; 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 }

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver33resolveSingleConstraintRowGenericER12b3SolverBodyS1_RK18b3SolverConstraint(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef nonnull align 16 dereferenceable(228) %1, ptr noundef nonnull align 16 dereferenceable(228) %2, ptr noundef nonnull align 16 dereferenceable(160) %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 float, align 4
  %10 = alloca float, align 4
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  %13 = alloca %class.b3Vector3, align 16
  %14 = alloca %class.b3Vector3, align 16
  %15 = alloca %class.b3Vector3, align 16
  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
  %16 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #6
  %17 = load ptr, ptr %8, align 8, !tbaa !5
  %18 = getelementptr inbounds %struct.b3SolverConstraint, ptr %17, i32 0, i32 11
  %19 = load float, ptr %18, align 8, !tbaa !9
  %20 = load ptr, ptr %8, align 8, !tbaa !5
  %21 = getelementptr inbounds %struct.b3SolverConstraint, ptr %20, i32 0, i32 6
  %22 = load float, ptr %21, align 4, !tbaa !14
  %23 = load ptr, ptr %8, align 8, !tbaa !5
  %24 = getelementptr inbounds %struct.b3SolverConstraint, ptr %23, i32 0, i32 12
  %25 = load float, ptr %24, align 4, !tbaa !15
  %26 = fneg float %22
  %27 = call float @llvm.fmuladd.f32(float %26, float %25, float %19)
  store float %27, ptr %9, align 4, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #6
  %28 = load ptr, ptr %8, align 8, !tbaa !5
  %29 = getelementptr inbounds %struct.b3SolverConstraint, ptr %28, i32 0, i32 1
  %30 = load ptr, ptr %6, align 8, !tbaa !5
  %31 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody30internalGetDeltaLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(228) %30)
  %32 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %29, ptr noundef nonnull align 16 dereferenceable(16) %31)
  %33 = load ptr, ptr %8, align 8, !tbaa !5
  %34 = getelementptr inbounds %struct.b3SolverConstraint, ptr %33, i32 0, i32 0
  %35 = load ptr, ptr %6, align 8, !tbaa !5
  %36 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody31internalGetDeltaAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(228) %35)
  %37 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %34, ptr noundef nonnull align 16 dereferenceable(16) %36)
  %38 = fadd float %32, %37
  store float %38, ptr %10, align 4, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  %39 = load ptr, ptr %8, align 8, !tbaa !5
  %40 = getelementptr inbounds %struct.b3SolverConstraint, ptr %39, i32 0, i32 1
  %41 = load ptr, ptr %7, align 8, !tbaa !5
  %42 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody30internalGetDeltaLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(228) %41)
  %43 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %40, ptr noundef nonnull align 16 dereferenceable(16) %42)
  %44 = fneg float %43
  %45 = load ptr, ptr %8, align 8, !tbaa !5
  %46 = getelementptr inbounds %struct.b3SolverConstraint, ptr %45, i32 0, i32 2
  %47 = load ptr, ptr %7, align 8, !tbaa !5
  %48 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody31internalGetDeltaAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(228) %47)
  %49 = call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %46, ptr noundef nonnull align 16 dereferenceable(16) %48)
  %50 = fadd float %44, %49
  store float %50, ptr %11, align 4, !tbaa !16
  %51 = load float, ptr %10, align 4, !tbaa !16
  %52 = load ptr, ptr %8, align 8, !tbaa !5
  %53 = getelementptr inbounds %struct.b3SolverConstraint, ptr %52, i32 0, i32 10
  %54 = load float, ptr %53, align 4, !tbaa !17
  %55 = load float, ptr %9, align 4, !tbaa !16
  %56 = fneg float %51
  %57 = call float @llvm.fmuladd.f32(float %56, float %54, float %55)
  store float %57, ptr %9, align 4, !tbaa !16
  %58 = load float, ptr %11, align 4, !tbaa !16
  %59 = load ptr, ptr %8, align 8, !tbaa !5
  %60 = getelementptr inbounds %struct.b3SolverConstraint, ptr %59, i32 0, i32 10
  %61 = load float, ptr %60, align 4, !tbaa !17
  %62 = load float, ptr %9, align 4, !tbaa !16
  %63 = fneg float %58
  %64 = call float @llvm.fmuladd.f32(float %63, float %61, float %62)
  store float %64, ptr %9, align 4, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  %65 = load ptr, ptr %8, align 8, !tbaa !5
  %66 = getelementptr inbounds %struct.b3SolverConstraint, ptr %65, i32 0, i32 6
  %67 = load float, ptr %66, align 4, !tbaa !14
  %68 = load float, ptr %9, align 4, !tbaa !16
  %69 = fadd float %67, %68
  store float %69, ptr %12, align 4, !tbaa !16
  %70 = load float, ptr %12, align 4, !tbaa !16
  %71 = load ptr, ptr %8, align 8, !tbaa !5
  %72 = getelementptr inbounds %struct.b3SolverConstraint, ptr %71, i32 0, i32 13
  %73 = load float, ptr %72, align 16, !tbaa !18
  %74 = fcmp olt float %70, %73
  br i1 %74, label %75, label %88

75:                                               ; preds = %4
  %76 = load ptr, ptr %8, align 8, !tbaa !5
  %77 = getelementptr inbounds %struct.b3SolverConstraint, ptr %76, i32 0, i32 13
  %78 = load float, ptr %77, align 16, !tbaa !18
  %79 = load ptr, ptr %8, align 8, !tbaa !5
  %80 = getelementptr inbounds %struct.b3SolverConstraint, ptr %79, i32 0, i32 6
  %81 = load float, ptr %80, align 4, !tbaa !14
  %82 = fsub float %78, %81
  store float %82, ptr %9, align 4, !tbaa !16
  %83 = load ptr, ptr %8, align 8, !tbaa !5
  %84 = getelementptr inbounds %struct.b3SolverConstraint, ptr %83, i32 0, i32 13
  %85 = load float, ptr %84, align 16, !tbaa !18
  %86 = load ptr, ptr %8, align 8, !tbaa !5
  %87 = getelementptr inbounds %struct.b3SolverConstraint, ptr %86, i32 0, i32 6
  store float %85, ptr %87, align 4, !tbaa !14
  br label %112

88:                                               ; preds = %4
  %89 = load float, ptr %12, align 4, !tbaa !16
  %90 = load ptr, ptr %8, align 8, !tbaa !5
  %91 = getelementptr inbounds %struct.b3SolverConstraint, ptr %90, i32 0, i32 14
  %92 = load float, ptr %91, align 4, !tbaa !19
  %93 = fcmp ogt float %89, %92
  br i1 %93, label %94, label %107

94:                                               ; preds = %88
  %95 = load ptr, ptr %8, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct.b3SolverConstraint, ptr %95, i32 0, i32 14
  %97 = load float, ptr %96, align 4, !tbaa !19
  %98 = load ptr, ptr %8, align 8, !tbaa !5
  %99 = getelementptr inbounds %struct.b3SolverConstraint, ptr %98, i32 0, i32 6
  %100 = load float, ptr %99, align 4, !tbaa !14
  %101 = fsub float %97, %100
  store float %101, ptr %9, align 4, !tbaa !16
  %102 = load ptr, ptr %8, align 8, !tbaa !5
  %103 = getelementptr inbounds %struct.b3SolverConstraint, ptr %102, i32 0, i32 14
  %104 = load float, ptr %103, align 4, !tbaa !19
  %105 = load ptr, ptr %8, align 8, !tbaa !5
  %106 = getelementptr inbounds %struct.b3SolverConstraint, ptr %105, i32 0, i32 6
  store float %104, ptr %106, align 4, !tbaa !14
  br label %111

107:                                              ; preds = %88
  %108 = load float, ptr %12, align 4, !tbaa !16
  %109 = load ptr, ptr %8, align 8, !tbaa !5
  %110 = getelementptr inbounds %struct.b3SolverConstraint, ptr %109, i32 0, i32 6
  store float %108, ptr %110, align 4, !tbaa !14
  br label %111

111:                                              ; preds = %107, %94
  br label %112

112:                                              ; preds = %111, %75
  %113 = load ptr, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %13) #6
  %114 = load ptr, ptr %8, align 8, !tbaa !5
  %115 = getelementptr inbounds %struct.b3SolverConstraint, ptr %114, i32 0, i32 1
  %116 = load ptr, ptr %6, align 8, !tbaa !5
  %117 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228) %116)
  %118 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %115, ptr noundef nonnull align 16 dereferenceable(16) %117)
  %119 = getelementptr inbounds %class.b3Vector3, ptr %13, i32 0, i32 0
  %120 = getelementptr inbounds %union.anon, 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
  %125 = load ptr, ptr %8, align 8, !tbaa !5
  %126 = getelementptr inbounds %struct.b3SolverConstraint, ptr %125, i32 0, i32 3
  %127 = load float, ptr %9, align 4, !tbaa !16
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %113, ptr noundef nonnull align 16 dereferenceable(16) %13, ptr noundef nonnull align 16 dereferenceable(16) %126, float noundef %127)
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #6
  %128 = load ptr, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %15) #6
  %129 = load ptr, ptr %8, align 8, !tbaa !5
  %130 = getelementptr inbounds %struct.b3SolverConstraint, ptr %129, i32 0, i32 1
  %131 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %130)
  %132 = getelementptr inbounds %class.b3Vector3, ptr %15, i32 0, i32 0
  %133 = getelementptr inbounds %union.anon, ptr %132, i32 0, i32 0
  %134 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %133, i32 0, i32 0
  %135 = extractvalue { <2 x float>, <2 x float> } %131, 0
  store <2 x float> %135, ptr %134, align 16
  %136 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %133, i32 0, i32 1
  %137 = extractvalue { <2 x float>, <2 x float> } %131, 1
  store <2 x float> %137, ptr %136, align 8
  %138 = load ptr, ptr %7, align 8, !tbaa !5
  %139 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228) %138)
  %140 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %15, ptr noundef nonnull align 16 dereferenceable(16) %139)
  %141 = getelementptr inbounds %class.b3Vector3, ptr %14, i32 0, i32 0
  %142 = getelementptr inbounds %union.anon, ptr %141, i32 0, i32 0
  %143 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %142, i32 0, i32 0
  %144 = extractvalue { <2 x float>, <2 x float> } %140, 0
  store <2 x float> %144, ptr %143, align 16
  %145 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %142, i32 0, i32 1
  %146 = extractvalue { <2 x float>, <2 x float> } %140, 1
  store <2 x float> %146, ptr %145, align 8
  %147 = load ptr, ptr %8, align 8, !tbaa !5
  %148 = getelementptr inbounds %struct.b3SolverConstraint, ptr %147, i32 0, i32 4
  %149 = load float, ptr %9, align 4, !tbaa !16
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %128, ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 16 dereferenceable(16) %148, float noundef %149)
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #6
  ret void
}

; 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: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody30internalGetDeltaLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(228)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody31internalGetDeltaAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(228)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), float noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228)) #4 align 2

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

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 = { 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 = { 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 uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !12, i64 104}
!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, !12, i64 84}
!15 = !{!10, !12, i64 108}
!16 = !{!12, !12, i64 0}
!17 = !{!10, !12, i64 100}
!18 = !{!10, !12, i64 112}
!19 = !{!10, !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] }

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver33resolveSingleConstraintRowGenericER12b3SolverBodyS1_RK18b3SolverConstraint(ptr nocapture noundef nonnull readnone align 8 dereferenceable(448) %0, ptr noundef nonnull align 16 dereferenceable(228) %1, ptr noundef nonnull align 16 dereferenceable(228) %2, ptr noundef nonnull align 16 dereferenceable(160) %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 %3, i64 104
  %9 = load float, ptr %8, align 8, !tbaa !5
  %10 = getelementptr inbounds i8, ptr %3, i64 84
  %11 = load float, ptr %10, align 4, !tbaa !12
  %12 = getelementptr inbounds i8, ptr %3, i64 108
  %13 = load float, ptr %12, align 4, !tbaa !13
  %14 = fneg float %11
  %15 = tail call float @llvm.fmuladd.f32(float %14, float %13, float %9)
  %16 = getelementptr inbounds i8, ptr %3, i64 16
  %17 = tail call noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody30internalGetDeltaLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(228) %1)
  %18 = tail call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %17)
  %19 = tail call noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody31internalGetDeltaAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(228) %1)
  %20 = tail call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %19)
  %21 = fadd float %18, %20
  %22 = tail call noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody30internalGetDeltaLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(228) %2)
  %23 = tail call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %22)
  %24 = getelementptr inbounds i8, ptr %3, i64 32
  %25 = tail call noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody31internalGetDeltaAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(228) %2)
  %26 = tail call noundef float @_ZNK9b3Vector33dotERKS_(ptr noundef nonnull align 16 dereferenceable(16) %24, ptr noundef nonnull align 16 dereferenceable(16) %25)
  %27 = fsub float %26, %23
  %28 = getelementptr inbounds i8, ptr %3, i64 100
  %29 = load float, ptr %28, align 4, !tbaa !14
  %30 = fneg float %21
  %31 = tail call float @llvm.fmuladd.f32(float %30, float %29, float %15)
  %32 = fneg float %27
  %33 = tail call float @llvm.fmuladd.f32(float %32, float %29, float %31)
  %34 = load float, ptr %10, align 4, !tbaa !12
  %35 = fadd float %34, %33
  %36 = getelementptr inbounds i8, ptr %3, i64 112
  %37 = load float, ptr %36, align 16, !tbaa !15
  %38 = fcmp olt float %35, %37
  br i1 %38, label %39, label %41

39:                                               ; preds = %4
  %40 = fsub float %37, %34
  br label %47

41:                                               ; preds = %4
  %42 = getelementptr inbounds i8, ptr %3, i64 116
  %43 = load float, ptr %42, align 4, !tbaa !16
  %44 = fcmp ogt float %35, %43
  br i1 %44, label %45, label %47

45:                                               ; preds = %41
  %46 = fsub float %43, %34
  br label %47

47:                                               ; preds = %41, %45, %39
  %.sink = phi float [ %43, %45 ], [ %37, %39 ], [ %35, %41 ]
  %.0 = phi float [ %46, %45 ], [ %40, %39 ], [ %33, %41 ]
  store float %.sink, ptr %10, align 4, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #6
  %48 = tail call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228) %1)
  %49 = tail call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %48)
  %50 = extractvalue { <2 x float>, <2 x float> } %49, 0
  store <2 x float> %50, ptr %5, align 16
  %51 = getelementptr inbounds i8, ptr %5, i64 8
  %52 = extractvalue { <2 x float>, <2 x float> } %49, 1
  store <2 x float> %52, ptr %51, align 8
  %53 = getelementptr inbounds i8, ptr %3, i64 48
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %1, ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 16 dereferenceable(16) %53, float noundef %.0)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #6
  %54 = call { <2 x float>, <2 x float> } @_ZngRK9b3Vector3(ptr noundef nonnull align 16 dereferenceable(16) %16)
  %55 = extractvalue { <2 x float>, <2 x float> } %54, 0
  store <2 x float> %55, ptr %7, align 16
  %56 = getelementptr inbounds i8, ptr %7, i64 8
  %57 = extractvalue { <2 x float>, <2 x float> } %54, 1
  store <2 x float> %57, ptr %56, align 8
  %58 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228) %2)
  %59 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %58)
  %60 = extractvalue { <2 x float>, <2 x float> } %59, 0
  store <2 x float> %60, ptr %6, align 16
  %61 = getelementptr inbounds i8, ptr %6, i64 8
  %62 = extractvalue { <2 x float>, <2 x float> } %59, 1
  store <2 x float> %62, ptr %61, align 8
  %63 = getelementptr inbounds i8, ptr %3, i64 64
  call void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228) %2, ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %63, float noundef %.0)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #6
  ret void
}

; 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: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody30internalGetDeltaLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(228)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN12b3SolverBody31internalGetDeltaAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(228)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN12b3SolverBody20internalApplyImpulseERK9b3Vector3S2_f(ptr noundef nonnull align 16 dereferenceable(228), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK12b3SolverBody18internalGetInvMassEv(ptr noundef nonnull align 16 dereferenceable(228)) local_unnamed_addr #4 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 #5

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 = { 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 = { 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 uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !10, i64 104}
!6 = !{!"_ZTS18b3SolverConstraint", !7, i64 0, !7, i64 16, !7, i64 32, !7, i64 48, !7, i64 64, !10, i64 80, !10, i64 84, !11, i64 88, !11, i64 92, !10, i64 96, !10, i64 100, !10, i64 104, !10, i64 108, !10, i64 112, !10, i64 116, !10, i64 120, !8, i64 128, !11, i64 136, !11, i64 140, !11, i64 144, !11, i64 148}
!7 = !{!"_ZTS9b3Vector3", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"float", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!6, !10, i64 84}
!13 = !{!6, !10, i64 108}
!14 = !{!6, !10, i64 100}
!15 = !{!6, !10, i64 112}
!16 = !{!6, !10, i64 116}


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