; 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"

%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 }
%class.b3Vector3 = type { %union.anon }
%union.anon = type { [4 x float] }
%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.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 }
%struct.b3ContactSolverInfoData = type { float, float, float, float, float, i32, float, float, float, float, float, i32, float, float, float, float, i32, i32, i32, float, float }

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z15getContactPointP10b3Contact4iR14b3ContactPoint(ptr noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128)) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; 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) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector39normalizeEv(ptr noundef nonnull align 16 dereferenceable(16)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_Z13b3PlaneSpace1I9b3Vector3EvRKT_RS1_S4_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) #5

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_Z14getNumContactsP10b3Contact4(ptr noundef) #6

; 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) #4 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)) #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef, ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), i32 noundef, i32 noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, ptr noundef, float noundef, float noundef, float noundef) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintE21expandNonInitializingEv(ptr noundef nonnull align 8 dereferenceable(25)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef, ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), i32 noundef, i32 noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, ptr noundef, float noundef, float noundef, float noundef) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN17b3PgsJacobiSolver19getOrInitSolverBodyEiP15b3RigidBodyDataP13b3InertiaData(ptr noundef nonnull align 8 dereferenceable(448), i32 noundef, ptr noundef, ptr noundef) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17b3PgsJacobiSolver22setupContactConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfoR9b3Vector3RfSD_SC_SC_(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef, ptr noundef, ptr noundef nonnull align 16 dereferenceable(160), i32 noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128), ptr noundef nonnull align 4 dereferenceable(84), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN14b3ContactPoint11getDistanceEv(ptr noundef nonnull align 16 dereferenceable(128)) #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17b3PgsJacobiSolver28setFrictionConstraintImpulseEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfo(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef, ptr noundef, ptr noundef nonnull align 16 dereferenceable(160), i32 noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128), ptr noundef nonnull align 4 dereferenceable(84)) #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver14convertContactEP15b3RigidBodyDataP13b3InertiaDataP10b3Contact4RK19b3ContactSolverInfo(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull align 4 dereferenceable(84) %4) #0 align 2 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca i32, align 4
  %21 = alloca %struct.b3ContactPoint, align 16
  %22 = alloca %class.b3Vector3, align 16
  %23 = alloca %class.b3Vector3, align 16
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca %class.b3Vector3, align 16
  %27 = alloca i32, align 4
  %28 = alloca ptr, align 8
  %29 = alloca %class.b3Vector3, align 16
  %30 = alloca %class.b3Vector3, align 16
  %31 = alloca %class.b3Vector3, align 16
  %32 = alloca %class.b3Vector3, align 16
  %33 = alloca %class.b3Vector3, align 16
  %34 = alloca %class.b3Vector3, align 16
  %35 = alloca %class.b3Vector3, align 16
  %36 = alloca float, align 4
  %37 = alloca float, align 4
  %38 = alloca %class.b3Vector3, align 16
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  store ptr %4, ptr %10, align 8, !tbaa !5
  %39 = load ptr, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #9
  store ptr null, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #9
  store ptr null, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #9
  %40 = load ptr, ptr %9, align 8, !tbaa !5
  %41 = call noundef i32 @_ZNK10b3Contact48getBodyAEv(ptr noundef nonnull align 16 dereferenceable(112) %40)
  %42 = load ptr, ptr %7, align 8, !tbaa !5
  %43 = load ptr, ptr %8, align 8, !tbaa !5
  %44 = call noundef i32 @_ZN17b3PgsJacobiSolver19getOrInitSolverBodyEiP15b3RigidBodyDataP13b3InertiaData(ptr noundef nonnull align 8 dereferenceable(448) %39, i32 noundef %41, ptr noundef %42, ptr noundef %43)
  store i32 %44, ptr %13, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #9
  %45 = load ptr, ptr %9, align 8, !tbaa !5
  %46 = call noundef i32 @_ZNK10b3Contact48getBodyBEv(ptr noundef nonnull align 16 dereferenceable(112) %45)
  %47 = load ptr, ptr %7, align 8, !tbaa !5
  %48 = load ptr, ptr %8, align 8, !tbaa !5
  %49 = call noundef i32 @_ZN17b3PgsJacobiSolver19getOrInitSolverBodyEiP15b3RigidBodyDataP13b3InertiaData(ptr noundef nonnull align 8 dereferenceable(448) %39, i32 noundef %46, ptr noundef %47, ptr noundef %48)
  store i32 %49, ptr %14, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #9
  %50 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %39, i32 0, i32 1
  %51 = load i32, ptr %13, align 4, !tbaa !9
  %52 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %50, i32 noundef %51)
  store ptr %52, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #9
  %53 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %39, i32 0, i32 1
  %54 = load i32, ptr %14, align 4, !tbaa !9
  %55 = call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %53, i32 noundef %54)
  store ptr %55, ptr %16, align 8, !tbaa !5
  %56 = load ptr, ptr %15, align 8, !tbaa !5
  %57 = getelementptr inbounds %struct.b3SolverBody, ptr %56, i32 0, i32 5
  %58 = call noundef zeroext i1 @_ZNK9b3Vector36isZeroEv(ptr noundef nonnull align 16 dereferenceable(16) %57)
  br i1 %58, label %59, label %64

59:                                               ; preds = %5
  %60 = load ptr, ptr %16, align 8, !tbaa !5
  %61 = getelementptr inbounds %struct.b3SolverBody, ptr %60, i32 0, i32 5
  %62 = call noundef zeroext i1 @_ZNK9b3Vector36isZeroEv(ptr noundef nonnull align 16 dereferenceable(16) %61)
  br i1 %62, label %63, label %64

63:                                               ; preds = %59
  store i32 1, ptr %17, align 4
  br label %358

64:                                               ; preds = %59, %5
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #9
  store i32 1, ptr %18, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #9
  %65 = load ptr, ptr %9, align 8, !tbaa !5
  %66 = call noundef i32 @_Z14getNumContactsP10b3Contact4(ptr noundef %65)
  store i32 %66, ptr %19, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #9
  store i32 0, ptr %20, align 4, !tbaa !9
  br label %67

67:                                               ; preds = %354, %64
  %68 = load i32, ptr %20, align 4, !tbaa !9
  %69 = load i32, ptr %19, align 4, !tbaa !9
  %70 = icmp slt i32 %68, %69
  br i1 %70, label %72, label %71

71:                                               ; preds = %67
  store i32 2, ptr %17, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #9
  br label %357

72:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 128, ptr %21) #9
  %73 = load ptr, ptr %9, align 8, !tbaa !5
  %74 = load i32, ptr %20, align 4, !tbaa !9
  call void @_Z15getContactPointP10b3Contact4iR14b3ContactPoint(ptr noundef %73, i32 noundef %74, ptr noundef nonnull align 16 dereferenceable(128) %21)
  %75 = call noundef float @_ZN14b3ContactPoint11getDistanceEv(ptr noundef nonnull align 16 dereferenceable(128) %21)
  %76 = load ptr, ptr %9, align 8, !tbaa !5
  %77 = call noundef float @_ZN17b3PgsJacobiSolver29getContactProcessingThresholdEP10b3Contact4(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %76)
  %78 = fcmp ole float %75, %77
  br i1 %78, label %79, label %353

79:                                               ; preds = %72
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  %80 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %39, i32 0, i32 2
  %81 = call noundef i32 @_ZNK20b3AlignedObjectArrayI18b3SolverConstraintE4sizeEv(ptr noundef nonnull align 8 dereferenceable(25) %80)
  store i32 %81, ptr %27, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #9
  %82 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %39, i32 0, i32 2
  %83 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintE21expandNonInitializingEv(ptr noundef nonnull align 8 dereferenceable(25) %82)
  store ptr %83, ptr %28, align 8, !tbaa !5
  %84 = load i32, ptr %13, align 4, !tbaa !9
  %85 = load ptr, ptr %28, align 8, !tbaa !5
  %86 = getelementptr inbounds %struct.b3SolverConstraint, ptr %85, i32 0, i32 19
  store i32 %84, ptr %86, align 16, !tbaa !11
  %87 = load i32, ptr %14, align 4, !tbaa !9
  %88 = load ptr, ptr %28, align 8, !tbaa !5
  %89 = getelementptr inbounds %struct.b3SolverConstraint, ptr %88, i32 0, i32 20
  store i32 %87, ptr %89, align 4, !tbaa !15
  %90 = load ptr, ptr %28, align 8, !tbaa !5
  %91 = getelementptr inbounds %struct.b3SolverConstraint, ptr %90, i32 0, i32 16
  store ptr %21, ptr %91, align 16, !tbaa !16
  %92 = load ptr, ptr %7, align 8, !tbaa !5
  %93 = load ptr, ptr %8, align 8, !tbaa !5
  %94 = load ptr, ptr %28, align 8, !tbaa !5
  %95 = load i32, ptr %13, align 4, !tbaa !9
  %96 = load i32, ptr %14, align 4, !tbaa !9
  %97 = load ptr, ptr %10, align 8, !tbaa !5
  call void @_ZN17b3PgsJacobiSolver22setupContactConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfoR9b3Vector3RfSD_SC_SC_(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %92, ptr noundef %93, ptr noundef nonnull align 16 dereferenceable(160) %94, i32 noundef %95, i32 noundef %96, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 4 dereferenceable(84) %97, ptr noundef nonnull align 16 dereferenceable(16) %26, ptr noundef nonnull align 4 dereferenceable(4) %25, ptr noundef nonnull align 4 dereferenceable(4) %24, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23)
  %98 = getelementptr inbounds %class.b3PgsJacobiSolver, ptr %39, i32 0, i32 4
  %99 = call noundef i32 @_ZNK20b3AlignedObjectArrayI18b3SolverConstraintE4sizeEv(ptr noundef nonnull align 8 dereferenceable(25) %98)
  %100 = load ptr, ptr %28, align 8, !tbaa !5
  %101 = getelementptr inbounds %struct.b3SolverConstraint, ptr %100, i32 0, i32 18
  store i32 %99, ptr %101, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #9
  %102 = load ptr, ptr %15, align 8, !tbaa !5
  call void @_ZNK12b3SolverBody18getAngularVelocityER9b3Vector3(ptr noundef nonnull align 16 dereferenceable(228) %102, ptr noundef nonnull align 16 dereferenceable(16) %29)
  %103 = load ptr, ptr %16, align 8, !tbaa !5
  call void @_ZNK12b3SolverBody18getAngularVelocityER9b3Vector3(ptr noundef nonnull align 16 dereferenceable(228) %103, ptr noundef nonnull align 16 dereferenceable(16) %30)
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #9
  %104 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %30, ptr noundef nonnull align 16 dereferenceable(16) %29)
  %105 = getelementptr inbounds %class.b3Vector3, ptr %31, i32 0, i32 0
  %106 = getelementptr inbounds %union.anon, ptr %105, i32 0, i32 0
  %107 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %106, i32 0, i32 0
  %108 = extractvalue { <2 x float>, <2 x float> } %104, 0
  store <2 x float> %108, ptr %107, align 16
  %109 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %106, i32 0, i32 1
  %110 = extractvalue { <2 x float>, <2 x float> } %104, 1
  store <2 x float> %110, ptr %109, align 8
  %111 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 11
  %112 = load float, ptr %111, align 8, !tbaa !18
  %113 = fcmp ogt float %112, 0.000000e+00
  br i1 %113, label %114, label %182

114:                                              ; preds = %79
  %115 = load i32, ptr %18, align 4, !tbaa !9
  %116 = icmp sgt i32 %115, 0
  br i1 %116, label %117, label %182

117:                                              ; preds = %114
  %118 = load i32, ptr %18, align 4, !tbaa !9
  %119 = add nsw i32 %118, -1
  store i32 %119, ptr %18, align 4, !tbaa !9
  %120 = call noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16) %31)
  %121 = load ptr, ptr %10, align 8, !tbaa !5
  %122 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %121, i32 0, i32 20
  %123 = load float, ptr %122, align 4, !tbaa !21
  %124 = fcmp ogt float %120, %123
  br i1 %124, label %125, label %141

125:                                              ; preds = %117
  %126 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector39normalizeEv(ptr noundef nonnull align 16 dereferenceable(16) %31)
  %127 = call noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16) %31)
  %128 = fpext float %127 to double
  %129 = fcmp ogt double %128, 1.000000e-03
  br i1 %129, label %130, label %140

130:                                              ; preds = %125
  %131 = load ptr, ptr %7, align 8, !tbaa !5
  %132 = load ptr, ptr %8, align 8, !tbaa !5
  %133 = load i32, ptr %13, align 4, !tbaa !9
  %134 = load i32, ptr %14, align 4, !tbaa !9
  %135 = load i32, ptr %27, align 4, !tbaa !9
  %136 = load ptr, ptr %11, align 8, !tbaa !5
  %137 = load ptr, ptr %12, align 8, !tbaa !5
  %138 = load float, ptr %24, align 4, !tbaa !23
  %139 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %131, ptr noundef %132, ptr noundef nonnull align 16 dereferenceable(16) %31, i32 noundef %133, i32 noundef %134, i32 noundef %135, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %136, ptr noundef %137, float noundef %138, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %140

140:                                              ; preds = %130, %125
  br label %181

141:                                              ; preds = %117
  %142 = load ptr, ptr %7, align 8, !tbaa !5
  %143 = load ptr, ptr %8, align 8, !tbaa !5
  %144 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 2
  %145 = load i32, ptr %13, align 4, !tbaa !9
  %146 = load i32, ptr %14, align 4, !tbaa !9
  %147 = load i32, ptr %27, align 4, !tbaa !9
  %148 = load ptr, ptr %11, align 8, !tbaa !5
  %149 = load ptr, ptr %12, align 8, !tbaa !5
  %150 = load float, ptr %24, align 4, !tbaa !23
  %151 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %142, ptr noundef %143, ptr noundef nonnull align 16 dereferenceable(16) %144, i32 noundef %145, i32 noundef %146, i32 noundef %147, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %148, ptr noundef %149, float noundef %150, float noundef 0.000000e+00, float noundef 0.000000e+00)
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #9
  %152 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 2
  call void @_Z13b3PlaneSpace1I9b3Vector3EvRKT_RS1_S4_(ptr noundef nonnull align 16 dereferenceable(16) %152, ptr noundef nonnull align 16 dereferenceable(16) %32, ptr noundef nonnull align 16 dereferenceable(16) %33)
  %153 = call noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16) %32)
  %154 = fpext float %153 to double
  %155 = fcmp ogt double %154, 1.000000e-03
  br i1 %155, label %156, label %166

156:                                              ; preds = %141
  %157 = load ptr, ptr %7, align 8, !tbaa !5
  %158 = load ptr, ptr %8, align 8, !tbaa !5
  %159 = load i32, ptr %13, align 4, !tbaa !9
  %160 = load i32, ptr %14, align 4, !tbaa !9
  %161 = load i32, ptr %27, align 4, !tbaa !9
  %162 = load ptr, ptr %11, align 8, !tbaa !5
  %163 = load ptr, ptr %12, align 8, !tbaa !5
  %164 = load float, ptr %24, align 4, !tbaa !23
  %165 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %157, ptr noundef %158, ptr noundef nonnull align 16 dereferenceable(16) %32, i32 noundef %159, i32 noundef %160, i32 noundef %161, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %162, ptr noundef %163, float noundef %164, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %166

166:                                              ; preds = %156, %141
  %167 = call noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16) %33)
  %168 = fpext float %167 to double
  %169 = fcmp ogt double %168, 1.000000e-03
  br i1 %169, label %170, label %180

170:                                              ; preds = %166
  %171 = load ptr, ptr %7, align 8, !tbaa !5
  %172 = load ptr, ptr %8, align 8, !tbaa !5
  %173 = load i32, ptr %13, align 4, !tbaa !9
  %174 = load i32, ptr %14, align 4, !tbaa !9
  %175 = load i32, ptr %27, align 4, !tbaa !9
  %176 = load ptr, ptr %11, align 8, !tbaa !5
  %177 = load ptr, ptr %12, align 8, !tbaa !5
  %178 = load float, ptr %24, align 4, !tbaa !23
  %179 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %171, ptr noundef %172, ptr noundef nonnull align 16 dereferenceable(16) %33, i32 noundef %173, i32 noundef %174, i32 noundef %175, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %176, ptr noundef %177, float noundef %178, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %180

180:                                              ; preds = %170, %166
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #9
  br label %181

181:                                              ; preds = %180, %140
  br label %182

182:                                              ; preds = %181, %114, %79
  %183 = load ptr, ptr %10, align 8, !tbaa !5
  %184 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %183, i32 0, i32 16
  %185 = load i32, ptr %184, align 4, !tbaa !24
  %186 = and i32 %185, 32
  %187 = icmp ne i32 %186, 0
  br i1 %187, label %188, label %192

188:                                              ; preds = %182
  %189 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 16
  %190 = load i8, ptr %189, align 4, !tbaa !25, !range !26, !noundef !27
  %191 = trunc i8 %190 to i1
  br i1 %191, label %310, label %192

192:                                              ; preds = %188, %182
  call void @llvm.lifetime.start.p0(i64 16, ptr %34) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #9
  %193 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 2
  %194 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %193, ptr noundef nonnull align 4 dereferenceable(4) %25)
  %195 = getelementptr inbounds %class.b3Vector3, ptr %35, i32 0, i32 0
  %196 = getelementptr inbounds %union.anon, ptr %195, i32 0, i32 0
  %197 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %196, i32 0, i32 0
  %198 = extractvalue { <2 x float>, <2 x float> } %194, 0
  store <2 x float> %198, ptr %197, align 16
  %199 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %196, i32 0, i32 1
  %200 = extractvalue { <2 x float>, <2 x float> } %194, 1
  store <2 x float> %200, ptr %199, align 8
  %201 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %26, ptr noundef nonnull align 16 dereferenceable(16) %35)
  %202 = getelementptr inbounds %class.b3Vector3, ptr %34, i32 0, i32 0
  %203 = getelementptr inbounds %union.anon, ptr %202, i32 0, i32 0
  %204 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %203, i32 0, i32 0
  %205 = extractvalue { <2 x float>, <2 x float> } %201, 0
  store <2 x float> %205, ptr %204, align 16
  %206 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %203, i32 0, i32 1
  %207 = extractvalue { <2 x float>, <2 x float> } %201, 1
  store <2 x float> %207, ptr %206, align 8
  %208 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %208, ptr align 16 %34, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #9
  %209 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 7
  %210 = call noundef float @_ZNK9b3Vector37length2Ev(ptr noundef nonnull align 16 dereferenceable(16) %209)
  store float %210, ptr %36, align 4, !tbaa !23
  %211 = load ptr, ptr %10, align 8, !tbaa !5
  %212 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %211, i32 0, i32 16
  %213 = load i32, ptr %212, align 4, !tbaa !24
  %214 = and i32 %213, 64
  %215 = icmp ne i32 %214, 0
  br i1 %215, label %264, label %216

216:                                              ; preds = %192
  %217 = load float, ptr %36, align 4, !tbaa !23
  %218 = fcmp ogt float %217, 0x3E80000000000000
  br i1 %218, label %219, label %264

219:                                              ; preds = %216
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #9
  %220 = load float, ptr %36, align 4, !tbaa !23
  %221 = call noundef float @_Z6b3Sqrtf(float noundef %220)
  %222 = fdiv float 1.000000e+00, %221
  store float %222, ptr %37, align 4, !tbaa !23
  %223 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 7
  %224 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector3mLERKf(ptr noundef nonnull align 16 dereferenceable(16) %223, ptr noundef nonnull align 4 dereferenceable(4) %37)
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #9
  %225 = load ptr, ptr %10, align 8, !tbaa !5
  %226 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %225, i32 0, i32 16
  %227 = load i32, ptr %226, align 4, !tbaa !24
  %228 = and i32 %227, 16
  %229 = icmp ne i32 %228, 0
  br i1 %229, label %230, label %253

230:                                              ; preds = %219
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #9
  %231 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 7
  %232 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 2
  %233 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %231, ptr noundef nonnull align 16 dereferenceable(16) %232)
  %234 = getelementptr inbounds %class.b3Vector3, ptr %38, i32 0, i32 0
  %235 = getelementptr inbounds %union.anon, ptr %234, i32 0, i32 0
  %236 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %235, i32 0, i32 0
  %237 = extractvalue { <2 x float>, <2 x float> } %233, 0
  store <2 x float> %237, ptr %236, align 16
  %238 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %235, i32 0, i32 1
  %239 = extractvalue { <2 x float>, <2 x float> } %233, 1
  store <2 x float> %239, ptr %238, align 8
  %240 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %240, ptr align 16 %38, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #9
  %241 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 8
  %242 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector39normalizeEv(ptr noundef nonnull align 16 dereferenceable(16) %241)
  %243 = load ptr, ptr %7, align 8, !tbaa !5
  %244 = load ptr, ptr %8, align 8, !tbaa !5
  %245 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 8
  %246 = load i32, ptr %13, align 4, !tbaa !9
  %247 = load i32, ptr %14, align 4, !tbaa !9
  %248 = load i32, ptr %27, align 4, !tbaa !9
  %249 = load ptr, ptr %11, align 8, !tbaa !5
  %250 = load ptr, ptr %12, align 8, !tbaa !5
  %251 = load float, ptr %24, align 4, !tbaa !23
  %252 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %243, ptr noundef %244, ptr noundef nonnull align 16 dereferenceable(16) %245, i32 noundef %246, i32 noundef %247, i32 noundef %248, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %249, ptr noundef %250, float noundef %251, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %253

253:                                              ; preds = %230, %219
  %254 = load ptr, ptr %7, align 8, !tbaa !5
  %255 = load ptr, ptr %8, align 8, !tbaa !5
  %256 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 7
  %257 = load i32, ptr %13, align 4, !tbaa !9
  %258 = load i32, ptr %14, align 4, !tbaa !9
  %259 = load i32, ptr %27, align 4, !tbaa !9
  %260 = load ptr, ptr %11, align 8, !tbaa !5
  %261 = load ptr, ptr %12, align 8, !tbaa !5
  %262 = load float, ptr %24, align 4, !tbaa !23
  %263 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %254, ptr noundef %255, ptr noundef nonnull align 16 dereferenceable(16) %256, i32 noundef %257, i32 noundef %258, i32 noundef %259, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %260, ptr noundef %261, float noundef %262, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %309

264:                                              ; preds = %216, %192
  %265 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 2
  %266 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 7
  %267 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 8
  call void @_Z13b3PlaneSpace1I9b3Vector3EvRKT_RS1_S4_(ptr noundef nonnull align 16 dereferenceable(16) %265, ptr noundef nonnull align 16 dereferenceable(16) %266, ptr noundef nonnull align 16 dereferenceable(16) %267)
  %268 = load ptr, ptr %10, align 8, !tbaa !5
  %269 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %268, i32 0, i32 16
  %270 = load i32, ptr %269, align 4, !tbaa !24
  %271 = and i32 %270, 16
  %272 = icmp ne i32 %271, 0
  br i1 %272, label %273, label %284

273:                                              ; preds = %264
  %274 = load ptr, ptr %7, align 8, !tbaa !5
  %275 = load ptr, ptr %8, align 8, !tbaa !5
  %276 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 8
  %277 = load i32, ptr %13, align 4, !tbaa !9
  %278 = load i32, ptr %14, align 4, !tbaa !9
  %279 = load i32, ptr %27, align 4, !tbaa !9
  %280 = load ptr, ptr %11, align 8, !tbaa !5
  %281 = load ptr, ptr %12, align 8, !tbaa !5
  %282 = load float, ptr %24, align 4, !tbaa !23
  %283 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %274, ptr noundef %275, ptr noundef nonnull align 16 dereferenceable(16) %276, i32 noundef %277, i32 noundef %278, i32 noundef %279, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %280, ptr noundef %281, float noundef %282, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %284

284:                                              ; preds = %273, %264
  %285 = load ptr, ptr %7, align 8, !tbaa !5
  %286 = load ptr, ptr %8, align 8, !tbaa !5
  %287 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 7
  %288 = load i32, ptr %13, align 4, !tbaa !9
  %289 = load i32, ptr %14, align 4, !tbaa !9
  %290 = load i32, ptr %27, align 4, !tbaa !9
  %291 = load ptr, ptr %11, align 8, !tbaa !5
  %292 = load ptr, ptr %12, align 8, !tbaa !5
  %293 = load float, ptr %24, align 4, !tbaa !23
  %294 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %285, ptr noundef %286, ptr noundef nonnull align 16 dereferenceable(16) %287, i32 noundef %288, i32 noundef %289, i32 noundef %290, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %291, ptr noundef %292, float noundef %293, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %295 = load ptr, ptr %10, align 8, !tbaa !5
  %296 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %295, i32 0, i32 16
  %297 = load i32, ptr %296, align 4, !tbaa !24
  %298 = and i32 %297, 16
  %299 = icmp ne i32 %298, 0
  br i1 %299, label %300, label %308

300:                                              ; preds = %284
  %301 = load ptr, ptr %10, align 8, !tbaa !5
  %302 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %301, i32 0, i32 16
  %303 = load i32, ptr %302, align 4, !tbaa !24
  %304 = and i32 %303, 64
  %305 = icmp ne i32 %304, 0
  br i1 %305, label %306, label %308

306:                                              ; preds = %300
  %307 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 16
  store i8 1, ptr %307, align 4, !tbaa !25
  br label %308

308:                                              ; preds = %306, %300, %284
  br label %309

309:                                              ; preds = %308, %253
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #9
  br label %352

310:                                              ; preds = %188
  %311 = load ptr, ptr %7, align 8, !tbaa !5
  %312 = load ptr, ptr %8, align 8, !tbaa !5
  %313 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 7
  %314 = load i32, ptr %13, align 4, !tbaa !9
  %315 = load i32, ptr %14, align 4, !tbaa !9
  %316 = load i32, ptr %27, align 4, !tbaa !9
  %317 = load ptr, ptr %11, align 8, !tbaa !5
  %318 = load ptr, ptr %12, align 8, !tbaa !5
  %319 = load float, ptr %24, align 4, !tbaa !23
  %320 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 12
  %321 = load float, ptr %320, align 4, !tbaa !29
  %322 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 14
  %323 = load float, ptr %322, align 4, !tbaa !30
  %324 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %311, ptr noundef %312, ptr noundef nonnull align 16 dereferenceable(16) %313, i32 noundef %314, i32 noundef %315, i32 noundef %316, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %317, ptr noundef %318, float noundef %319, float noundef %321, float noundef %323)
  %325 = load ptr, ptr %10, align 8, !tbaa !5
  %326 = getelementptr inbounds %struct.b3ContactSolverInfoData, ptr %325, i32 0, i32 16
  %327 = load i32, ptr %326, align 4, !tbaa !24
  %328 = and i32 %327, 16
  %329 = icmp ne i32 %328, 0
  br i1 %329, label %330, label %345

330:                                              ; preds = %310
  %331 = load ptr, ptr %7, align 8, !tbaa !5
  %332 = load ptr, ptr %8, align 8, !tbaa !5
  %333 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 8
  %334 = load i32, ptr %13, align 4, !tbaa !9
  %335 = load i32, ptr %14, align 4, !tbaa !9
  %336 = load i32, ptr %27, align 4, !tbaa !9
  %337 = load ptr, ptr %11, align 8, !tbaa !5
  %338 = load ptr, ptr %12, align 8, !tbaa !5
  %339 = load float, ptr %24, align 4, !tbaa !23
  %340 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 13
  %341 = load float, ptr %340, align 16, !tbaa !31
  %342 = getelementptr inbounds %struct.b3ContactPoint, ptr %21, i32 0, i32 15
  %343 = load float, ptr %342, align 8, !tbaa !32
  %344 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %331, ptr noundef %332, ptr noundef nonnull align 16 dereferenceable(16) %333, i32 noundef %334, i32 noundef %335, i32 noundef %336, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 16 dereferenceable(16) %23, ptr noundef %337, ptr noundef %338, float noundef %339, float noundef %341, float noundef %343)
  br label %345

345:                                              ; preds = %330, %310
  %346 = load ptr, ptr %7, align 8, !tbaa !5
  %347 = load ptr, ptr %8, align 8, !tbaa !5
  %348 = load ptr, ptr %28, align 8, !tbaa !5
  %349 = load i32, ptr %13, align 4, !tbaa !9
  %350 = load i32, ptr %14, align 4, !tbaa !9
  %351 = load ptr, ptr %10, align 8, !tbaa !5
  call void @_ZN17b3PgsJacobiSolver28setFrictionConstraintImpulseEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfo(ptr noundef nonnull align 8 dereferenceable(448) %39, ptr noundef %346, ptr noundef %347, ptr noundef nonnull align 16 dereferenceable(160) %348, i32 noundef %349, i32 noundef %350, ptr noundef nonnull align 16 dereferenceable(128) %21, ptr noundef nonnull align 4 dereferenceable(84) %351)
  br label %352

352:                                              ; preds = %345, %309
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #9
  br label %353

353:                                              ; preds = %352, %72
  call void @llvm.lifetime.end.p0(i64 128, ptr %21) #9
  br label %354

354:                                              ; preds = %353
  %355 = load i32, ptr %20, align 4, !tbaa !9
  %356 = add nsw i32 %355, 1
  store i32 %356, ptr %20, align 4, !tbaa !9
  br label %67, !llvm.loop !33

357:                                              ; preds = %71
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #9
  store i32 0, ptr %17, align 4
  br label %358

358:                                              ; preds = %357, %63
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #9
  %359 = load i32, ptr %17, align 4
  switch i32 %359, label %361 [
    i32 0, label %360
    i32 1, label %360
  ]

360:                                              ; preds = %358, %358
  ret void

361:                                              ; preds = %358
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK10b3Contact48getBodyAEv(ptr noundef nonnull align 16 dereferenceable(112)) #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK10b3Contact48getBodyBEv(ptr noundef nonnull align 16 dereferenceable(112)) #8 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK9b3Vector36isZeroEv(ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN17b3PgsJacobiSolver29getContactProcessingThresholdEP10b3Contact4(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef) #8 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK20b3AlignedObjectArrayI18b3SolverConstraintE4sizeEv(ptr noundef nonnull align 8 dereferenceable(25)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK12b3SolverBody18getAngularVelocityER9b3Vector3(ptr noundef nonnull align 16 dereferenceable(228), ptr noundef nonnull align 16 dereferenceable(16)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK9b3Vector37length2Ev(ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z6b3Sqrtf(float noundef) #4

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

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #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 = { 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 = { 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 #8 = { 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 #9 = { 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, !10, i64 144}
!12 = !{!"_ZTS18b3SolverConstraint", !13, i64 0, !13, i64 16, !13, i64 32, !13, i64 48, !13, i64 64, !14, i64 80, !14, i64 84, !10, i64 88, !10, i64 92, !14, i64 96, !14, i64 100, !14, i64 104, !14, i64 108, !14, i64 112, !14, i64 116, !14, i64 120, !7, i64 128, !10, i64 136, !10, i64 140, !10, i64 144, !10, i64 148}
!13 = !{!"_ZTS9b3Vector3", !7, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = !{!12, !10, i64 148}
!16 = !{!7, !7, i64 0}
!17 = !{!12, !10, i64 140}
!18 = !{!19, !14, i64 104}
!19 = !{!"_ZTS14b3ContactPoint", !13, i64 0, !13, i64 16, !13, i64 32, !14, i64 48, !14, i64 52, !14, i64 56, !14, i64 60, !13, i64 64, !13, i64 80, !14, i64 96, !14, i64 100, !14, i64 104, !14, i64 108, !14, i64 112, !14, i64 116, !14, i64 120, !20, i64 124}
!20 = !{!"bool", !7, i64 0}
!21 = !{!22, !14, i64 80}
!22 = !{!"_ZTS23b3ContactSolverInfoData", !14, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !10, i64 20, !14, i64 24, !14, i64 28, !14, i64 32, !14, i64 36, !14, i64 40, !10, i64 44, !14, i64 48, !14, i64 52, !14, i64 56, !14, i64 60, !10, i64 64, !10, i64 68, !10, i64 72, !14, i64 76, !14, i64 80}
!23 = !{!14, !14, i64 0}
!24 = !{!22, !10, i64 64}
!25 = !{!19, !20, i64 124}
!26 = !{i8 0, i8 2}
!27 = !{}
!28 = !{i64 0, i64 16, !16}
!29 = !{!19, !14, i64 108}
!30 = !{!19, !14, i64 116}
!31 = !{!19, !14, i64 112}
!32 = !{!19, !14, i64 120}
!33 = distinct !{!33, !34}
!34 = !{!"llvm.loop.mustprogress"}


; 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"

%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 }
%class.b3Vector3 = type { %union.anon }
%union.anon = type { [4 x float] }

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z15getContactPointP10b3Contact4iR14b3ContactPoint(ptr noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128)) local_unnamed_addr #0

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector39normalizeEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_Z13b3PlaneSpace1I9b3Vector3EvRKT_RS1_S4_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #4

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_Z14getNumContactsP10b3Contact4(ptr noundef) local_unnamed_addr #5

; 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: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef, ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), i32 noundef, i32 noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, ptr noundef, float noundef, float noundef, float noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintE21expandNonInitializingEv(ptr noundef nonnull align 8 dereferenceable(25)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef, ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), i32 noundef, i32 noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef, ptr noundef, float noundef, float noundef, float noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN17b3PgsJacobiSolver19getOrInitSolverBodyEiP15b3RigidBodyDataP13b3InertiaData(ptr noundef nonnull align 8 dereferenceable(448), i32 noundef, ptr noundef, ptr noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17b3PgsJacobiSolver22setupContactConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfoR9b3Vector3RfSD_SC_SC_(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef, ptr noundef, ptr noundef nonnull align 16 dereferenceable(160), i32 noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128), ptr noundef nonnull align 4 dereferenceable(84), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN14b3ContactPoint11getDistanceEv(ptr noundef nonnull align 16 dereferenceable(128)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN17b3PgsJacobiSolver28setFrictionConstraintImpulseEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfo(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef, ptr noundef, ptr noundef nonnull align 16 dereferenceable(160), i32 noundef, i32 noundef, ptr noundef nonnull align 16 dereferenceable(128), ptr noundef nonnull align 4 dereferenceable(84)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17b3PgsJacobiSolver14convertContactEP15b3RigidBodyDataP13b3InertiaDataP10b3Contact4RK19b3ContactSolverInfo(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull %3, ptr noundef nonnull align 4 dereferenceable(84) %4) local_unnamed_addr #0 align 2 {
  %6 = alloca %struct.b3ContactPoint, align 16
  %7 = alloca %class.b3Vector3, align 16
  %8 = alloca %class.b3Vector3, align 16
  %9 = alloca float, align 4
  %10 = alloca float, align 4
  %11 = alloca %class.b3Vector3, align 16
  %12 = alloca %class.b3Vector3, align 16
  %13 = alloca %class.b3Vector3, align 16
  %14 = alloca %class.b3Vector3, align 16
  %15 = alloca %class.b3Vector3, align 16
  %16 = alloca %class.b3Vector3, align 16
  %17 = alloca %class.b3Vector3, align 16
  %18 = alloca float, align 4
  %19 = tail call noundef i32 @_ZNK10b3Contact48getBodyAEv(ptr noundef nonnull align 16 dereferenceable(112) %3)
  %20 = tail call noundef i32 @_ZN17b3PgsJacobiSolver19getOrInitSolverBodyEiP15b3RigidBodyDataP13b3InertiaData(ptr noundef nonnull align 8 dereferenceable(448) %0, i32 noundef %19, ptr noundef %1, ptr noundef %2)
  %21 = tail call noundef i32 @_ZNK10b3Contact48getBodyBEv(ptr noundef nonnull align 16 dereferenceable(112) %3)
  %22 = tail call noundef i32 @_ZN17b3PgsJacobiSolver19getOrInitSolverBodyEiP15b3RigidBodyDataP13b3InertiaData(ptr noundef nonnull align 8 dereferenceable(448) %0, i32 noundef %21, ptr noundef %1, ptr noundef %2)
  %23 = getelementptr inbounds i8, ptr %0, i64 8
  %24 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %23, i32 noundef %20)
  %25 = tail call noundef nonnull align 16 dereferenceable(228) ptr @_ZN20b3AlignedObjectArrayI12b3SolverBodyEixEi(ptr noundef nonnull align 8 dereferenceable(25) %23, i32 noundef %22)
  %26 = getelementptr inbounds i8, ptr %24, i64 128
  %27 = tail call noundef zeroext i1 @_ZNK9b3Vector36isZeroEv(ptr noundef nonnull align 16 dereferenceable(16) %26)
  br i1 %27, label %28, label %31

28:                                               ; preds = %5
  %29 = getelementptr inbounds i8, ptr %25, i64 128
  %30 = tail call noundef zeroext i1 @_ZNK9b3Vector36isZeroEv(ptr noundef nonnull align 16 dereferenceable(16) %29)
  br i1 %30, label %.loopexit, label %31

31:                                               ; preds = %28, %5
  %32 = tail call noundef i32 @_Z14getNumContactsP10b3Contact4(ptr noundef nonnull %3)
  %33 = icmp sgt i32 %32, 0
  br i1 %33, label %.lr.ph, label %.loopexit

.lr.ph:                                           ; preds = %31
  %34 = getelementptr inbounds i8, ptr %0, i64 40
  %35 = getelementptr inbounds i8, ptr %0, i64 104
  %36 = getelementptr inbounds i8, ptr %14, i64 8
  %37 = getelementptr inbounds i8, ptr %6, i64 104
  %38 = getelementptr inbounds i8, ptr %4, i64 80
  %39 = getelementptr inbounds i8, ptr %6, i64 32
  %40 = getelementptr inbounds i8, ptr %4, i64 64
  %41 = getelementptr inbounds i8, ptr %6, i64 124
  %42 = getelementptr inbounds i8, ptr %6, i64 64
  %43 = getelementptr inbounds i8, ptr %6, i64 108
  %44 = getelementptr inbounds i8, ptr %6, i64 116
  %45 = getelementptr inbounds i8, ptr %6, i64 80
  %46 = getelementptr inbounds i8, ptr %6, i64 112
  %47 = getelementptr inbounds i8, ptr %6, i64 120
  %48 = getelementptr inbounds i8, ptr %17, i64 8
  %.sroa.46.0..sroa_idx = getelementptr inbounds i8, ptr %6, i64 72
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %6, i64 88
  br label %49

49:                                               ; preds = %.lr.ph, %153
  %.0133 = phi i32 [ 1, %.lr.ph ], [ %.2, %153 ]
  %.0124132 = phi i32 [ 0, %.lr.ph ], [ %154, %153 ]
  call void @llvm.lifetime.start.p0(i64 128, ptr nonnull %6) #8
  call void @_Z15getContactPointP10b3Contact4iR14b3ContactPoint(ptr noundef nonnull %3, i32 noundef %.0124132, ptr noundef nonnull align 16 dereferenceable(128) %6)
  %50 = call noundef float @_ZN14b3ContactPoint11getDistanceEv(ptr noundef nonnull align 16 dereferenceable(128) %6)
  %51 = call noundef float @_ZN17b3PgsJacobiSolver29getContactProcessingThresholdEP10b3Contact4(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef nonnull %3)
  %52 = fcmp ugt float %50, %51
  br i1 %52, label %153, label %53

53:                                               ; preds = %49
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %10) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #8
  %54 = call noundef i32 @_ZNK20b3AlignedObjectArrayI18b3SolverConstraintE4sizeEv(ptr noundef nonnull align 8 dereferenceable(25) %34)
  %55 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN20b3AlignedObjectArrayI18b3SolverConstraintE21expandNonInitializingEv(ptr noundef nonnull align 8 dereferenceable(25) %34)
  %56 = getelementptr inbounds i8, ptr %55, i64 144
  store i32 %20, ptr %56, align 16, !tbaa !5
  %57 = getelementptr inbounds i8, ptr %55, i64 148
  store i32 %22, ptr %57, align 4, !tbaa !12
  %58 = getelementptr inbounds i8, ptr %55, i64 128
  store ptr %6, ptr %58, align 16, !tbaa !13
  call void @_ZN17b3PgsJacobiSolver22setupContactConstraintEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfoR9b3Vector3RfSD_SC_SC_(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(160) %55, i32 noundef %20, i32 noundef %22, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 4 dereferenceable(84) %4, ptr noundef nonnull align 16 dereferenceable(16) %11, ptr noundef nonnull align 4 dereferenceable(4) %10, ptr noundef nonnull align 4 dereferenceable(4) %9, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8)
  %59 = call noundef i32 @_ZNK20b3AlignedObjectArrayI18b3SolverConstraintE4sizeEv(ptr noundef nonnull align 8 dereferenceable(25) %35)
  %60 = getelementptr inbounds i8, ptr %55, i64 140
  store i32 %59, ptr %60, align 4, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #8
  call void @_ZNK12b3SolverBody18getAngularVelocityER9b3Vector3(ptr noundef nonnull align 16 dereferenceable(228) %24, ptr noundef nonnull align 16 dereferenceable(16) %12)
  call void @_ZNK12b3SolverBody18getAngularVelocityER9b3Vector3(ptr noundef nonnull align 16 dereferenceable(228) %25, ptr noundef nonnull align 16 dereferenceable(16) %13)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #8
  %61 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %13, ptr noundef nonnull align 16 dereferenceable(16) %12)
  %62 = extractvalue { <2 x float>, <2 x float> } %61, 0
  store <2 x float> %62, ptr %14, align 16
  %63 = extractvalue { <2 x float>, <2 x float> } %61, 1
  store <2 x float> %63, ptr %36, align 8
  %64 = load float, ptr %37, align 8, !tbaa !15
  %65 = fcmp ogt float %64, 0.000000e+00
  %66 = icmp sgt i32 %.0133, 0
  %or.cond = select i1 %65, i1 %66, i1 false
  br i1 %or.cond, label %67, label %96

67:                                               ; preds = %53
  %68 = call noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16) %14)
  %69 = load float, ptr %38, align 4, !tbaa !18
  %70 = fcmp ogt float %68, %69
  br i1 %70, label %71, label %79

71:                                               ; preds = %67
  %72 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector39normalizeEv(ptr noundef nonnull align 16 dereferenceable(16) %14)
  %73 = call noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16) %14)
  %74 = fpext float %73 to double
  %75 = fcmp ogt double %74, 1.000000e-03
  br i1 %75, label %76, label %96

76:                                               ; preds = %71
  %77 = load float, ptr %9, align 4, !tbaa !20
  %78 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %14, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %77, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %96

79:                                               ; preds = %67
  %80 = load float, ptr %9, align 4, !tbaa !20
  %81 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %39, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %80, float noundef 0.000000e+00, float noundef 0.000000e+00)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #8
  call void @_Z13b3PlaneSpace1I9b3Vector3EvRKT_RS1_S4_(ptr noundef nonnull align 16 dereferenceable(16) %39, ptr noundef nonnull align 16 dereferenceable(16) %15, ptr noundef nonnull align 16 dereferenceable(16) %16)
  %82 = call noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16) %15)
  %83 = fpext float %82 to double
  %84 = fcmp ogt double %83, 1.000000e-03
  br i1 %84, label %85, label %88

85:                                               ; preds = %79
  %86 = load float, ptr %9, align 4, !tbaa !20
  %87 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %15, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %86, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %88

88:                                               ; preds = %85, %79
  %89 = call noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16) %16)
  %90 = fpext float %89 to double
  %91 = fcmp ogt double %90, 1.000000e-03
  br i1 %91, label %92, label %95

92:                                               ; preds = %88
  %93 = load float, ptr %9, align 4, !tbaa !20
  %94 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver28addRollingFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %16, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %93, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %95

95:                                               ; preds = %92, %88
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #8
  br label %96

96:                                               ; preds = %95, %76, %71, %53
  %.1 = phi i32 [ 0, %76 ], [ 0, %71 ], [ 0, %95 ], [ %.0133, %53 ]
  %97 = load i32, ptr %40, align 4, !tbaa !21
  %98 = and i32 %97, 32
  %.not = icmp eq i32 %98, 0
  br i1 %.not, label %102, label %99

99:                                               ; preds = %96
  %100 = load i8, ptr %41, align 4, !tbaa !22, !range !23, !noundef !24
  %101 = trunc nuw i8 %100 to i1
  br i1 %101, label %139, label %102

102:                                              ; preds = %99, %96
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #8
  %103 = call { <2 x float>, <2 x float> } @_ZmlRK9b3Vector3RKf(ptr noundef nonnull align 16 dereferenceable(16) %39, ptr noundef nonnull align 4 dereferenceable(4) %10)
  %104 = extractvalue { <2 x float>, <2 x float> } %103, 0
  store <2 x float> %104, ptr %17, align 16
  %105 = extractvalue { <2 x float>, <2 x float> } %103, 1
  store <2 x float> %105, ptr %48, align 8
  %106 = call { <2 x float>, <2 x float> } @_ZmiRK9b3Vector3S1_(ptr noundef nonnull align 16 dereferenceable(16) %11, ptr noundef nonnull align 16 dereferenceable(16) %17)
  %107 = extractvalue { <2 x float>, <2 x float> } %106, 0
  %108 = extractvalue { <2 x float>, <2 x float> } %106, 1
  store <2 x float> %107, ptr %42, align 16
  store <2 x float> %108, ptr %.sroa.46.0..sroa_idx, align 8, !tbaa !13
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #8
  %109 = call noundef float @_ZNK9b3Vector37length2Ev(ptr noundef nonnull align 16 dereferenceable(16) %42)
  %110 = load i32, ptr %40, align 4, !tbaa !21
  %111 = and i32 %110, 64
  %112 = icmp eq i32 %111, 0
  %113 = fcmp ogt float %109, 0x3E80000000000000
  %or.cond3 = and i1 %113, %112
  br i1 %or.cond3, label %114, label %130

114:                                              ; preds = %102
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %18) #8
  %115 = call noundef float @_Z6b3Sqrtf(float noundef %109)
  %116 = fdiv float 1.000000e+00, %115
  store float %116, ptr %18, align 4, !tbaa !20
  %117 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector3mLERKf(ptr noundef nonnull align 16 dereferenceable(16) %42, ptr noundef nonnull align 4 dereferenceable(4) %18)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %18) #8
  %118 = load i32, ptr %40, align 4, !tbaa !21
  %119 = and i32 %118, 16
  %.not129 = icmp eq i32 %119, 0
  br i1 %.not129, label %127, label %120

120:                                              ; preds = %114
  %121 = call { <2 x float>, <2 x float> } @_ZNK9b3Vector35crossERKS_(ptr noundef nonnull align 16 dereferenceable(16) %42, ptr noundef nonnull align 16 dereferenceable(16) %39)
  %122 = extractvalue { <2 x float>, <2 x float> } %121, 0
  %123 = extractvalue { <2 x float>, <2 x float> } %121, 1
  store <2 x float> %122, ptr %45, align 16
  store <2 x float> %123, ptr %.sroa.4.0..sroa_idx, align 8, !tbaa !13
  %124 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector39normalizeEv(ptr noundef nonnull align 16 dereferenceable(16) %45)
  %125 = load float, ptr %9, align 4, !tbaa !20
  %126 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %45, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %125, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %127

127:                                              ; preds = %120, %114
  %128 = load float, ptr %9, align 4, !tbaa !20
  %129 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %42, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %128, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %152

130:                                              ; preds = %102
  call void @_Z13b3PlaneSpace1I9b3Vector3EvRKT_RS1_S4_(ptr noundef nonnull align 16 dereferenceable(16) %39, ptr noundef nonnull align 16 dereferenceable(16) %42, ptr noundef nonnull align 16 dereferenceable(16) %45)
  %131 = load i32, ptr %40, align 4, !tbaa !21
  %132 = and i32 %131, 16
  %.not126 = icmp eq i32 %132, 0
  br i1 %.not126, label %136, label %133

133:                                              ; preds = %130
  %134 = load float, ptr %9, align 4, !tbaa !20
  %135 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %45, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %134, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %136

136:                                              ; preds = %133, %130
  %137 = load float, ptr %9, align 4, !tbaa !20
  %138 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %42, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %137, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %152

139:                                              ; preds = %99
  %140 = load float, ptr %9, align 4, !tbaa !20
  %141 = load float, ptr %43, align 4, !tbaa !25
  %142 = load float, ptr %44, align 4, !tbaa !26
  %143 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %42, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %140, float noundef %141, float noundef %142)
  %144 = load i32, ptr %40, align 4, !tbaa !21
  %145 = and i32 %144, 16
  %.not130 = icmp eq i32 %145, 0
  br i1 %.not130, label %151, label %146

146:                                              ; preds = %139
  %147 = load float, ptr %9, align 4, !tbaa !20
  %148 = load float, ptr %46, align 16, !tbaa !27
  %149 = load float, ptr %47, align 8, !tbaa !28
  %150 = call noundef nonnull align 16 dereferenceable(160) ptr @_ZN17b3PgsJacobiSolver21addFrictionConstraintEP15b3RigidBodyDataP13b3InertiaDataRK9b3Vector3iiiR14b3ContactPointS6_S6_S1_S1_fff(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(16) %45, i32 noundef %20, i32 noundef %22, i32 noundef %54, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef null, ptr noundef null, float noundef %147, float noundef %148, float noundef %149)
  br label %151

151:                                              ; preds = %146, %139
  call void @_ZN17b3PgsJacobiSolver28setFrictionConstraintImpulseEP15b3RigidBodyDataP13b3InertiaDataR18b3SolverConstraintiiR14b3ContactPointRK19b3ContactSolverInfo(ptr noundef nonnull align 8 dereferenceable(448) %0, ptr noundef %1, ptr noundef %2, ptr noundef nonnull align 16 dereferenceable(160) %55, i32 noundef %20, i32 noundef %22, ptr noundef nonnull align 16 dereferenceable(128) %6, ptr noundef nonnull align 4 dereferenceable(84) %4)
  br label %152

152:                                              ; preds = %136, %127, %151
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #8
  br label %153

153:                                              ; preds = %152, %49
  %.2 = phi i32 [ %.1, %152 ], [ %.0133, %49 ]
  call void @llvm.lifetime.end.p0(i64 128, ptr nonnull %6) #8
  %154 = add nuw nsw i32 %.0124132, 1
  %exitcond.not = icmp eq i32 %154, %32
  br i1 %exitcond.not, label %.loopexit, label %49, !llvm.loop !29

.loopexit:                                        ; preds = %153, %31, %28
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK10b3Contact48getBodyAEv(ptr noundef nonnull align 16 dereferenceable(112)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK10b3Contact48getBodyBEv(ptr noundef nonnull align 16 dereferenceable(112)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK9b3Vector36isZeroEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN17b3PgsJacobiSolver29getContactProcessingThresholdEP10b3Contact4(ptr noundef nonnull align 8 dereferenceable(448), ptr noundef) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK20b3AlignedObjectArrayI18b3SolverConstraintE4sizeEv(ptr noundef nonnull align 8 dereferenceable(25)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK12b3SolverBody18getAngularVelocityER9b3Vector3(ptr noundef nonnull align 16 dereferenceable(228), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK9b3Vector36lengthEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK9b3Vector37length2Ev(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z6b3Sqrtf(float noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN9b3Vector3mLERKf(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3 align 2

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="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, !11, i64 144}
!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, !11, i64 148}
!13 = !{!8, !8, i64 0}
!14 = !{!6, !11, i64 140}
!15 = !{!16, !10, i64 104}
!16 = !{!"_ZTS14b3ContactPoint", !7, i64 0, !7, i64 16, !7, i64 32, !10, i64 48, !10, i64 52, !10, i64 56, !10, i64 60, !7, i64 64, !7, i64 80, !10, i64 96, !10, i64 100, !10, i64 104, !10, i64 108, !10, i64 112, !10, i64 116, !10, i64 120, !17, i64 124}
!17 = !{!"bool", !8, i64 0}
!18 = !{!19, !10, i64 80}
!19 = !{!"_ZTS23b3ContactSolverInfoData", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !11, i64 20, !10, i64 24, !10, i64 28, !10, i64 32, !10, i64 36, !10, i64 40, !11, i64 44, !10, i64 48, !10, i64 52, !10, i64 56, !10, i64 60, !11, i64 64, !11, i64 68, !11, i64 72, !10, i64 76, !10, i64 80}
!20 = !{!10, !10, i64 0}
!21 = !{!19, !11, i64 64}
!22 = !{!16, !17, i64 124}
!23 = !{i8 0, i8 2}
!24 = !{}
!25 = !{!16, !10, i64 108}
!26 = !{!16, !10, i64 116}
!27 = !{!16, !10, i64 112}
!28 = !{!16, !10, i64 120}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: DSEPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass