; LLVM IR from mtsamis/box2d-optimized :: src/dynamics (b2_revolute_joint)

; 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.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2SolverData = type { %struct.b2TimeStep, ptr, ptr }
%struct.b2TimeStep = type { float, float, float, i32, i32, i32, i8 }
%class.b2RevoluteJoint = type { %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, i8, float, float, i8, float, float, float, i32, i32, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat22, float, float }
%class.b2Joint = type { ptr, i32, ptr, ptr, %struct.b2JointEdge, %struct.b2JointEdge, ptr, ptr, i32, i8, i8, %struct.b2JointUserData }
%struct.b2JointEdge = type { ptr, ptr, ptr, ptr }
%struct.b2JointUserData = type { i64 }
%struct.b2Position = type { %struct.b2Vec2, float }

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8), float noundef) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #4

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZmlfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef, float noundef, float noundef) #7

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #4

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(8)) #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8)) #8 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN15b2RevoluteJoint24SolvePositionConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(272) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #8 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %struct.b2Vec2, align 4
  %6 = alloca float, align 4
  %7 = alloca %struct.b2Vec2, align 4
  %8 = alloca float, align 4
  %9 = alloca %struct.b2Rot, align 4
  %10 = alloca %struct.b2Rot, align 4
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  %13 = alloca i8, align 1
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca float, align 4
  %17 = alloca %struct.b2Vec2, align 4
  %18 = alloca %struct.b2Vec2, align 4
  %19 = alloca %struct.b2Vec2, align 4
  %20 = alloca %struct.b2Vec2, align 4
  %21 = alloca %struct.b2Vec2, align 4
  %22 = alloca %struct.b2Vec2, align 4
  %23 = alloca %struct.b2Vec2, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca %struct.b2Mat22, align 4
  %29 = alloca %struct.b2Vec2, align 4
  %30 = alloca %struct.b2Vec2, align 4
  %31 = alloca %struct.b2Vec2, align 4
  %32 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %33 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #9
  %34 = load ptr, ptr %4, align 8, !tbaa !5
  %35 = getelementptr inbounds %struct.b2SolverData, ptr %34, i32 0, i32 1
  %36 = load ptr, ptr %35, align 8, !tbaa !9
  %37 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 14
  %38 = load i32, ptr %37, align 8, !tbaa !15
  %39 = sext i32 %38 to i64
  %40 = getelementptr inbounds %struct.b2Position, ptr %36, i64 %39
  %41 = getelementptr inbounds %struct.b2Position, ptr %40, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %5, ptr align 4 %41, i64 8, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #9
  %42 = load ptr, ptr %4, align 8, !tbaa !5
  %43 = getelementptr inbounds %struct.b2SolverData, ptr %42, i32 0, i32 1
  %44 = load ptr, ptr %43, align 8, !tbaa !9
  %45 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 14
  %46 = load i32, ptr %45, align 8, !tbaa !15
  %47 = sext i32 %46 to i64
  %48 = getelementptr inbounds %struct.b2Position, ptr %44, i64 %47
  %49 = getelementptr inbounds %struct.b2Position, ptr %48, i32 0, i32 1
  %50 = load float, ptr %49, align 4, !tbaa !26
  store float %50, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #9
  %51 = load ptr, ptr %4, align 8, !tbaa !5
  %52 = getelementptr inbounds %struct.b2SolverData, ptr %51, i32 0, i32 1
  %53 = load ptr, ptr %52, align 8, !tbaa !9
  %54 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 15
  %55 = load i32, ptr %54, align 4, !tbaa !28
  %56 = sext i32 %55 to i64
  %57 = getelementptr inbounds %struct.b2Position, ptr %53, i64 %56
  %58 = getelementptr inbounds %struct.b2Position, ptr %57, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %7, ptr align 4 %58, i64 8, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  %59 = load ptr, ptr %4, align 8, !tbaa !5
  %60 = getelementptr inbounds %struct.b2SolverData, ptr %59, i32 0, i32 1
  %61 = load ptr, ptr %60, align 8, !tbaa !9
  %62 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 15
  %63 = load i32, ptr %62, align 4, !tbaa !28
  %64 = sext i32 %63 to i64
  %65 = getelementptr inbounds %struct.b2Position, ptr %61, i64 %64
  %66 = getelementptr inbounds %struct.b2Position, ptr %65, i32 0, i32 1
  %67 = load float, ptr %66, align 4, !tbaa !26
  store float %67, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #9
  %68 = load float, ptr %6, align 4, !tbaa !25
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %9, float noundef %68)
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #9
  %69 = load float, ptr %8, align 4, !tbaa !25
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %10, float noundef %69)
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #9
  store float 0.000000e+00, ptr %11, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #9
  store float 0.000000e+00, ptr %12, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 1, ptr %13) #9
  %70 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 22
  %71 = load float, ptr %70, align 8, !tbaa !29
  %72 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 23
  %73 = load float, ptr %72, align 4, !tbaa !30
  %74 = fadd float %71, %73
  %75 = fcmp oeq float %74, 0.000000e+00
  %76 = zext i1 %75 to i8
  store i8 %76, ptr %13, align 1, !tbaa !31
  %77 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 10
  %78 = load i8, ptr %77, align 8, !tbaa !32, !range !33, !noundef !34
  %79 = trunc i8 %78 to i1
  br i1 %79, label %80, label %150

80:                                               ; preds = %2
  %81 = load i8, ptr %13, align 1, !tbaa !31, !range !33, !noundef !34
  %82 = trunc i8 %81 to i1
  %83 = zext i1 %82 to i32
  %84 = icmp eq i32 %83, 0
  br i1 %84, label %85, label %150

85:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #9
  %86 = load float, ptr %8, align 4, !tbaa !25
  %87 = load float, ptr %6, align 4, !tbaa !25
  %88 = fsub float %86, %87
  %89 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 11
  %90 = load float, ptr %89, align 4, !tbaa !35
  %91 = fsub float %88, %90
  store float %91, ptr %14, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #9
  store float 0.000000e+00, ptr %15, align 4, !tbaa !25
  %92 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 13
  %93 = load float, ptr %92, align 4, !tbaa !36
  %94 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 12
  %95 = load float, ptr %94, align 8, !tbaa !37
  %96 = fsub float %93, %95
  %97 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %96)
  %98 = fcmp olt float %97, 0x3FB1DF46C0000000
  br i1 %98, label %99, label %105

99:                                               ; preds = %85
  %100 = load float, ptr %14, align 4, !tbaa !25
  %101 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 12
  %102 = load float, ptr %101, align 8, !tbaa !37
  %103 = fsub float %100, %102
  %104 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %103, float noundef 0xBFC1DF46C0000000, float noundef 0x3FC1DF46C0000000)
  store float %104, ptr %15, align 4, !tbaa !25
  br label %131

105:                                              ; preds = %85
  %106 = load float, ptr %14, align 4, !tbaa !25
  %107 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 12
  %108 = load float, ptr %107, align 8, !tbaa !37
  %109 = fcmp ole float %106, %108
  br i1 %109, label %110, label %117

110:                                              ; preds = %105
  %111 = load float, ptr %14, align 4, !tbaa !25
  %112 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 12
  %113 = load float, ptr %112, align 8, !tbaa !37
  %114 = fsub float %111, %113
  %115 = fadd float %114, 0x3FA1DF46C0000000
  %116 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %115, float noundef 0xBFC1DF46C0000000, float noundef 0.000000e+00)
  store float %116, ptr %15, align 4, !tbaa !25
  br label %130

117:                                              ; preds = %105
  %118 = load float, ptr %14, align 4, !tbaa !25
  %119 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 13
  %120 = load float, ptr %119, align 4, !tbaa !36
  %121 = fcmp oge float %118, %120
  br i1 %121, label %122, label %129

122:                                              ; preds = %117
  %123 = load float, ptr %14, align 4, !tbaa !25
  %124 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 13
  %125 = load float, ptr %124, align 4, !tbaa !36
  %126 = fsub float %123, %125
  %127 = fsub float %126, 0x3FA1DF46C0000000
  %128 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %127, float noundef 0.000000e+00, float noundef 0x3FC1DF46C0000000)
  store float %128, ptr %15, align 4, !tbaa !25
  br label %129

129:                                              ; preds = %122, %117
  br label %130

130:                                              ; preds = %129, %110
  br label %131

131:                                              ; preds = %130, %99
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #9
  %132 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 26
  %133 = load float, ptr %132, align 4, !tbaa !38
  %134 = fneg float %133
  %135 = load float, ptr %15, align 4, !tbaa !25
  %136 = fmul float %134, %135
  store float %136, ptr %16, align 4, !tbaa !25
  %137 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 22
  %138 = load float, ptr %137, align 8, !tbaa !29
  %139 = load float, ptr %16, align 4, !tbaa !25
  %140 = load float, ptr %6, align 4, !tbaa !25
  %141 = fneg float %138
  %142 = call float @llvm.fmuladd.f32(float %141, float %139, float %140)
  store float %142, ptr %6, align 4, !tbaa !25
  %143 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 23
  %144 = load float, ptr %143, align 4, !tbaa !30
  %145 = load float, ptr %16, align 4, !tbaa !25
  %146 = load float, ptr %8, align 4, !tbaa !25
  %147 = call float @llvm.fmuladd.f32(float %144, float %145, float %146)
  store float %147, ptr %8, align 4, !tbaa !25
  %148 = load float, ptr %15, align 4, !tbaa !25
  %149 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %148)
  store float %149, ptr %11, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #9
  br label %150

150:                                              ; preds = %131, %80, %2
  %151 = load float, ptr %6, align 4, !tbaa !25
  call void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8) %9, float noundef %151)
  %152 = load float, ptr %8, align 4, !tbaa !25
  call void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8) %10, float noundef %152)
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #9
  %153 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 1
  %154 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 18
  %155 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %153, ptr noundef nonnull align 4 dereferenceable(8) %154)
  store <2 x float> %155, ptr %18, align 4
  %156 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %156, ptr %17, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #9
  %157 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 2
  %158 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 19
  %159 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %157, ptr noundef nonnull align 4 dereferenceable(8) %158)
  store <2 x float> %159, ptr %20, align 4
  %160 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %10, ptr noundef nonnull align 4 dereferenceable(8) %20)
  store <2 x float> %160, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #9
  %161 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %19)
  store <2 x float> %161, ptr %23, align 4
  %162 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %23, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %162, ptr %22, align 4
  %163 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %22, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %163, ptr %21, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #9
  %164 = call noundef float @_ZNK6b2Vec26LengthEv(ptr noundef nonnull align 4 dereferenceable(8) %21)
  store float %164, ptr %12, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  %165 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 20
  %166 = load float, ptr %165, align 8, !tbaa !39
  store float %166, ptr %24, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #9
  %167 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 21
  %168 = load float, ptr %167, align 4, !tbaa !40
  store float %168, ptr %25, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  %169 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 22
  %170 = load float, ptr %169, align 8, !tbaa !29
  store float %170, ptr %26, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  %171 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 23
  %172 = load float, ptr %171, align 4, !tbaa !30
  store float %172, ptr %27, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 16, ptr %28) #9
  call void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16) %28)
  %173 = load float, ptr %24, align 4, !tbaa !25
  %174 = load float, ptr %25, align 4, !tbaa !25
  %175 = fadd float %173, %174
  %176 = load float, ptr %26, align 4, !tbaa !25
  %177 = getelementptr inbounds %struct.b2Vec2, ptr %17, i32 0, i32 1
  %178 = load float, ptr %177, align 4, !tbaa !41
  %179 = fmul float %176, %178
  %180 = getelementptr inbounds %struct.b2Vec2, ptr %17, i32 0, i32 1
  %181 = load float, ptr %180, align 4, !tbaa !41
  %182 = call float @llvm.fmuladd.f32(float %179, float %181, float %175)
  %183 = load float, ptr %27, align 4, !tbaa !25
  %184 = getelementptr inbounds %struct.b2Vec2, ptr %19, i32 0, i32 1
  %185 = load float, ptr %184, align 4, !tbaa !41
  %186 = fmul float %183, %185
  %187 = getelementptr inbounds %struct.b2Vec2, ptr %19, i32 0, i32 1
  %188 = load float, ptr %187, align 4, !tbaa !41
  %189 = call float @llvm.fmuladd.f32(float %186, float %188, float %182)
  %190 = getelementptr inbounds %struct.b2Mat22, ptr %28, i32 0, i32 0
  %191 = getelementptr inbounds %struct.b2Vec2, ptr %190, i32 0, i32 0
  store float %189, ptr %191, align 4, !tbaa !42
  %192 = load float, ptr %26, align 4, !tbaa !25
  %193 = fneg float %192
  %194 = getelementptr inbounds %struct.b2Vec2, ptr %17, i32 0, i32 0
  %195 = load float, ptr %194, align 4, !tbaa !43
  %196 = fmul float %193, %195
  %197 = getelementptr inbounds %struct.b2Vec2, ptr %17, i32 0, i32 1
  %198 = load float, ptr %197, align 4, !tbaa !41
  %199 = load float, ptr %27, align 4, !tbaa !25
  %200 = getelementptr inbounds %struct.b2Vec2, ptr %19, i32 0, i32 0
  %201 = load float, ptr %200, align 4, !tbaa !43
  %202 = fmul float %199, %201
  %203 = getelementptr inbounds %struct.b2Vec2, ptr %19, i32 0, i32 1
  %204 = load float, ptr %203, align 4, !tbaa !41
  %205 = fmul float %202, %204
  %206 = fneg float %205
  %207 = call float @llvm.fmuladd.f32(float %196, float %198, float %206)
  %208 = getelementptr inbounds %struct.b2Mat22, ptr %28, i32 0, i32 0
  %209 = getelementptr inbounds %struct.b2Vec2, ptr %208, i32 0, i32 1
  store float %207, ptr %209, align 4, !tbaa !44
  %210 = getelementptr inbounds %struct.b2Mat22, ptr %28, i32 0, i32 0
  %211 = getelementptr inbounds %struct.b2Vec2, ptr %210, i32 0, i32 1
  %212 = load float, ptr %211, align 4, !tbaa !44
  %213 = getelementptr inbounds %struct.b2Mat22, ptr %28, i32 0, i32 1
  %214 = getelementptr inbounds %struct.b2Vec2, ptr %213, i32 0, i32 0
  store float %212, ptr %214, align 4, !tbaa !45
  %215 = load float, ptr %24, align 4, !tbaa !25
  %216 = load float, ptr %25, align 4, !tbaa !25
  %217 = fadd float %215, %216
  %218 = load float, ptr %26, align 4, !tbaa !25
  %219 = getelementptr inbounds %struct.b2Vec2, ptr %17, i32 0, i32 0
  %220 = load float, ptr %219, align 4, !tbaa !43
  %221 = fmul float %218, %220
  %222 = getelementptr inbounds %struct.b2Vec2, ptr %17, i32 0, i32 0
  %223 = load float, ptr %222, align 4, !tbaa !43
  %224 = call float @llvm.fmuladd.f32(float %221, float %223, float %217)
  %225 = load float, ptr %27, align 4, !tbaa !25
  %226 = getelementptr inbounds %struct.b2Vec2, ptr %19, i32 0, i32 0
  %227 = load float, ptr %226, align 4, !tbaa !43
  %228 = fmul float %225, %227
  %229 = getelementptr inbounds %struct.b2Vec2, ptr %19, i32 0, i32 0
  %230 = load float, ptr %229, align 4, !tbaa !43
  %231 = call float @llvm.fmuladd.f32(float %228, float %230, float %224)
  %232 = getelementptr inbounds %struct.b2Mat22, ptr %28, i32 0, i32 1
  %233 = getelementptr inbounds %struct.b2Vec2, ptr %232, i32 0, i32 1
  store float %231, ptr %233, align 4, !tbaa !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #9
  %234 = call <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %28, ptr noundef nonnull align 4 dereferenceable(8) %21)
  store <2 x float> %234, ptr %30, align 4
  %235 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %235, ptr %29, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #9
  %236 = load float, ptr %24, align 4, !tbaa !25
  %237 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %236, ptr noundef nonnull align 4 dereferenceable(8) %29)
  store <2 x float> %237, ptr %31, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %31)
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #9
  %238 = load float, ptr %26, align 4, !tbaa !25
  %239 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %29)
  %240 = load float, ptr %6, align 4, !tbaa !25
  %241 = fneg float %238
  %242 = call float @llvm.fmuladd.f32(float %241, float %239, float %240)
  store float %242, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #9
  %243 = load float, ptr %25, align 4, !tbaa !25
  %244 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %243, ptr noundef nonnull align 4 dereferenceable(8) %29)
  store <2 x float> %244, ptr %32, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %32)
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #9
  %245 = load float, ptr %27, align 4, !tbaa !25
  %246 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %29)
  %247 = load float, ptr %8, align 4, !tbaa !25
  %248 = call float @llvm.fmuladd.f32(float %245, float %246, float %247)
  store float %248, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 4, 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 8, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #9
  %249 = load ptr, ptr %4, align 8, !tbaa !5
  %250 = getelementptr inbounds %struct.b2SolverData, ptr %249, i32 0, i32 1
  %251 = load ptr, ptr %250, align 8, !tbaa !9
  %252 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 14
  %253 = load i32, ptr %252, align 8, !tbaa !15
  %254 = sext i32 %253 to i64
  %255 = getelementptr inbounds %struct.b2Position, ptr %251, i64 %254
  %256 = getelementptr inbounds %struct.b2Position, ptr %255, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %256, ptr align 4 %5, i64 8, i1 false), !tbaa.struct !24
  %257 = load float, ptr %6, align 4, !tbaa !25
  %258 = load ptr, ptr %4, align 8, !tbaa !5
  %259 = getelementptr inbounds %struct.b2SolverData, ptr %258, i32 0, i32 1
  %260 = load ptr, ptr %259, align 8, !tbaa !9
  %261 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 14
  %262 = load i32, ptr %261, align 8, !tbaa !15
  %263 = sext i32 %262 to i64
  %264 = getelementptr inbounds %struct.b2Position, ptr %260, i64 %263
  %265 = getelementptr inbounds %struct.b2Position, ptr %264, i32 0, i32 1
  store float %257, ptr %265, align 4, !tbaa !26
  %266 = load ptr, ptr %4, align 8, !tbaa !5
  %267 = getelementptr inbounds %struct.b2SolverData, ptr %266, i32 0, i32 1
  %268 = load ptr, ptr %267, align 8, !tbaa !9
  %269 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 15
  %270 = load i32, ptr %269, align 4, !tbaa !28
  %271 = sext i32 %270 to i64
  %272 = getelementptr inbounds %struct.b2Position, ptr %268, i64 %271
  %273 = getelementptr inbounds %struct.b2Position, ptr %272, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %273, ptr align 4 %7, i64 8, i1 false), !tbaa.struct !24
  %274 = load float, ptr %8, align 4, !tbaa !25
  %275 = load ptr, ptr %4, align 8, !tbaa !5
  %276 = getelementptr inbounds %struct.b2SolverData, ptr %275, i32 0, i32 1
  %277 = load ptr, ptr %276, align 8, !tbaa !9
  %278 = getelementptr inbounds %class.b2RevoluteJoint, ptr %33, i32 0, i32 15
  %279 = load i32, ptr %278, align 4, !tbaa !28
  %280 = sext i32 %279 to i64
  %281 = getelementptr inbounds %struct.b2Position, ptr %277, i64 %280
  %282 = getelementptr inbounds %struct.b2Position, ptr %281, i32 0, i32 1
  store float %274, ptr %282, align 4, !tbaa !26
  %283 = load float, ptr %12, align 4, !tbaa !25
  %284 = fcmp ole float %283, 0x3F747AE140000000
  br i1 %284, label %285, label %288

285:                                              ; preds = %150
  %286 = load float, ptr %11, align 4, !tbaa !25
  %287 = fcmp ole float %286, 0x3FA1DF46C0000000
  br label %288

288:                                              ; preds = %285, %150
  %289 = phi i1 [ false, %150 ], [ %287, %285 ]
  call void @llvm.lifetime.end.p0(i64 1, ptr %13) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #9
  ret i1 %289
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2AbsIfET_S0_(float noundef) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6b2Vec26LengthEv(ptr noundef nonnull align 4 dereferenceable(8)) #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress 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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 #8 = { 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 #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, !6, i64 32}
!10 = !{!"_ZTS12b2SolverData", !11, i64 0, !6, i64 32, !6, i64 40}
!11 = !{!"_ZTS10b2TimeStep", !12, i64 0, !12, i64 4, !12, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !14, i64 24}
!12 = !{!"float", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!16, !13, i64 192}
!16 = !{!"_ZTS15b2RevoluteJoint", !17, i64 0, !22, i64 128, !22, i64 136, !22, i64 144, !12, i64 152, !12, i64 156, !12, i64 160, !14, i64 164, !12, i64 168, !12, i64 172, !14, i64 176, !12, i64 180, !12, i64 184, !12, i64 188, !13, i64 192, !13, i64 196, !22, i64 200, !22, i64 208, !22, i64 216, !22, i64 224, !12, i64 232, !12, i64 236, !12, i64 240, !12, i64 244, !23, i64 248, !12, i64 264, !12, i64 268}
!17 = !{!"_ZTS7b2Joint", !18, i64 8, !6, i64 16, !6, i64 24, !19, i64 32, !19, i64 64, !6, i64 96, !6, i64 104, !13, i64 112, !14, i64 116, !14, i64 117, !20, i64 120}
!18 = !{!"_ZTS11b2JointType", !7, i64 0}
!19 = !{!"_ZTS11b2JointEdge", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!20 = !{!"_ZTS15b2JointUserData", !21, i64 0}
!21 = !{!"long", !7, i64 0}
!22 = !{!"_ZTS6b2Vec2", !12, i64 0, !12, i64 4}
!23 = !{!"_ZTS7b2Mat22", !22, i64 0, !22, i64 8}
!24 = !{i64 0, i64 4, !25, i64 4, i64 4, !25}
!25 = !{!12, !12, i64 0}
!26 = !{!27, !12, i64 8}
!27 = !{!"_ZTS10b2Position", !22, i64 0, !12, i64 8}
!28 = !{!16, !13, i64 196}
!29 = !{!16, !12, i64 240}
!30 = !{!16, !12, i64 244}
!31 = !{!14, !14, i64 0}
!32 = !{!16, !14, i64 176}
!33 = !{i8 0, i8 2}
!34 = !{}
!35 = !{!16, !12, i64 180}
!36 = !{!16, !12, i64 188}
!37 = !{!16, !12, i64 184}
!38 = !{!16, !12, i64 268}
!39 = !{!16, !12, i64 232}
!40 = !{!16, !12, i64 236}
!41 = !{!22, !12, i64 4}
!42 = !{!23, !12, i64 0}
!43 = !{!22, !12, i64 0}
!44 = !{!23, !12, i64 4}
!45 = !{!23, !12, i64 8}
!46 = !{!23, !12, i64 12}


; 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.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2Position = type { %struct.b2Vec2, 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
declare dso_local void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8), float noundef) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZmlfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef, float noundef, float noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN15b2RevoluteJoint24SolvePositionConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(272) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(48) %1) unnamed_addr #7 align 2 {
  %3 = alloca %struct.b2Vec2, align 8
  %4 = alloca %struct.b2Vec2, align 8
  %5 = alloca %struct.b2Rot, align 4
  %6 = alloca %struct.b2Rot, align 4
  %7 = alloca %struct.b2Vec2, align 8
  %8 = alloca %struct.b2Vec2, align 8
  %9 = alloca %struct.b2Vec2, align 8
  %10 = alloca %struct.b2Vec2, align 8
  %11 = alloca %struct.b2Vec2, align 8
  %12 = alloca %struct.b2Vec2, align 8
  %13 = alloca %struct.b2Vec2, align 8
  %14 = alloca %struct.b2Mat22, align 8
  %15 = alloca %struct.b2Vec2, align 8
  %16 = alloca %struct.b2Vec2, align 8
  %17 = alloca %struct.b2Vec2, align 8
  %18 = alloca %struct.b2Vec2, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #9
  %19 = getelementptr inbounds i8, ptr %1, i64 32
  %20 = load ptr, ptr %19, align 8, !tbaa !5
  %21 = getelementptr inbounds i8, ptr %0, i64 192
  %22 = load i32, ptr %21, align 8, !tbaa !14
  %23 = sext i32 %22 to i64
  %24 = getelementptr inbounds %struct.b2Position, ptr %20, i64 %23
  %25 = load i64, ptr %24, align 4
  store i64 %25, ptr %3, align 8
  %26 = getelementptr inbounds %struct.b2Position, ptr %20, i64 %23, i32 1
  %27 = load float, ptr %26, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #9
  %28 = getelementptr inbounds i8, ptr %0, i64 196
  %29 = load i32, ptr %28, align 4, !tbaa !25
  %30 = sext i32 %29 to i64
  %31 = getelementptr inbounds %struct.b2Position, ptr %20, i64 %30
  %32 = load i64, ptr %31, align 4
  store i64 %32, ptr %4, align 8
  %33 = getelementptr inbounds %struct.b2Position, ptr %20, i64 %30, i32 1
  %34 = load float, ptr %33, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #9
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %5, float noundef %27)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #9
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %6, float noundef %34)
  %35 = getelementptr inbounds i8, ptr %0, i64 240
  %36 = getelementptr inbounds i8, ptr %0, i64 244
  %37 = getelementptr inbounds i8, ptr %0, i64 176
  %38 = load i8, ptr %37, align 8, !tbaa !26, !range !27, !noundef !28
  %39 = trunc nuw i8 %38 to i1
  br i1 %39, label %40, label %86

40:                                               ; preds = %2
  %41 = load float, ptr %35, align 8, !tbaa !29
  %42 = load float, ptr %36, align 4, !tbaa !30
  %43 = fadd float %41, %42
  %44 = fcmp une float %43, 0.000000e+00
  br i1 %44, label %45, label %86

45:                                               ; preds = %40
  %46 = fsub float %34, %27
  %47 = getelementptr inbounds i8, ptr %0, i64 180
  %48 = load float, ptr %47, align 4, !tbaa !31
  %49 = fsub float %46, %48
  %50 = getelementptr inbounds i8, ptr %0, i64 188
  %51 = load float, ptr %50, align 4, !tbaa !32
  %52 = getelementptr inbounds i8, ptr %0, i64 184
  %53 = load float, ptr %52, align 8, !tbaa !33
  %54 = fsub float %51, %53
  %55 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %54)
  %56 = fcmp olt float %55, 0x3FB1DF46C0000000
  %57 = load float, ptr %52, align 8, !tbaa !33
  br i1 %56, label %58, label %61

58:                                               ; preds = %45
  %59 = fsub float %49, %57
  %60 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %59, float noundef 0xBFC1DF46C0000000, float noundef 0x3FC1DF46C0000000)
  br label %74

61:                                               ; preds = %45
  %62 = fcmp ugt float %49, %57
  br i1 %62, label %67, label %63

63:                                               ; preds = %61
  %64 = fsub float %49, %57
  %65 = fadd float %64, 0x3FA1DF46C0000000
  %66 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %65, float noundef 0xBFC1DF46C0000000, float noundef 0.000000e+00)
  br label %74

67:                                               ; preds = %61
  %68 = load float, ptr %50, align 4, !tbaa !32
  %69 = fcmp ult float %49, %68
  br i1 %69, label %74, label %70

70:                                               ; preds = %67
  %71 = fsub float %49, %68
  %72 = fadd float %71, 0xBFA1DF46C0000000
  %73 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %72, float noundef 0.000000e+00, float noundef 0x3FC1DF46C0000000)
  br label %74

74:                                               ; preds = %63, %70, %67, %58
  %.048 = phi float [ %60, %58 ], [ %66, %63 ], [ %73, %70 ], [ 0.000000e+00, %67 ]
  %75 = getelementptr inbounds i8, ptr %0, i64 268
  %76 = load float, ptr %75, align 4, !tbaa !34
  %77 = fneg float %76
  %78 = fmul float %.048, %77
  %79 = load float, ptr %35, align 8, !tbaa !29
  %80 = fneg float %79
  %81 = call float @llvm.fmuladd.f32(float %80, float %78, float %27)
  %82 = load float, ptr %36, align 4, !tbaa !30
  %83 = call float @llvm.fmuladd.f32(float %82, float %78, float %34)
  %84 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %.048)
  %85 = fcmp ole float %84, 0x3FA1DF46C0000000
  br label %86

86:                                               ; preds = %74, %40, %2
  %.047 = phi i1 [ %85, %74 ], [ true, %40 ], [ true, %2 ]
  %.046 = phi float [ %83, %74 ], [ %34, %40 ], [ %34, %2 ]
  %.0 = phi float [ %81, %74 ], [ %27, %40 ], [ %27, %2 ]
  call void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8) %5, float noundef %.0)
  call void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8) %6, float noundef %.046)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #9
  %87 = getelementptr inbounds i8, ptr %0, i64 128
  %88 = getelementptr inbounds i8, ptr %0, i64 216
  %89 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %87, ptr noundef nonnull align 4 dereferenceable(8) %88)
  store <2 x float> %89, ptr %8, align 8
  %90 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %8)
  store <2 x float> %90, ptr %7, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #9
  %91 = getelementptr inbounds i8, ptr %0, i64 136
  %92 = getelementptr inbounds i8, ptr %0, i64 224
  %93 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %91, ptr noundef nonnull align 4 dereferenceable(8) %92)
  store <2 x float> %93, ptr %10, align 8
  %94 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %94, ptr %9, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #9
  %95 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %95, ptr %13, align 8
  %96 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %96, ptr %12, align 8
  %97 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %12, ptr noundef nonnull align 4 dereferenceable(8) %7)
  store <2 x float> %97, ptr %11, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #9
  %98 = call noundef float @_ZNK6b2Vec26LengthEv(ptr noundef nonnull align 4 dereferenceable(8) %11)
  %99 = getelementptr inbounds i8, ptr %0, i64 232
  %100 = load float, ptr %99, align 8, !tbaa !35
  %101 = getelementptr inbounds i8, ptr %0, i64 236
  %102 = load float, ptr %101, align 4, !tbaa !36
  %103 = load float, ptr %35, align 8, !tbaa !29
  %104 = load float, ptr %36, align 4, !tbaa !30
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #9
  call void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16) %14)
  %105 = fadd float %100, %102
  %106 = getelementptr inbounds i8, ptr %7, i64 4
  %107 = load float, ptr %106, align 4, !tbaa !37
  %108 = fmul float %103, %107
  %109 = call float @llvm.fmuladd.f32(float %108, float %107, float %105)
  %110 = getelementptr inbounds i8, ptr %9, i64 4
  %111 = load float, ptr %110, align 4, !tbaa !37
  %112 = fneg float %103
  %113 = load float, ptr %7, align 8, !tbaa !38
  %114 = load float, ptr %9, align 8, !tbaa !38
  %115 = fneg float %104
  %116 = fmul float %114, %115
  %117 = fmul float %111, %116
  %118 = insertelement <2 x float> poison, float %104, i64 0
  %119 = insertelement <2 x float> %118, float %113, i64 1
  %120 = insertelement <2 x float> poison, float %111, i64 0
  %121 = insertelement <2 x float> %120, float %112, i64 1
  %122 = fmul <2 x float> %119, %121
  %123 = insertelement <2 x float> %120, float %107, i64 1
  %124 = insertelement <2 x float> poison, float %109, i64 0
  %125 = insertelement <2 x float> %124, float %117, i64 1
  %126 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %122, <2 x float> %123, <2 x float> %125)
  store <2 x float> %126, ptr %14, align 8, !tbaa !39
  %127 = getelementptr inbounds i8, ptr %14, i64 8
  %128 = extractelement <2 x float> %126, i64 1
  store float %128, ptr %127, align 8, !tbaa !40
  %129 = fmul float %103, %113
  %130 = call float @llvm.fmuladd.f32(float %129, float %113, float %105)
  %131 = fmul float %104, %114
  %132 = call float @llvm.fmuladd.f32(float %131, float %114, float %130)
  %133 = getelementptr inbounds i8, ptr %14, i64 12
  store float %132, ptr %133, align 4, !tbaa !41
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #9
  %134 = call <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %14, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %134, ptr %16, align 8
  %135 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %135, ptr %15, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #9
  %136 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %100, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %136, ptr %17, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %17)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #9
  %137 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %15)
  %138 = call float @llvm.fmuladd.f32(float %112, float %137, float %.0)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #9
  %139 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %102, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %139, ptr %18, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %18)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #9
  %140 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %15)
  %141 = call float @llvm.fmuladd.f32(float %104, float %140, float %.046)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #9
  %142 = load ptr, ptr %19, align 8, !tbaa !5
  %143 = load i32, ptr %21, align 8, !tbaa !14
  %144 = sext i32 %143 to i64
  %145 = getelementptr inbounds %struct.b2Position, ptr %142, i64 %144
  %146 = load i64, ptr %3, align 8
  store i64 %146, ptr %145, align 4
  %147 = load ptr, ptr %19, align 8, !tbaa !5
  %148 = load i32, ptr %21, align 8, !tbaa !14
  %149 = sext i32 %148 to i64
  %150 = getelementptr inbounds %struct.b2Position, ptr %147, i64 %149, i32 1
  store float %138, ptr %150, align 4, !tbaa !23
  %151 = load i32, ptr %28, align 4, !tbaa !25
  %152 = sext i32 %151 to i64
  %153 = getelementptr inbounds %struct.b2Position, ptr %147, i64 %152
  %154 = load i64, ptr %4, align 8
  store i64 %154, ptr %153, align 4
  %155 = load ptr, ptr %19, align 8, !tbaa !5
  %156 = load i32, ptr %28, align 4, !tbaa !25
  %157 = sext i32 %156 to i64
  %158 = getelementptr inbounds %struct.b2Position, ptr %155, i64 %157, i32 1
  store float %141, ptr %158, align 4, !tbaa !23
  %159 = fcmp ole float %98, 0x3F747AE140000000
  %160 = and i1 %.047, %159
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #9
  ret i1 %160
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2AbsIfET_S0_(float noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6b2Vec26LengthEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <2 x float> @llvm.fmuladd.v2f32(<2 x float>, <2 x float>, <2 x float>) #8

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress 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 #3 = { 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 #4 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { 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 #6 = { 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 #7 = { 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 #8 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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, !13, i64 32}
!6 = !{!"_ZTS12b2SolverData", !7, i64 0, !13, i64 32, !13, i64 40}
!7 = !{!"_ZTS10b2TimeStep", !8, i64 0, !8, i64 4, !8, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !12, i64 24}
!8 = !{!"float", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"int", !9, i64 0}
!12 = !{!"bool", !9, i64 0}
!13 = !{!"any pointer", !9, i64 0}
!14 = !{!15, !11, i64 192}
!15 = !{!"_ZTS15b2RevoluteJoint", !16, i64 0, !21, i64 128, !21, i64 136, !21, i64 144, !8, i64 152, !8, i64 156, !8, i64 160, !12, i64 164, !8, i64 168, !8, i64 172, !12, i64 176, !8, i64 180, !8, i64 184, !8, i64 188, !11, i64 192, !11, i64 196, !21, i64 200, !21, i64 208, !21, i64 216, !21, i64 224, !8, i64 232, !8, i64 236, !8, i64 240, !8, i64 244, !22, i64 248, !8, i64 264, !8, i64 268}
!16 = !{!"_ZTS7b2Joint", !17, i64 8, !13, i64 16, !13, i64 24, !18, i64 32, !18, i64 64, !13, i64 96, !13, i64 104, !11, i64 112, !12, i64 116, !12, i64 117, !19, i64 120}
!17 = !{!"_ZTS11b2JointType", !9, i64 0}
!18 = !{!"_ZTS11b2JointEdge", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24}
!19 = !{!"_ZTS15b2JointUserData", !20, i64 0}
!20 = !{!"long", !9, i64 0}
!21 = !{!"_ZTS6b2Vec2", !8, i64 0, !8, i64 4}
!22 = !{!"_ZTS7b2Mat22", !21, i64 0, !21, i64 8}
!23 = !{!24, !8, i64 8}
!24 = !{!"_ZTS10b2Position", !21, i64 0, !8, i64 8}
!25 = !{!15, !11, i64 196}
!26 = !{!15, !12, i64 176}
!27 = !{i8 0, i8 2}
!28 = !{}
!29 = !{!15, !8, i64 240}
!30 = !{!15, !8, i64 244}
!31 = !{!15, !8, i64 180}
!32 = !{!15, !8, i64 188}
!33 = !{!15, !8, i64 184}
!34 = !{!15, !8, i64 268}
!35 = !{!15, !8, i64 232}
!36 = !{!15, !8, i64 236}
!37 = !{!21, !8, i64 4}
!38 = !{!21, !8, i64 0}
!39 = !{!8, !8, i64 0}
!40 = !{!22, !8, i64 8}
!41 = !{!22, !8, i64 12}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass