; LLVM IR from mtsamis/box2d-optimized :: src/dynamics (b2_prismatic_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.b2SolverData = type { %struct.b2TimeStep, ptr, ptr }
%struct.b2TimeStep = type { float, float, float, i32, i32, i32, i8 }
%class.b2PrismaticJoint = type <{ %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, %struct.b2Vec2, float, float, float, float, float, float, float, i8, i8, [2 x i8], i32, i32, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat22, float, float, [4 x i8] }>
%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.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2Velocity = 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 nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8)) unnamed_addr #2 align 2

; 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)) #3

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #5

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16b2PrismaticJoint24SolveVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(300) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #6 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 float, align 4
  %10 = alloca float, align 4
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  %13 = alloca float, align 4
  %14 = alloca %struct.b2Vec2, align 4
  %15 = alloca float, align 4
  %16 = alloca float, align 4
  %17 = alloca float, align 4
  %18 = alloca %struct.b2Vec2, align 4
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca %struct.b2Vec2, align 4
  %22 = alloca %struct.b2Vec2, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca %struct.b2Vec2, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca %struct.b2Vec2, align 4
  %29 = alloca float, align 4
  %30 = alloca float, align 4
  %31 = alloca %struct.b2Vec2, align 4
  %32 = alloca %struct.b2Vec2, align 4
  %33 = alloca float, align 4
  %34 = alloca float, align 4
  %35 = alloca %struct.b2Vec2, align 4
  %36 = alloca float, align 4
  %37 = alloca float, align 4
  %38 = alloca %struct.b2Vec2, align 4
  %39 = alloca float, align 4
  %40 = alloca float, align 4
  %41 = alloca %struct.b2Vec2, align 4
  %42 = alloca %struct.b2Vec2, align 4
  %43 = alloca %struct.b2Vec2, align 4
  %44 = alloca %struct.b2Vec2, align 4
  %45 = alloca %struct.b2Vec2, align 4
  %46 = alloca %struct.b2Vec2, align 4
  %47 = alloca %struct.b2Vec2, align 4
  %48 = alloca float, align 4
  %49 = alloca float, align 4
  %50 = alloca %struct.b2Vec2, align 4
  %51 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %52 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #7
  %53 = load ptr, ptr %4, align 8, !tbaa !5
  %54 = getelementptr inbounds %struct.b2SolverData, ptr %53, i32 0, i32 2
  %55 = load ptr, ptr %54, align 8, !tbaa !9
  %56 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 17
  %57 = load i32, ptr %56, align 4, !tbaa !15
  %58 = sext i32 %57 to i64
  %59 = getelementptr inbounds %struct.b2Velocity, ptr %55, i64 %58
  %60 = getelementptr inbounds %struct.b2Velocity, ptr %59, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %5, ptr align 4 %60, i64 8, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #7
  %61 = load ptr, ptr %4, align 8, !tbaa !5
  %62 = getelementptr inbounds %struct.b2SolverData, ptr %61, i32 0, i32 2
  %63 = load ptr, ptr %62, align 8, !tbaa !9
  %64 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 17
  %65 = load i32, ptr %64, align 4, !tbaa !15
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds %struct.b2Velocity, ptr %63, i64 %66
  %68 = getelementptr inbounds %struct.b2Velocity, ptr %67, i32 0, i32 1
  %69 = load float, ptr %68, align 4, !tbaa !26
  store float %69, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  %70 = load ptr, ptr %4, align 8, !tbaa !5
  %71 = getelementptr inbounds %struct.b2SolverData, ptr %70, i32 0, i32 2
  %72 = load ptr, ptr %71, align 8, !tbaa !9
  %73 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 18
  %74 = load i32, ptr %73, align 8, !tbaa !28
  %75 = sext i32 %74 to i64
  %76 = getelementptr inbounds %struct.b2Velocity, ptr %72, i64 %75
  %77 = getelementptr inbounds %struct.b2Velocity, ptr %76, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %7, ptr align 4 %77, i64 8, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #7
  %78 = load ptr, ptr %4, align 8, !tbaa !5
  %79 = getelementptr inbounds %struct.b2SolverData, ptr %78, i32 0, i32 2
  %80 = load ptr, ptr %79, align 8, !tbaa !9
  %81 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 18
  %82 = load i32, ptr %81, align 8, !tbaa !28
  %83 = sext i32 %82 to i64
  %84 = getelementptr inbounds %struct.b2Velocity, ptr %80, i64 %83
  %85 = getelementptr inbounds %struct.b2Velocity, ptr %84, i32 0, i32 1
  %86 = load float, ptr %85, align 4, !tbaa !26
  store float %86, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #7
  %87 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 21
  %88 = load float, ptr %87, align 4, !tbaa !29
  store float %88, ptr %9, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #7
  %89 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 22
  %90 = load float, ptr %89, align 8, !tbaa !30
  store float %90, ptr %10, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #7
  %91 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 23
  %92 = load float, ptr %91, align 4, !tbaa !31
  store float %92, ptr %11, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #7
  %93 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 24
  %94 = load float, ptr %93, align 8, !tbaa !32
  store float %94, ptr %12, align 4, !tbaa !25
  %95 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 15
  %96 = load i8, ptr %95, align 1, !tbaa !33, !range !34, !noundef !35
  %97 = trunc i8 %96 to i1
  br i1 %97, label %98, label %164

98:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #7
  %99 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 25
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %100 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %100, ptr %14, align 4
  %101 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %99, ptr noundef nonnull align 4 dereferenceable(8) %14)
  %102 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 30
  %103 = load float, ptr %102, align 8, !tbaa !36
  %104 = load float, ptr %8, align 4, !tbaa !25
  %105 = call float @llvm.fmuladd.f32(float %103, float %104, float %101)
  %106 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 29
  %107 = load float, ptr %106, align 4, !tbaa !37
  %108 = load float, ptr %6, align 4, !tbaa !25
  %109 = fneg float %107
  %110 = call float @llvm.fmuladd.f32(float %109, float %108, float %105)
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  store float %110, ptr %13, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #7
  %111 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 33
  %112 = load float, ptr %111, align 8, !tbaa !38
  %113 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 13
  %114 = load float, ptr %113, align 4, !tbaa !39
  %115 = load float, ptr %13, align 4, !tbaa !25
  %116 = fsub float %114, %115
  %117 = fmul float %112, %116
  store float %117, ptr %15, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #7
  %118 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 7
  %119 = load float, ptr %118, align 4, !tbaa !40
  store float %119, ptr %16, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #7
  %120 = load ptr, ptr %4, align 8, !tbaa !5
  %121 = getelementptr inbounds %struct.b2SolverData, ptr %120, i32 0, i32 0
  %122 = getelementptr inbounds %struct.b2TimeStep, ptr %121, i32 0, i32 0
  %123 = load float, ptr %122, align 8, !tbaa !41
  %124 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 12
  %125 = load float, ptr %124, align 8, !tbaa !42
  %126 = fmul float %123, %125
  store float %126, ptr %17, align 4, !tbaa !25
  %127 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 7
  %128 = load float, ptr %127, align 4, !tbaa !40
  %129 = load float, ptr %15, align 4, !tbaa !25
  %130 = fadd float %128, %129
  %131 = load float, ptr %17, align 4, !tbaa !25
  %132 = fneg float %131
  %133 = load float, ptr %17, align 4, !tbaa !25
  %134 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %130, float noundef %132, float noundef %133)
  %135 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 7
  store float %134, ptr %135, align 4, !tbaa !40
  %136 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 7
  %137 = load float, ptr %136, align 4, !tbaa !40
  %138 = load float, ptr %16, align 4, !tbaa !25
  %139 = fsub float %137, %138
  store float %139, ptr %15, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #7
  %140 = load float, ptr %15, align 4, !tbaa !25
  %141 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 25
  %142 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %140, ptr noundef nonnull align 4 dereferenceable(8) %141)
  store <2 x float> %142, ptr %18, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #7
  %143 = load float, ptr %15, align 4, !tbaa !25
  %144 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 29
  %145 = load float, ptr %144, align 4, !tbaa !37
  %146 = fmul float %143, %145
  store float %146, ptr %19, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #7
  %147 = load float, ptr %15, align 4, !tbaa !25
  %148 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 30
  %149 = load float, ptr %148, align 8, !tbaa !36
  %150 = fmul float %147, %149
  store float %150, ptr %20, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #7
  %151 = load float, ptr %9, align 4, !tbaa !25
  %152 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %151, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %152, ptr %21, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %21)
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #7
  %153 = load float, ptr %11, align 4, !tbaa !25
  %154 = load float, ptr %19, align 4, !tbaa !25
  %155 = load float, ptr %6, align 4, !tbaa !25
  %156 = fneg float %153
  %157 = call float @llvm.fmuladd.f32(float %156, float %154, float %155)
  store float %157, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #7
  %158 = load float, ptr %10, align 4, !tbaa !25
  %159 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %158, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %159, ptr %22, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %22)
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #7
  %160 = load float, ptr %12, align 4, !tbaa !25
  %161 = load float, ptr %20, align 4, !tbaa !25
  %162 = load float, ptr %8, align 4, !tbaa !25
  %163 = call float @llvm.fmuladd.f32(float %160, float %161, float %162)
  store float %163, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #7
  br label %164

164:                                              ; preds = %98, %2
  %165 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 14
  %166 = load i8, ptr %165, align 8, !tbaa !43, !range !34, !noundef !35
  %167 = trunc i8 %166 to i1
  br i1 %167, label %168, label %299

168:                                              ; preds = %164
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #7
  %169 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 32
  %170 = load float, ptr %169, align 4, !tbaa !44
  %171 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 10
  %172 = load float, ptr %171, align 8, !tbaa !45
  %173 = fsub float %170, %172
  store float %173, ptr %23, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  %174 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 25
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #7
  %175 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %175, ptr %25, align 4
  %176 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %174, ptr noundef nonnull align 4 dereferenceable(8) %25)
  %177 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 30
  %178 = load float, ptr %177, align 8, !tbaa !36
  %179 = load float, ptr %8, align 4, !tbaa !25
  %180 = call float @llvm.fmuladd.f32(float %178, float %179, float %176)
  %181 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 29
  %182 = load float, ptr %181, align 4, !tbaa !37
  %183 = load float, ptr %6, align 4, !tbaa !25
  %184 = fneg float %182
  %185 = call float @llvm.fmuladd.f32(float %184, float %183, float %180)
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #7
  store float %185, ptr %24, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  %186 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 33
  %187 = load float, ptr %186, align 8, !tbaa !38
  %188 = fneg float %187
  %189 = load float, ptr %24, align 4, !tbaa !25
  %190 = load float, ptr %23, align 4, !tbaa !25
  %191 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %190, float noundef 0.000000e+00)
  %192 = load ptr, ptr %4, align 8, !tbaa !5
  %193 = getelementptr inbounds %struct.b2SolverData, ptr %192, i32 0, i32 0
  %194 = getelementptr inbounds %struct.b2TimeStep, ptr %193, i32 0, i32 1
  %195 = load float, ptr %194, align 4, !tbaa !46
  %196 = call float @llvm.fmuladd.f32(float %191, float %195, float %189)
  %197 = fmul float %188, %196
  store float %197, ptr %26, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #7
  %198 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 8
  %199 = load float, ptr %198, align 8, !tbaa !47
  store float %199, ptr %27, align 4, !tbaa !25
  %200 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 8
  %201 = load float, ptr %200, align 8, !tbaa !47
  %202 = load float, ptr %26, align 4, !tbaa !25
  %203 = fadd float %201, %202
  %204 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %203, float noundef 0.000000e+00)
  %205 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 8
  store float %204, ptr %205, align 8, !tbaa !47
  %206 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 8
  %207 = load float, ptr %206, align 8, !tbaa !47
  %208 = load float, ptr %27, align 4, !tbaa !25
  %209 = fsub float %207, %208
  store float %209, ptr %26, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #7
  %210 = load float, ptr %26, align 4, !tbaa !25
  %211 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 25
  %212 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %210, ptr noundef nonnull align 4 dereferenceable(8) %211)
  store <2 x float> %212, ptr %28, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #7
  %213 = load float, ptr %26, align 4, !tbaa !25
  %214 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 29
  %215 = load float, ptr %214, align 4, !tbaa !37
  %216 = fmul float %213, %215
  store float %216, ptr %29, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #7
  %217 = load float, ptr %26, align 4, !tbaa !25
  %218 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 30
  %219 = load float, ptr %218, align 8, !tbaa !36
  %220 = fmul float %217, %219
  store float %220, ptr %30, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #7
  %221 = load float, ptr %9, align 4, !tbaa !25
  %222 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %221, ptr noundef nonnull align 4 dereferenceable(8) %28)
  store <2 x float> %222, 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) #7
  %223 = load float, ptr %11, align 4, !tbaa !25
  %224 = load float, ptr %29, align 4, !tbaa !25
  %225 = load float, ptr %6, align 4, !tbaa !25
  %226 = fneg float %223
  %227 = call float @llvm.fmuladd.f32(float %226, float %224, float %225)
  store float %227, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #7
  %228 = load float, ptr %10, align 4, !tbaa !25
  %229 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %228, ptr noundef nonnull align 4 dereferenceable(8) %28)
  store <2 x float> %229, 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) #7
  %230 = load float, ptr %12, align 4, !tbaa !25
  %231 = load float, ptr %30, align 4, !tbaa !25
  %232 = load float, ptr %8, align 4, !tbaa !25
  %233 = call float @llvm.fmuladd.f32(float %230, float %231, float %232)
  store float %233, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #7
  %234 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 11
  %235 = load float, ptr %234, align 4, !tbaa !48
  %236 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 32
  %237 = load float, ptr %236, align 4, !tbaa !44
  %238 = fsub float %235, %237
  store float %238, ptr %33, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #7
  %239 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 25
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #7
  %240 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %7)
  store <2 x float> %240, ptr %35, align 4
  %241 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %239, ptr noundef nonnull align 4 dereferenceable(8) %35)
  %242 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 29
  %243 = load float, ptr %242, align 4, !tbaa !37
  %244 = load float, ptr %6, align 4, !tbaa !25
  %245 = call float @llvm.fmuladd.f32(float %243, float %244, float %241)
  %246 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 30
  %247 = load float, ptr %246, align 8, !tbaa !36
  %248 = load float, ptr %8, align 4, !tbaa !25
  %249 = fneg float %247
  %250 = call float @llvm.fmuladd.f32(float %249, float %248, float %245)
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #7
  store float %250, ptr %34, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #7
  %251 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 33
  %252 = load float, ptr %251, align 8, !tbaa !38
  %253 = fneg float %252
  %254 = load float, ptr %34, align 4, !tbaa !25
  %255 = load float, ptr %33, align 4, !tbaa !25
  %256 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %255, float noundef 0.000000e+00)
  %257 = load ptr, ptr %4, align 8, !tbaa !5
  %258 = getelementptr inbounds %struct.b2SolverData, ptr %257, i32 0, i32 0
  %259 = getelementptr inbounds %struct.b2TimeStep, ptr %258, i32 0, i32 1
  %260 = load float, ptr %259, align 4, !tbaa !46
  %261 = call float @llvm.fmuladd.f32(float %256, float %260, float %254)
  %262 = fmul float %253, %261
  store float %262, ptr %36, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #7
  %263 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 9
  %264 = load float, ptr %263, align 4, !tbaa !49
  store float %264, ptr %37, align 4, !tbaa !25
  %265 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 9
  %266 = load float, ptr %265, align 4, !tbaa !49
  %267 = load float, ptr %36, align 4, !tbaa !25
  %268 = fadd float %266, %267
  %269 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %268, float noundef 0.000000e+00)
  %270 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 9
  store float %269, ptr %270, align 4, !tbaa !49
  %271 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 9
  %272 = load float, ptr %271, align 4, !tbaa !49
  %273 = load float, ptr %37, align 4, !tbaa !25
  %274 = fsub float %272, %273
  store float %274, ptr %36, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #7
  %275 = load float, ptr %36, align 4, !tbaa !25
  %276 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 25
  %277 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %275, ptr noundef nonnull align 4 dereferenceable(8) %276)
  store <2 x float> %277, ptr %38, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #7
  %278 = load float, ptr %36, align 4, !tbaa !25
  %279 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 29
  %280 = load float, ptr %279, align 4, !tbaa !37
  %281 = fmul float %278, %280
  store float %281, ptr %39, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #7
  %282 = load float, ptr %36, align 4, !tbaa !25
  %283 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 30
  %284 = load float, ptr %283, align 8, !tbaa !36
  %285 = fmul float %282, %284
  store float %285, ptr %40, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #7
  %286 = load float, ptr %9, align 4, !tbaa !25
  %287 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %286, ptr noundef nonnull align 4 dereferenceable(8) %38)
  store <2 x float> %287, ptr %41, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %41)
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #7
  %288 = load float, ptr %11, align 4, !tbaa !25
  %289 = load float, ptr %39, align 4, !tbaa !25
  %290 = load float, ptr %6, align 4, !tbaa !25
  %291 = call float @llvm.fmuladd.f32(float %288, float %289, float %290)
  store float %291, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #7
  %292 = load float, ptr %10, align 4, !tbaa !25
  %293 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %292, ptr noundef nonnull align 4 dereferenceable(8) %38)
  store <2 x float> %293, ptr %42, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %42)
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #7
  %294 = load float, ptr %12, align 4, !tbaa !25
  %295 = load float, ptr %40, align 4, !tbaa !25
  %296 = load float, ptr %8, align 4, !tbaa !25
  %297 = fneg float %294
  %298 = call float @llvm.fmuladd.f32(float %297, float %295, float %296)
  store float %298, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #7
  br label %299

299:                                              ; preds = %168, %164
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #7
  call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %43)
  %300 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 26
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #7
  %301 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %301, ptr %44, align 4
  %302 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %300, ptr noundef nonnull align 4 dereferenceable(8) %44)
  %303 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 28
  %304 = load float, ptr %303, align 8, !tbaa !50
  %305 = load float, ptr %8, align 4, !tbaa !25
  %306 = call float @llvm.fmuladd.f32(float %304, float %305, float %302)
  %307 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 27
  %308 = load float, ptr %307, align 4, !tbaa !51
  %309 = load float, ptr %6, align 4, !tbaa !25
  %310 = fneg float %308
  %311 = call float @llvm.fmuladd.f32(float %310, float %309, float %306)
  %312 = getelementptr inbounds %struct.b2Vec2, ptr %43, i32 0, i32 0
  store float %311, ptr %312, align 4, !tbaa !52
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  %313 = load float, ptr %8, align 4, !tbaa !25
  %314 = load float, ptr %6, align 4, !tbaa !25
  %315 = fsub float %313, %314
  %316 = getelementptr inbounds %struct.b2Vec2, ptr %43, i32 0, i32 1
  store float %315, ptr %316, align 4, !tbaa !53
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #7
  %317 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 31
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #7
  %318 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %43)
  store <2 x float> %318, ptr %46, align 4
  %319 = call <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %317, ptr noundef nonnull align 4 dereferenceable(8) %46)
  store <2 x float> %319, ptr %45, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #7
  %320 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 6
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %320, ptr noundef nonnull align 4 dereferenceable(8) %45)
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #7
  %321 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 0
  %322 = load float, ptr %321, align 4, !tbaa !52
  %323 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 26
  %324 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %322, ptr noundef nonnull align 4 dereferenceable(8) %323)
  store <2 x float> %324, ptr %47, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #7
  %325 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 0
  %326 = load float, ptr %325, align 4, !tbaa !52
  %327 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 27
  %328 = load float, ptr %327, align 4, !tbaa !51
  %329 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 1
  %330 = load float, ptr %329, align 4, !tbaa !53
  %331 = call float @llvm.fmuladd.f32(float %326, float %328, float %330)
  store float %331, ptr %48, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #7
  %332 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 0
  %333 = load float, ptr %332, align 4, !tbaa !52
  %334 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 28
  %335 = load float, ptr %334, align 8, !tbaa !50
  %336 = getelementptr inbounds %struct.b2Vec2, ptr %45, i32 0, i32 1
  %337 = load float, ptr %336, align 4, !tbaa !53
  %338 = call float @llvm.fmuladd.f32(float %333, float %335, float %337)
  store float %338, ptr %49, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #7
  %339 = load float, ptr %9, align 4, !tbaa !25
  %340 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %339, ptr noundef nonnull align 4 dereferenceable(8) %47)
  store <2 x float> %340, ptr %50, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %50)
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #7
  %341 = load float, ptr %11, align 4, !tbaa !25
  %342 = load float, ptr %48, align 4, !tbaa !25
  %343 = load float, ptr %6, align 4, !tbaa !25
  %344 = fneg float %341
  %345 = call float @llvm.fmuladd.f32(float %344, float %342, float %343)
  store float %345, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #7
  %346 = load float, ptr %10, align 4, !tbaa !25
  %347 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %346, ptr noundef nonnull align 4 dereferenceable(8) %47)
  store <2 x float> %347, ptr %51, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %51)
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #7
  %348 = load float, ptr %12, align 4, !tbaa !25
  %349 = load float, ptr %49, align 4, !tbaa !25
  %350 = load float, ptr %8, align 4, !tbaa !25
  %351 = call float @llvm.fmuladd.f32(float %348, float %349, float %350)
  store float %351, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  %352 = load ptr, ptr %4, align 8, !tbaa !5
  %353 = getelementptr inbounds %struct.b2SolverData, ptr %352, i32 0, i32 2
  %354 = load ptr, ptr %353, align 8, !tbaa !9
  %355 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 17
  %356 = load i32, ptr %355, align 4, !tbaa !15
  %357 = sext i32 %356 to i64
  %358 = getelementptr inbounds %struct.b2Velocity, ptr %354, i64 %357
  %359 = getelementptr inbounds %struct.b2Velocity, ptr %358, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %359, ptr align 4 %5, i64 8, i1 false), !tbaa.struct !24
  %360 = load float, ptr %6, align 4, !tbaa !25
  %361 = load ptr, ptr %4, align 8, !tbaa !5
  %362 = getelementptr inbounds %struct.b2SolverData, ptr %361, i32 0, i32 2
  %363 = load ptr, ptr %362, align 8, !tbaa !9
  %364 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 17
  %365 = load i32, ptr %364, align 4, !tbaa !15
  %366 = sext i32 %365 to i64
  %367 = getelementptr inbounds %struct.b2Velocity, ptr %363, i64 %366
  %368 = getelementptr inbounds %struct.b2Velocity, ptr %367, i32 0, i32 1
  store float %360, ptr %368, align 4, !tbaa !26
  %369 = load ptr, ptr %4, align 8, !tbaa !5
  %370 = getelementptr inbounds %struct.b2SolverData, ptr %369, i32 0, i32 2
  %371 = load ptr, ptr %370, align 8, !tbaa !9
  %372 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 18
  %373 = load i32, ptr %372, align 8, !tbaa !28
  %374 = sext i32 %373 to i64
  %375 = getelementptr inbounds %struct.b2Velocity, ptr %371, i64 %374
  %376 = getelementptr inbounds %struct.b2Velocity, ptr %375, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %376, ptr align 4 %7, i64 8, i1 false), !tbaa.struct !24
  %377 = load float, ptr %8, align 4, !tbaa !25
  %378 = load ptr, ptr %4, align 8, !tbaa !5
  %379 = getelementptr inbounds %struct.b2SolverData, ptr %378, i32 0, i32 2
  %380 = load ptr, ptr %379, align 8, !tbaa !9
  %381 = getelementptr inbounds %class.b2PrismaticJoint, ptr %52, i32 0, i32 18
  %382 = load i32, ptr %381, align 8, !tbaa !28
  %383 = sext i32 %382 to i64
  %384 = getelementptr inbounds %struct.b2Velocity, ptr %380, i64 %383
  %385 = getelementptr inbounds %struct.b2Velocity, ptr %384, i32 0, i32 1
  store float %377, ptr %385, align 4, !tbaa !26
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #7
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef, float noundef, float noundef) #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2MaxIfET_S0_S0_(float noundef, float noundef) #5

; 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)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8)) #6 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { 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 = { 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 #7 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 40}
!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 204}
!16 = !{!"_ZTS16b2PrismaticJoint", !17, i64 0, !22, i64 128, !22, i64 136, !22, i64 144, !22, i64 152, !12, i64 160, !22, i64 164, !12, i64 172, !12, i64 176, !12, i64 180, !12, i64 184, !12, i64 188, !12, i64 192, !12, i64 196, !14, i64 200, !14, i64 201, !13, i64 204, !13, i64 208, !22, i64 212, !22, i64 220, !12, i64 228, !12, i64 232, !12, i64 236, !12, i64 240, !22, i64 244, !22, i64 252, !12, i64 260, !12, i64 264, !12, i64 268, !12, i64 272, !23, i64 276, !12, i64 292, !12, i64 296}
!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 = !{!"_ZTS10b2Velocity", !22, i64 0, !12, i64 8}
!28 = !{!16, !13, i64 208}
!29 = !{!16, !12, i64 228}
!30 = !{!16, !12, i64 232}
!31 = !{!16, !12, i64 236}
!32 = !{!16, !12, i64 240}
!33 = !{!16, !14, i64 201}
!34 = !{i8 0, i8 2}
!35 = !{}
!36 = !{!16, !12, i64 272}
!37 = !{!16, !12, i64 268}
!38 = !{!16, !12, i64 296}
!39 = !{!16, !12, i64 196}
!40 = !{!16, !12, i64 172}
!41 = !{!10, !12, i64 0}
!42 = !{!16, !12, i64 192}
!43 = !{!16, !14, i64 200}
!44 = !{!16, !12, i64 292}
!45 = !{!16, !12, i64 184}
!46 = !{!10, !12, i64 4}
!47 = !{!16, !12, i64 176}
!48 = !{!16, !12, i64 188}
!49 = !{!16, !12, i64 180}
!50 = !{!16, !12, i64 264}
!51 = !{!16, !12, i64 260}
!52 = !{!22, !12, i64 0}
!53 = !{!22, !12, i64 4}


; 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.b2Velocity = 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 nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8)) unnamed_addr #1 align 2

; 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 #2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #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 #2

; 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 #1 align 2

; 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 #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16b2PrismaticJoint24SolveVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(300) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(48) %1) unnamed_addr #5 align 2 {
  %3 = alloca %struct.b2Vec2, align 8
  %4 = alloca %struct.b2Vec2, align 8
  %5 = alloca %struct.b2Vec2, align 8
  %6 = alloca %struct.b2Vec2, align 8
  %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.b2Vec2, align 8
  %15 = alloca %struct.b2Vec2, align 8
  %16 = alloca %struct.b2Vec2, align 8
  %17 = alloca %struct.b2Vec2, align 4
  %18 = alloca %struct.b2Vec2, align 8
  %19 = alloca %struct.b2Vec2, align 8
  %20 = alloca %struct.b2Vec2, align 8
  %21 = alloca %struct.b2Vec2, align 8
  %22 = alloca %struct.b2Vec2, align 8
  %23 = alloca %struct.b2Vec2, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  %24 = getelementptr inbounds i8, ptr %1, i64 40
  %25 = load ptr, ptr %24, align 8, !tbaa !5
  %26 = getelementptr inbounds i8, ptr %0, i64 204
  %27 = load i32, ptr %26, align 4, !tbaa !14
  %28 = sext i32 %27 to i64
  %29 = getelementptr inbounds %struct.b2Velocity, ptr %25, i64 %28
  %30 = load i64, ptr %29, align 4
  store i64 %30, ptr %3, align 8
  %31 = getelementptr inbounds %struct.b2Velocity, ptr %25, i64 %28, i32 1
  %32 = load float, ptr %31, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %33 = getelementptr inbounds i8, ptr %0, i64 208
  %34 = load i32, ptr %33, align 8, !tbaa !25
  %35 = sext i32 %34 to i64
  %36 = getelementptr inbounds %struct.b2Velocity, ptr %25, i64 %35
  %37 = load i64, ptr %36, align 4
  store i64 %37, ptr %4, align 8
  %38 = getelementptr inbounds %struct.b2Velocity, ptr %25, i64 %35, i32 1
  %39 = load float, ptr %38, align 4, !tbaa !23
  %40 = getelementptr inbounds i8, ptr %0, i64 228
  %41 = load float, ptr %40, align 4, !tbaa !26
  %42 = getelementptr inbounds i8, ptr %0, i64 232
  %43 = load float, ptr %42, align 8, !tbaa !27
  %44 = getelementptr inbounds i8, ptr %0, i64 236
  %45 = load float, ptr %44, align 4, !tbaa !28
  %46 = getelementptr inbounds i8, ptr %0, i64 240
  %47 = load float, ptr %46, align 8, !tbaa !29
  %48 = getelementptr inbounds i8, ptr %0, i64 201
  %49 = load i8, ptr %48, align 1, !tbaa !30, !range !31, !noundef !32
  %50 = trunc nuw i8 %49 to i1
  %51 = insertelement <2 x float> poison, float %32, i64 0
  %52 = insertelement <2 x float> %51, float %39, i64 1
  br i1 %50, label %53, label %91

53:                                               ; preds = %2
  %54 = getelementptr inbounds i8, ptr %0, i64 244
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  %55 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %55, ptr %5, align 8
  %56 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %54, ptr noundef nonnull align 4 dereferenceable(8) %5)
  %57 = getelementptr inbounds i8, ptr %0, i64 272
  %58 = load float, ptr %57, align 8, !tbaa !33
  %59 = call float @llvm.fmuladd.f32(float %58, float %39, float %56)
  %60 = getelementptr inbounds i8, ptr %0, i64 268
  %61 = load float, ptr %60, align 4, !tbaa !34
  %62 = fneg float %61
  %63 = call float @llvm.fmuladd.f32(float %62, float %32, float %59)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  %64 = getelementptr inbounds i8, ptr %0, i64 296
  %65 = load float, ptr %64, align 8, !tbaa !35
  %66 = getelementptr inbounds i8, ptr %0, i64 196
  %67 = load float, ptr %66, align 4, !tbaa !36
  %68 = fsub float %67, %63
  %69 = fmul float %65, %68
  %70 = getelementptr inbounds i8, ptr %0, i64 172
  %71 = load float, ptr %70, align 4, !tbaa !37
  %72 = load float, ptr %1, align 8, !tbaa !38
  %73 = getelementptr inbounds i8, ptr %0, i64 192
  %74 = load float, ptr %73, align 8, !tbaa !39
  %75 = fmul float %72, %74
  %76 = fadd float %71, %69
  %77 = fneg float %75
  %78 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %76, float noundef %77, float noundef %75)
  store float %78, ptr %70, align 4, !tbaa !37
  %79 = fsub float %78, %71
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #7
  %80 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %79, ptr noundef nonnull align 4 dereferenceable(8) %54)
  store <2 x float> %80, ptr %6, align 8
  %81 = load <2 x float>, ptr %60, align 4, !tbaa !40
  %82 = insertelement <2 x float> poison, float %79, i64 0
  %83 = shufflevector <2 x float> %82, <2 x float> poison, <2 x i32> zeroinitializer
  %84 = fmul <2 x float> %83, %81
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #7
  %85 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %41, ptr noundef nonnull align 4 dereferenceable(8) %6)
  store <2 x float> %85, ptr %7, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %7)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  %86 = fneg float %45
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #7
  %87 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %43, ptr noundef nonnull align 4 dereferenceable(8) %6)
  store <2 x float> %87, ptr %8, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %8)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #7
  %88 = insertelement <2 x float> poison, float %86, i64 0
  %89 = insertelement <2 x float> %88, float %47, i64 1
  %90 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %89, <2 x float> %84, <2 x float> %52)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #7
  br label %91

91:                                               ; preds = %53, %2
  %92 = phi <2 x float> [ %90, %53 ], [ %52, %2 ]
  %93 = getelementptr inbounds i8, ptr %0, i64 200
  %94 = load i8, ptr %93, align 8, !tbaa !41, !range !31, !noundef !32
  %95 = trunc nuw i8 %94 to i1
  br i1 %95, label %96, label %._crit_edge

._crit_edge:                                      ; preds = %91
  %.pre = fneg float %45
  br label %171

96:                                               ; preds = %91
  %97 = getelementptr inbounds i8, ptr %0, i64 292
  %98 = load float, ptr %97, align 4, !tbaa !42
  %99 = getelementptr inbounds i8, ptr %0, i64 184
  %100 = load float, ptr %99, align 8, !tbaa !43
  %101 = fsub float %98, %100
  %102 = getelementptr inbounds i8, ptr %0, i64 244
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #7
  %103 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %103, ptr %9, align 8
  %104 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %102, ptr noundef nonnull align 4 dereferenceable(8) %9)
  %105 = getelementptr inbounds i8, ptr %0, i64 272
  %106 = load float, ptr %105, align 8, !tbaa !33
  %107 = extractelement <2 x float> %92, i64 1
  %108 = call float @llvm.fmuladd.f32(float %106, float %107, float %104)
  %109 = getelementptr inbounds i8, ptr %0, i64 268
  %110 = load float, ptr %109, align 4, !tbaa !34
  %111 = fneg float %110
  %112 = extractelement <2 x float> %92, i64 0
  %113 = call float @llvm.fmuladd.f32(float %111, float %112, float %108)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #7
  %114 = getelementptr inbounds i8, ptr %0, i64 296
  %115 = load float, ptr %114, align 8, !tbaa !35
  %116 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %101, float noundef 0.000000e+00)
  %117 = getelementptr inbounds i8, ptr %1, i64 4
  %118 = load float, ptr %117, align 4, !tbaa !44
  %119 = call float @llvm.fmuladd.f32(float %116, float %118, float %113)
  %120 = getelementptr inbounds i8, ptr %0, i64 176
  %121 = load float, ptr %120, align 8, !tbaa !45
  %122 = fmul float %115, %119
  %123 = fsub float %121, %122
  %124 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %123, float noundef 0.000000e+00)
  store float %124, ptr %120, align 8, !tbaa !45
  %125 = fsub float %124, %121
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #7
  %126 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %125, ptr noundef nonnull align 4 dereferenceable(8) %102)
  store <2 x float> %126, ptr %10, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #7
  %127 = fneg float %45
  %128 = getelementptr inbounds i8, ptr %0, i64 188
  %129 = getelementptr inbounds i8, ptr %0, i64 180
  %130 = load <2 x float>, ptr %109, align 4, !tbaa !40
  %131 = insertelement <2 x float> poison, float %125, i64 0
  %132 = shufflevector <2 x float> %131, <2 x float> poison, <2 x i32> zeroinitializer
  %133 = fmul <2 x float> %132, %130
  %134 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %41, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %134, ptr %11, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %11)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #7
  %135 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %43, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %135, ptr %12, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #7
  %136 = insertelement <2 x float> poison, float %127, i64 0
  %137 = insertelement <2 x float> %136, float %47, i64 1
  %138 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %137, <2 x float> %133, <2 x float> %92)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #7
  %139 = load float, ptr %128, align 4, !tbaa !46
  %140 = load float, ptr %97, align 4, !tbaa !42
  %141 = fsub float %139, %140
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #7
  %142 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %142, ptr %13, align 8
  %143 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %102, ptr noundef nonnull align 4 dereferenceable(8) %13)
  %144 = load float, ptr %109, align 4, !tbaa !34
  %145 = extractelement <2 x float> %138, i64 0
  %146 = call float @llvm.fmuladd.f32(float %144, float %145, float %143)
  %147 = load float, ptr %105, align 8, !tbaa !33
  %148 = fneg float %147
  %149 = extractelement <2 x float> %138, i64 1
  %150 = call float @llvm.fmuladd.f32(float %148, float %149, float %146)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #7
  %151 = load float, ptr %114, align 8, !tbaa !35
  %152 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %141, float noundef 0.000000e+00)
  %153 = load float, ptr %117, align 4, !tbaa !44
  %154 = call float @llvm.fmuladd.f32(float %152, float %153, float %150)
  %155 = load float, ptr %129, align 4, !tbaa !47
  %156 = fmul float %151, %154
  %157 = fsub float %155, %156
  %158 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %157, float noundef 0.000000e+00)
  store float %158, ptr %129, align 4, !tbaa !47
  %159 = fsub float %158, %155
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #7
  %160 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %159, ptr noundef nonnull align 4 dereferenceable(8) %102)
  store <2 x float> %160, ptr %14, align 8
  %161 = load <2 x float>, ptr %109, align 4, !tbaa !40
  %162 = insertelement <2 x float> poison, float %159, i64 0
  %163 = shufflevector <2 x float> %162, <2 x float> poison, <2 x i32> zeroinitializer
  %164 = fmul <2 x float> %163, %161
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #7
  %165 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %41, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %165, ptr %15, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %15)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #7
  %166 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %43, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %166, ptr %16, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %16)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #7
  %167 = fneg float %47
  %168 = insertelement <2 x float> poison, float %45, i64 0
  %169 = insertelement <2 x float> %168, float %167, i64 1
  %170 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %169, <2 x float> %164, <2 x float> %138)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #7
  br label %171

171:                                              ; preds = %._crit_edge, %96
  %.pre-phi = phi float [ %.pre, %._crit_edge ], [ %127, %96 ]
  %172 = phi <2 x float> [ %92, %._crit_edge ], [ %170, %96 ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #7
  call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %17)
  %173 = getelementptr inbounds i8, ptr %0, i64 252
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #7
  %174 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %174, ptr %18, align 8
  %175 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %173, ptr noundef nonnull align 4 dereferenceable(8) %18)
  %176 = getelementptr inbounds i8, ptr %0, i64 264
  %177 = load float, ptr %176, align 8, !tbaa !48
  %178 = extractelement <2 x float> %172, i64 1
  %179 = call float @llvm.fmuladd.f32(float %177, float %178, float %175)
  %180 = getelementptr inbounds i8, ptr %0, i64 260
  %181 = load float, ptr %180, align 4, !tbaa !49
  %182 = fneg float %181
  %183 = extractelement <2 x float> %172, i64 0
  %184 = call float @llvm.fmuladd.f32(float %182, float %183, float %179)
  store float %184, ptr %17, align 4, !tbaa !50
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #7
  %185 = fsub float %178, %183
  %186 = getelementptr inbounds i8, ptr %17, i64 4
  store float %185, ptr %186, align 4, !tbaa !51
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #7
  %187 = getelementptr inbounds i8, ptr %0, i64 276
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #7
  %188 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %188, ptr %20, align 8
  %189 = call <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %187, ptr noundef nonnull align 4 dereferenceable(8) %20)
  store <2 x float> %189, ptr %19, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #7
  %190 = getelementptr inbounds i8, ptr %0, i64 164
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %190, ptr noundef nonnull align 4 dereferenceable(8) %19)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #7
  %191 = load float, ptr %19, align 8, !tbaa !50
  %192 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %191, ptr noundef nonnull align 4 dereferenceable(8) %173)
  store <2 x float> %192, ptr %21, align 8
  %193 = load float, ptr %19, align 8, !tbaa !50
  %194 = load float, ptr %180, align 4, !tbaa !49
  %195 = getelementptr inbounds i8, ptr %19, i64 4
  %196 = load float, ptr %195, align 4, !tbaa !51
  %197 = call float @llvm.fmuladd.f32(float %193, float %194, float %196)
  %198 = load float, ptr %176, align 8, !tbaa !48
  %199 = call float @llvm.fmuladd.f32(float %193, float %198, float %196)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #7
  %200 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %41, ptr noundef nonnull align 4 dereferenceable(8) %21)
  store <2 x float> %200, ptr %22, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %22)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #7
  %201 = call float @llvm.fmuladd.f32(float %.pre-phi, float %197, float %183)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #7
  %202 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %43, ptr noundef nonnull align 4 dereferenceable(8) %21)
  store <2 x float> %202, ptr %23, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %23)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #7
  %203 = call float @llvm.fmuladd.f32(float %47, float %199, float %178)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #7
  %204 = load ptr, ptr %24, align 8, !tbaa !5
  %205 = load i32, ptr %26, align 4, !tbaa !14
  %206 = sext i32 %205 to i64
  %207 = getelementptr inbounds %struct.b2Velocity, ptr %204, i64 %206
  %208 = load i64, ptr %3, align 8
  store i64 %208, ptr %207, align 4
  %209 = load ptr, ptr %24, align 8, !tbaa !5
  %210 = load i32, ptr %26, align 4, !tbaa !14
  %211 = sext i32 %210 to i64
  %212 = getelementptr inbounds %struct.b2Velocity, ptr %209, i64 %211, i32 1
  store float %201, ptr %212, align 4, !tbaa !23
  %213 = load i32, ptr %33, align 8, !tbaa !25
  %214 = sext i32 %213 to i64
  %215 = getelementptr inbounds %struct.b2Velocity, ptr %209, i64 %214
  %216 = load i64, ptr %4, align 8
  store i64 %216, ptr %215, align 4
  %217 = load ptr, ptr %24, align 8, !tbaa !5
  %218 = load i32, ptr %33, align 8, !tbaa !25
  %219 = sext i32 %218 to i64
  %220 = getelementptr inbounds %struct.b2Velocity, ptr %217, i64 %219, i32 1
  store float %203, ptr %220, align 4, !tbaa !23
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef, float noundef, float noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2MaxIfET_S0_S0_(float noundef, float noundef) local_unnamed_addr #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)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5 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>) #6

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !13, i64 40}
!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 204}
!15 = !{!"_ZTS16b2PrismaticJoint", !16, i64 0, !21, i64 128, !21, i64 136, !21, i64 144, !21, i64 152, !8, i64 160, !21, i64 164, !8, i64 172, !8, i64 176, !8, i64 180, !8, i64 184, !8, i64 188, !8, i64 192, !8, i64 196, !12, i64 200, !12, i64 201, !11, i64 204, !11, i64 208, !21, i64 212, !21, i64 220, !8, i64 228, !8, i64 232, !8, i64 236, !8, i64 240, !21, i64 244, !21, i64 252, !8, i64 260, !8, i64 264, !8, i64 268, !8, i64 272, !22, i64 276, !8, i64 292, !8, i64 296}
!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 = !{!"_ZTS10b2Velocity", !21, i64 0, !8, i64 8}
!25 = !{!15, !11, i64 208}
!26 = !{!15, !8, i64 228}
!27 = !{!15, !8, i64 232}
!28 = !{!15, !8, i64 236}
!29 = !{!15, !8, i64 240}
!30 = !{!15, !12, i64 201}
!31 = !{i8 0, i8 2}
!32 = !{}
!33 = !{!15, !8, i64 272}
!34 = !{!15, !8, i64 268}
!35 = !{!15, !8, i64 296}
!36 = !{!15, !8, i64 196}
!37 = !{!15, !8, i64 172}
!38 = !{!6, !8, i64 0}
!39 = !{!15, !8, i64 192}
!40 = !{!8, !8, i64 0}
!41 = !{!15, !12, i64 200}
!42 = !{!15, !8, i64 292}
!43 = !{!15, !8, i64 184}
!44 = !{!6, !8, i64 4}
!45 = !{!15, !8, i64 176}
!46 = !{!15, !8, i64 188}
!47 = !{!15, !8, i64 180}
!48 = !{!15, !8, i64 264}
!49 = !{!15, !8, i64 260}
!50 = !{!21, !8, i64 0}
!51 = !{!21, !8, i64 4}


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