptr, ptr %265, align 8, !tbaa !37
  %267 = load i32, ptr %20, align 4, !tbaa !28
  %268 = load ptr, ptr %6, align 8, !tbaa !5
  %269 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %268, i32 0, i32 6
  %270 = load i32, ptr %269, align 8, !tbaa !14
  %271 = mul nsw i32 %267, %270
  %272 = sext i32 %271 to i64
  %273 = getelementptr inbounds float, ptr %266, i64 %272
  store float %263, ptr %273, align 4, !tbaa !13
  br label %274

274:                                              ; preds = %250, %245
  br label %275

275:                                              ; preds = %274
  %276 = load i32, ptr %20, align 4, !tbaa !28
  %277 = add nsw i32 %276, 1
  store i32 %277, ptr %20, align 4, !tbaa !28
  br label %242, !llvm.loop !38

278:                                              ; preds = %242
  %279 = getelementptr inbounds %class.b3Point2PointConstraint, ptr %22, i32 0, i32 6
  %280 = getelementptr inbounds %struct.b3ConstraintSetting, ptr %279, i32 0, i32 1
  %281 = load float, ptr %280, align 4, !tbaa !39
  %282 = load ptr, ptr %6, align 8, !tbaa !5
  %283 = getelementptr inbounds %"struct.b3TypedConstraint::b3ConstraintInfo2", ptr %282, i32 0, i32 13
  store float %281, ptr %283, align 4, !tbaa !40
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #7
  ret void
}

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNK11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK23b3Point2PointConstraint11getPivotInAEv(ptr noundef nonnull align 16 dereferenceable(120)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16)) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, ptr noundef, ptr noundef) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK23b3Point2PointConstraint11getPivotInBEv(ptr noundef nonnull align 16 dereferenceable(120)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16)) #3 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16)) #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress 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 #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 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { 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 #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, !6, i64 8}
!10 = !{!"_ZTSN17b3TypedConstraint17b3ConstraintInfo2E", !11, i64 0, !11, 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, !11, i64 92}
!11 = !{!"float", !7, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!11, !11, i64 0}
!14 = !{!10, !12, i64 40}
!15 = !{!10, !6, i64 16}
!16 = !{!10, !6, i64 24}
!17 = !{!10, !6, i64 32}
!18 = !{!19, !12, i64 96}
!19 = !{!"_ZTS23b3Point2PointConstraint", !20, i64 0, !23, i64 64, !23, i64 80, !12, i64 96, !11, i64 100, !11, i64 104, !24, i64 108}
!20 = !{!"_ZTS17b3TypedConstraint", !21, i64 8, !12, i64 12, !7, i64 16, !11, i64 24, !22, i64 28, !22, i64 29, !12, i64 32, !12, i64 36, !12, i64 40, !11, i64 44, !11, i64 48, !6, i64 56}
!21 = !{!"_ZTS13b3TypedObject", !12, i64 0}
!22 = !{!"bool", !7, i64 0}
!23 = !{!"_ZTS9b3Vector3", !7, i64 0}
!24 = !{!"_ZTS19b3ConstraintSetting", !11, i64 0, !11, i64 4, !11, i64 8}
!25 = !{!19, !11, i64 100}
!26 = !{!10, !11, i64 4}
!27 = !{!10, !11, i64 0}
!28 = !{!12, !12, i64 0}
!29 = !{!10, !6, i64 48}
!30 = distinct !{!30, !31}
!31 = !{!"llvm.loop.mustprogress"}
!32 = !{!19, !11, i64 104}
!33 = !{!10, !6, i64 56}
!34 = distinct !{!34, !31}
!35 = !{!19, !11, i64 116}
!36 = !{!10, !6, i64 64}
!37 = !{!10, !6, i64 72}
!38 = distinct !{!38, !31}
!39 = !{!19, !11, i64 112}
!40 = !{!10, !11, i64 92}


; 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] }

; 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 uwtable
define dso_local void @_ZN23b3Point2PointConstraint18getInfo2NonVirtualEPN17b3TypedConstraint17b3ConstraintInfo2ERK11b3TransformS5_(ptr noundef nonnull align 16 dereferenceable(120) %0, ptr nocapture noundef %1, ptr noundef nonnull align 16 dereferenceable(64) %2, ptr noundef nonnull align 16 dereferenceable(64) %3) local_unnamed_addr #1 align 2 {
  %5 = alloca %class.b3Vector3, align 16
  %6 = alloca %class.b3Vector3, align 16
  %7 = alloca %class.b3Vector3, align 16
  %8 = getelementptr inbounds i8, ptr %1, i64 8
  %9 = load ptr, ptr %8, align 8, !tbaa !5
  store float 1.000000e+00, ptr %9, align 4, !tbaa !12
  %10 = getelementptr inbounds i8, ptr %1, i64 40
  %11 = load i32, ptr %10, align 8, !tbaa !13
  %12 = sext i32 %11 to i64
  %13 = getelementptr float, ptr %9, i64 %12
  %14 = getelementptr i8, ptr %13, i64 4
  store float 1.000000e+00, ptr %14, align 4, !tbaa !12
  %15 = shl nsw i32 %11, 1
  %16 = sext i32 %15 to i64
  %17 = getelementptr float, ptr %9, i64 %16
  %18 = getelementptr i8, ptr %17, i64 8
  store float 1.000000e+00, ptr %18, align 4, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #7
  %19 = tail call noundef nonnull align 16 dereferenceable(48) ptr @_ZNK11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64) %2)
  %20 = tail call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK23b3Point2PointConstraint11getPivotInAEv(ptr noundef nonnull align 16 dereferenceable(120) %0)
  %21 = tail call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %19, ptr noundef nonnull align 16 dereferenceable(16) %20)
  %22 = extractvalue { <2 x float>, <2 x float> } %21, 0
  store <2 x float> %22, ptr %5, align 16
  %23 = getelementptr inbounds i8, ptr %5, i64 8
  %24 = extractvalue { <2 x float>, <2 x float> } %21, 1
  store <2 x float> %24, ptr %23, align 8
  %25 = getelementptr inbounds i8, ptr %1, i64 16
  %26 = load ptr, ptr %25, align 8, !tbaa !14
  %27 = load i32, ptr %10, align 8, !tbaa !13
  %28 = sext i32 %27 to i64
  %29 = getelementptr inbounds float, ptr %26, i64 %28
  %30 = shl nsw i32 %27, 1
  %31 = sext i32 %30 to i64
  %32 = getelementptr inbounds float, ptr %26, i64 %31
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #7
  %33 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %5)
  %34 = extractvalue { <2 x float>, <2 x float> } %33, 0
  store <2 x float> %34, ptr %6, align 16
  %35 = getelementptr inbounds i8, ptr %6, i64 8
  %36 = extractvalue { <2 x float>, <2 x float> } %33, 1
  store <2 x float> %36, ptr %35, align 8
  call void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef %26, ptr noundef %29, ptr noundef %32)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  %37 = getelementptr inbounds i8, ptr %1, i64 24
  %38 = load ptr, ptr %37, align 8, !tbaa !15
  %.not = icmp eq ptr %38, null
  br i1 %.not, label %48, label %39

39:                                               ; preds = %4
  store float -1.000000e+00, ptr %38, align 4, !tbaa !12
  %40 = load i32, ptr %10, align 8, !tbaa !13
  %41 = sext i32 %40 to i64
  %42 = getelementptr float, ptr %38, i64 %41
  %43 = getelementptr i8, ptr %42, i64 4
  store float -1.000000e+00, ptr %43, align 4, !tbaa !12
  %44 = shl nsw i32 %40, 1
  %45 = sext i32 %44 to i64
  %46 = getelementptr float, ptr %38, i64 %45
  %47 = getelementptr i8, ptr %46, i64 8
  store float -1.000000e+00, ptr %47, align 4, !tbaa !12
  br label %48

48:                                               ; preds = %39, %4
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #7
  %49 = call noundef nonnull align 16 dereferenceable(48) ptr @_ZNK11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64) %3)
  %50 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK23b3Point2PointConstraint11getPivotInBEv(ptr noundef nonnull align 16 dereferenceable(120) %0)
  %51 = call { <2 x float>, <2 x float> } @_ZmlRK11b3Matrix3x3RK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(48) %49, ptr noundef nonnull align 16 dereferenceable(16) %50)
  %52 = extractvalue { <2 x float>, <2 x float> } %51, 0
  store <2 x float> %52, ptr %7, align 16
  %53 = getelementptr inbounds i8, ptr %7, i64 8
  %54 = extractvalue { <2 x float>, <2 x float> } %51, 1
  store <2 x float> %54, ptr %53, align 8
  %55 = getelementptr inbounds i8, ptr %1, i64 32
  %56 = load ptr, ptr %55, align 8, !tbaa !16
  %57 = load i32, ptr %10, align 8, !tbaa !13
  %58 = sext i32 %57 to i64
  %59 = getelementptr inbounds float, ptr %56, i64 %58
  %60 = shl nsw i32 %57, 1
  %61 = sext i32 %60 to i64
  %62 = getelementptr inbounds float, ptr %56, i64 %61
  call void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef %56, ptr noundef %59, ptr noundef %62)
  %63 = getelementptr inbounds i8, ptr %0, i64 96
  %64 = load i32, ptr %63, align 16, !tbaa !17
  %65 = and i32 %64, 1
  %.not61 = icmp eq i32 %65, 0
  %66 = getelementptr inbounds i8, ptr %0, i64 100
  %67 = getelementptr inbounds i8, ptr %1, i64 4
  %.in = select i1 %.not61, ptr %67, ptr %66
  %68 = load float, ptr %.in, align 4, !tbaa !12
  %69 = load float, ptr %1, align 8, !tbaa !24
  %70 = fmul float %68, %69
  %71 = getelementptr inbounds i8, ptr %1, i64 48
  %72 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %7)
  %73 = load float, ptr %72, align 4, !tbaa !12
  %74 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %3)
  %75 = call noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16) %74)
  %76 = load float, ptr %75, align 4, !tbaa !12
  %77 = fadd float %73, %76
  %78 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %5)
  %79 = load float, ptr %78, align 4, !tbaa !12
  %80 = fsub float %77, %79
  %81 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %2)
  %82 = call noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16) %81)
  %83 = load float, ptr %82, align 4, !tbaa !12
  %84 = fsub float %80, %83
  %85 = fmul float %70, %84
  %86 = load ptr, ptr %71, align 8, !tbaa !25
  store float %85, ptr %86, align 4, !tbaa !12
  %87 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %7)
  %88 = getelementptr inbounds i8, ptr %87, i64 4
  %89 = load float, ptr %88, align 4, !tbaa !12
  %90 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %3)
  %91 = call noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16) %90)
  %92 = getelementptr inbounds i8, ptr %91, i64 4
  %93 = load float, ptr %92, align 4, !tbaa !12
  %94 = fadd float %89, %93
  %95 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %5)
  %96 = getelementptr inbounds i8, ptr %95, i64 4
  %97 = load float, ptr %96, align 4, !tbaa !12
  %98 = fsub float %94, %97
  %99 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %2)
  %100 = call noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16) %99)
  %101 = getelementptr inbounds i8, ptr %100, i64 4
  %102 = load float, ptr %101, align 4, !tbaa !12
  %103 = fsub float %98, %102
  %104 = fmul float %70, %103
  %105 = load ptr, ptr %71, align 8, !tbaa !25
  %106 = load i32, ptr %10, align 8, !tbaa !13
  %107 = sext i32 %106 to i64
  %108 = getelementptr inbounds float, ptr %105, i64 %107
  store float %104, ptr %108, align 4, !tbaa !12
  %109 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %7)
  %110 = getelementptr inbounds i8, ptr %109, i64 8
  %111 = load float, ptr %110, align 4, !tbaa !12
  %112 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %3)
  %113 = call noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16) %112)
  %114 = getelementptr inbounds i8, ptr %113, i64 8
  %115 = load float, ptr %114, align 4, !tbaa !12
  %116 = fadd float %111, %115
  %117 = call noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16) %5)
  %118 = getelementptr inbounds i8, ptr %117, i64 8
  %119 = load float, ptr %118, align 4, !tbaa !12
  %120 = fsub float %116, %119
  %121 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK11b3Transform9getOriginEv(ptr noundef nonnull align 16 dereferenceable(64) %2)
  %122 = call noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16) %121)
  %123 = getelementptr inbounds i8, ptr %122, i64 8
  %124 = load float, ptr %123, align 4, !tbaa !12
  %125 = fsub float %120, %124
  %126 = fmul float %70, %125
  %127 = load ptr, ptr %71, align 8, !tbaa !25
  %128 = load i32, ptr %10, align 8, !tbaa !13
  %129 = shl nsw i32 %128, 1
  %130 = sext i32 %129 to i64
  %131 = getelementptr inbounds float, ptr %127, i64 %130
  store float %126, ptr %131, align 4, !tbaa !12
  %132 = load i32, ptr %63, align 16, !tbaa !17
  %133 = and i32 %132, 2
  %.not62 = icmp eq i32 %133, 0
  br i1 %.not62, label %.loopexit, label %.preheader

.preheader:                                       ; preds = %48
  %134 = getelementptr inbounds i8, ptr %0, i64 104
  %135 = getelementptr inbounds i8, ptr %1, i64 56
  %136 = load ptr, ptr %135, align 8, !tbaa !26
  %137 = sext i32 %128 to i64
  %138 = load float, ptr %134, align 8, !tbaa !27
  store float %138, ptr %136, align 4, !tbaa !12
  %139 = getelementptr inbounds float, ptr %136, i64 %137
  store float %138, ptr %139, align 4, !tbaa !12
  %140 = load float, ptr %134, align 8, !tbaa !27
  %.idx = shl nsw i64 %137, 3
  %141 = getelementptr inbounds i8, ptr %136, i64 %.idx
  store float %140, ptr %141, align 4, !tbaa !12
  br label %.loopexit

.loopexit:                                        ; preds = %.preheader, %48
  %142 = getelementptr inbounds i8, ptr %0, i64 116
  %143 = load float, ptr %142, align 4, !tbaa !28
  %144 = fneg float %143
  %145 = getelementptr inbounds i8, ptr %1, i64 64
  %146 = getelementptr inbounds i8, ptr %1, i64 72
  %147 = fcmp ogt float %143, 0.000000e+00
  br i1 %147, label %.split.1, label %.split67.us

.split.1:                                         ; preds = %.loopexit
  %148 = load ptr, ptr %145, align 8, !tbaa !29
  store float %144, ptr %148, align 4, !tbaa !12
  %149 = load ptr, ptr %146, align 8, !tbaa !30
  store float %143, ptr %149, align 4, !tbaa !12
  %.pre = load float, ptr %142, align 4, !tbaa !28
  %150 = fcmp ogt float %.pre, 0.000000e+00
  br i1 %150, label %151, label %.split.2

151:                                              ; preds = %.split.1
  %152 = load ptr, ptr %145, align 8, !tbaa !29
  %153 = sext i32 %128 to i64
  %154 = getelementptr inbounds float, ptr %152, i64 %153
  store float %144, ptr %154, align 4, !tbaa !12
  %155 = load ptr, ptr %146, align 8, !tbaa !30
  %156 = getelementptr inbounds float, ptr %155, i64 %153
  store float %143, ptr %156, align 4, !tbaa !12
  %.pre71 = load float, ptr %142, align 4, !tbaa !28
  br label %.split.2

.split.2:                                         ; preds = %151, %.split.1
  %157 = phi float [ %.pre71, %151 ], [ %.pre, %.split.1 ]
  %158 = fcmp ogt float %157, 0.000000e+00
  br i1 %158, label %159, label %.split67.us

159:                                              ; preds = %.split.2
  %160 = load ptr, ptr %145, align 8, !tbaa !29
  %161 = getelementptr inbounds float, ptr %160, i64 %130
  store float %144, ptr %161, align 4, !tbaa !12
  %162 = load ptr, ptr %146, align 8, !tbaa !30
  %163 = getelementptr inbounds float, ptr %162, i64 %130
  store float %143, ptr %163, align 4, !tbaa !12
  br label %.split67.us

.split67.us:                                      ; preds = %.split.2, %159, %.loopexit
  %164 = getelementptr inbounds i8, ptr %0, i64 112
  %165 = load float, ptr %164, align 16, !tbaa !31
  %166 = getelementptr inbounds i8, ptr %1, i64 92
  store float %165, ptr %166, align 4, !tbaa !32
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  ret void
}

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(48) ptr @_ZNK11b3Transform8getBasisEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK23b3Point2PointConstraint11getPivotInAEv(ptr noundef nonnull align 16 dereferenceable(120)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK9b3Vector322getSkewSymmetricMatrixEPS_S0_S0_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK23b3Point2PointConstraint11getPivotInBEv(ptr noundef nonnull align 16 dereferenceable(120)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN9b3Vector3cvPfEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK9b3Vector3cvPKfEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress 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 #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 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { 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 #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, !10, i64 8}
!6 = !{!"_ZTSN17b3TypedConstraint17b3ConstraintInfo2E", !7, i64 0, !7, i64 4, !10, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !11, i64 40, !10, i64 48, !10, i64 56, !10, i64 64, !10, i64 72, !10, i64 80, !11, i64 88, !7, i64 92}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"any pointer", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!7, !7, i64 0}
!13 = !{!6, !11, i64 40}
!14 = !{!6, !10, i64 16}
!15 = !{!6, !10, i64 24}
!16 = !{!6, !10, i64 32}
!17 = !{!18, !11, i64 96}
!18 = !{!"_ZTS23b3Point2PointConstraint", !19, i64 0, !22, i64 64, !22, i64 80, !11, i64 96, !7, i64 100, !7, i64 104, !23, i64 108}
!19 = !{!"_ZTS17b3TypedConstraint", !20, i64 8, !11, i64 12, !8, i64 16, !7, i64 24, !21, i64 28, !21, i64 29, !11, i64 32, !11, i64 36, !11, i64 40, !7, i64 44, !7, i64 48, !10, i64 56}
!20 = !{!"_ZTS13b3TypedObject", !11, i64 0}
!21 = !{!"bool", !8, i64 0}
!22 = !{!"_ZTS9b3Vector3", !8, i64 0}
!23 = !{!"_ZTS19b3ConstraintSetting", !7, i64 0, !7, i64 4, !7, i64 8}
!24 = !{!6, !7, i64 0}
!25 = !{!6, !10, i64 48}
!26 = !{!6, !10, i64 56}
!27 = !{!18, !7, i64 104}
!28 = !{!18, !7, i64 116}
!29 = !{!6, !10, i64 64}
!30 = !{!6, !10, i64 72}
!31 = !{!18, !7, i64 112}
!32 = !{!6, !7, i64 92}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyCFGPass,LoopSimplifyPass,PostOrderFunctionAttrsPass,ReassociatePass,SCCPPass,SROAPass,SimpleLoopUnswitchPass,SimplifyCFGPass,TailCallElimPass