; LLVM IR from mtsamis/box2d-optimized :: src/dynamics/b2_contact_solver.ll (ZN15b2ContactSolver24SolveVelocityConstraintsEv)

; 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 }
%class.b2ContactSolver = type <{ ptr, ptr, ptr, ptr, ptr, i32, [4 x i8] }>
%struct.b2ContactVelocityConstraint = type { [2 x %struct.b2VelocityConstraintPoint], %struct.b2Vec2, %struct.b2Mat22, %struct.b2Mat22, i32, i32, float, float, float, float, float, float, float, float, i32, ptr }
%struct.b2VelocityConstraintPoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2Velocity = type { %struct.b2Vec2, float }

@g_blockSolve = external dso_local global i8, align 1
@.str.1 = external hidden unnamed_addr constant [92 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [35 x i8], align 1
@__PRETTY_FUNCTION__._ZN15b2ContactSolver24SolveVelocityConstraintsEv = external hidden unnamed_addr constant [49 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [27 x i8], align 1

; 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: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #2

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossRK6b2Vec2f(ptr noundef nonnull align 4 dereferenceable(8), float noundef) #3

; 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)) #4

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

; 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)) #4

; 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)) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) #3

; 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)) #6 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)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN15b2ContactSolver24SolveVelocityConstraintsEv(ptr noundef nonnull align 8 dereferenceable(44) %0) #7 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca float, align 4
  %11 = alloca float, align 4
  %12 = alloca i32, align 4
  %13 = alloca %struct.b2Vec2, align 4
  %14 = alloca float, align 4
  %15 = alloca %struct.b2Vec2, align 4
  %16 = alloca float, align 4
  %17 = alloca %struct.b2Vec2, align 4
  %18 = alloca %struct.b2Vec2, align 4
  %19 = alloca i32, align 4
  %20 = alloca ptr, align 8
  %21 = alloca %struct.b2Vec2, align 4
  %22 = alloca %struct.b2Vec2, align 4
  %23 = alloca %struct.b2Vec2, align 4
  %24 = alloca %struct.b2Vec2, align 4
  %25 = alloca %struct.b2Vec2, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca float, align 4
  %29 = alloca float, align 4
  %30 = alloca %struct.b2Vec2, align 4
  %31 = alloca %struct.b2Vec2, align 4
  %32 = alloca %struct.b2Vec2, align 4
  %33 = alloca i32, align 4
  %34 = alloca ptr, align 8
  %35 = alloca %struct.b2Vec2, align 4
  %36 = alloca %struct.b2Vec2, align 4
  %37 = alloca %struct.b2Vec2, align 4
  %38 = alloca %struct.b2Vec2, align 4
  %39 = alloca %struct.b2Vec2, align 4
  %40 = alloca float, align 4
  %41 = alloca float, align 4
  %42 = alloca float, align 4
  %43 = alloca %struct.b2Vec2, align 4
  %44 = alloca %struct.b2Vec2, align 4
  %45 = alloca %struct.b2Vec2, align 4
  %46 = alloca ptr, align 8
  %47 = alloca ptr, align 8
  %48 = alloca %struct.b2Vec2, align 4
  %49 = alloca %struct.b2Vec2, align 4
  %50 = alloca %struct.b2Vec2, align 4
  %51 = alloca %struct.b2Vec2, align 4
  %52 = alloca %struct.b2Vec2, align 4
  %53 = alloca %struct.b2Vec2, align 4
  %54 = alloca %struct.b2Vec2, align 4
  %55 = alloca %struct.b2Vec2, align 4
  %56 = alloca %struct.b2Vec2, align 4
  %57 = alloca %struct.b2Vec2, align 4
  %58 = alloca %struct.b2Vec2, align 4
  %59 = alloca float, align 4
  %60 = alloca float, align 4
  %61 = alloca %struct.b2Vec2, align 4
  %62 = alloca %struct.b2Vec2, align 4
  %63 = alloca float, align 4
  %64 = alloca %struct.b2Vec2, align 4
  %65 = alloca %struct.b2Vec2, align 4
  %66 = alloca %struct.b2Vec2, align 4
  %67 = alloca %struct.b2Vec2, align 4
  %68 = alloca %struct.b2Vec2, align 4
  %69 = alloca %struct.b2Vec2, align 4
  %70 = alloca %struct.b2Vec2, align 4
  %71 = alloca %struct.b2Vec2, align 4
  %72 = alloca %struct.b2Vec2, align 4
  %73 = alloca %struct.b2Vec2, align 4
  %74 = alloca %struct.b2Vec2, align 4
  %75 = alloca %struct.b2Vec2, align 4
  %76 = alloca %struct.b2Vec2, align 4
  %77 = alloca %struct.b2Vec2, align 4
  %78 = alloca %struct.b2Vec2, align 4
  %79 = alloca %struct.b2Vec2, align 4
  %80 = alloca %struct.b2Vec2, align 4
  %81 = alloca %struct.b2Vec2, align 4
  %82 = alloca %struct.b2Vec2, align 4
  %83 = alloca %struct.b2Vec2, align 4
  %84 = alloca %struct.b2Vec2, align 4
  %85 = alloca %struct.b2Vec2, align 4
  %86 = alloca %struct.b2Vec2, align 4
  %87 = alloca %struct.b2Vec2, align 4
  %88 = alloca %struct.b2Vec2, align 4
  %89 = alloca %struct.b2Vec2, align 4
  %90 = alloca %struct.b2Vec2, align 4
  %91 = alloca %struct.b2Vec2, align 4
  %92 = alloca %struct.b2Vec2, align 4
  %93 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %94 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #8
  store i32 0, ptr %3, align 4, !tbaa !9
  br label %95

95:                                               ; preds = %673, %1
  %96 = load i32, ptr %3, align 4, !tbaa !9
  %97 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 5
  %98 = load i32, ptr %97, align 8, !tbaa !11
  %99 = icmp slt i32 %96, %98
  br i1 %99, label %101, label %100

100:                                              ; preds = %95
  store i32 2, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #8
  br label %676

101:                                              ; preds = %95
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #8
  %102 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 4
  %103 = load ptr, ptr %102, align 8, !tbaa !13
  %104 = load i32, ptr %3, align 4, !tbaa !9
  %105 = sext i32 %104 to i64
  %106 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %103, i64 %105
  store ptr %106, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #8
  %107 = load ptr, ptr %5, align 8, !tbaa !5
  %108 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %107, i32 0, i32 4
  %109 = load i32, ptr %108, align 8, !tbaa !14
  store i32 %109, ptr %6, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #8
  %110 = load ptr, ptr %5, align 8, !tbaa !5
  %111 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %110, i32 0, i32 5
  %112 = load i32, ptr %111, align 4, !tbaa !19
  store i32 %112, ptr %7, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #8
  %113 = load ptr, ptr %5, align 8, !tbaa !5
  %114 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %113, i32 0, i32 6
  %115 = load float, ptr %114, align 8, !tbaa !20
  store float %115, ptr %8, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #8
  %116 = load ptr, ptr %5, align 8, !tbaa !5
  %117 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %116, i32 0, i32 8
  %118 = load float, ptr %117, align 8, !tbaa !22
  store float %118, ptr %9, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #8
  %119 = load ptr, ptr %5, align 8, !tbaa !5
  %120 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %119, i32 0, i32 7
  %121 = load float, ptr %120, align 4, !tbaa !23
  store float %121, ptr %10, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #8
  %122 = load ptr, ptr %5, align 8, !tbaa !5
  %123 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %122, i32 0, i32 9
  %124 = load float, ptr %123, align 4, !tbaa !24
  store float %124, ptr %11, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #8
  %125 = load ptr, ptr %5, align 8, !tbaa !5
  %126 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %125, i32 0, i32 14
  %127 = load i32, ptr %126, align 8, !tbaa !25
  store i32 %127, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #8
  %128 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 1
  %129 = load ptr, ptr %128, align 8, !tbaa !26
  %130 = load i32, ptr %6, align 4, !tbaa !9
  %131 = sext i32 %130 to i64
  %132 = getelementptr inbounds %struct.b2Velocity, ptr %129, i64 %131
  %133 = getelementptr inbounds %struct.b2Velocity, ptr %132, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %13, ptr align 4 %133, i64 8, i1 false), !tbaa.struct !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #8
  %134 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 1
  %135 = load ptr, ptr %134, align 8, !tbaa !26
  %136 = load i32, ptr %6, align 4, !tbaa !9
  %137 = sext i32 %136 to i64
  %138 = getelementptr inbounds %struct.b2Velocity, ptr %135, i64 %137
  %139 = getelementptr inbounds %struct.b2Velocity, ptr %138, i32 0, i32 1
  %140 = load float, ptr %139, align 4, !tbaa !28
  store float %140, ptr %14, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  %141 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 1
  %142 = load ptr, ptr %141, align 8, !tbaa !26
  %143 = load i32, ptr %7, align 4, !tbaa !9
  %144 = sext i32 %143 to i64
  %145 = getelementptr inbounds %struct.b2Velocity, ptr %142, i64 %144
  %146 = getelementptr inbounds %struct.b2Velocity, ptr %145, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %15, ptr align 4 %146, i64 8, i1 false), !tbaa.struct !27
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #8
  %147 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 1
  %148 = load ptr, ptr %147, align 8, !tbaa !26
  %149 = load i32, ptr %7, align 4, !tbaa !9
  %150 = sext i32 %149 to i64
  %151 = getelementptr inbounds %struct.b2Velocity, ptr %148, i64 %150
  %152 = getelementptr inbounds %struct.b2Velocity, ptr %151, i32 0, i32 1
  %153 = load float, ptr %152, align 4, !tbaa !28
  store float %153, ptr %16, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #8
  %154 = load ptr, ptr %5, align 8, !tbaa !5
  %155 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %154, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 8 %155, i64 8, i1 false), !tbaa.struct !27
  %156 = load i32, ptr %12, align 4, !tbaa !9
  %157 = icmp eq i32 %156, 1
  br i1 %157, label %161, label %158

158:                                              ; preds = %101
  %159 = load i32, ptr %12, align 4, !tbaa !9
  %160 = icmp eq i32 %159, 2
  br label %161

161:                                              ; preds = %158, %101
  %162 = phi i1 [ true, %101 ], [ %160, %158 ]
  br i1 %162, label %163, label %164

163:                                              ; preds = %161
  br label %166

164:                                              ; preds = %161
  call void @__assert_fail(ptr noundef @.str.3, ptr noundef @.str.1, i32 noundef 322, ptr noundef @__PRETTY_FUNCTION__._ZN15b2ContactSolver24SolveVelocityConstraintsEv) #9
  unreachable

165:                                              ; No predecessors!
  br label %166

166:                                              ; preds = %165, %163
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #8
  %167 = call <2 x float> @_Z7b2CrossRK6b2Vec2f(ptr noundef nonnull align 4 dereferenceable(8) %17, float noundef 1.000000e+00)
  store <2 x float> %167, ptr %18, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #8
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %168

168:                                              ; preds = %245, %166
  %169 = load i32, ptr %19, align 4, !tbaa !9
  %170 = load i32, ptr %12, align 4, !tbaa !9
  %171 = icmp slt i32 %169, %170
  br i1 %171, label %173, label %172

172:                                              ; preds = %168
  store i32 5, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  br label %248

173:                                              ; preds = %168
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #8
  %174 = load ptr, ptr %5, align 8, !tbaa !5
  %175 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %174, i32 0, i32 0
  %176 = getelementptr inbounds [2 x %struct.b2VelocityConstraintPoint], ptr %175, i64 0, i64 0
  %177 = load i32, ptr %19, align 4, !tbaa !9
  %178 = sext i32 %177 to i64
  %179 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %176, i64 %178
  store ptr %179, ptr %20, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #8
  %180 = load float, ptr %16, align 4, !tbaa !21
  %181 = load ptr, ptr %20, align 8, !tbaa !5
  %182 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %181, i32 0, i32 1
  %183 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %180, ptr noundef nonnull align 4 dereferenceable(8) %182)
  store <2 x float> %183, ptr %23, align 4
  %184 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %23)
  store <2 x float> %184, ptr %22, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #8
  %185 = load float, ptr %14, align 4, !tbaa !21
  %186 = load ptr, ptr %20, align 8, !tbaa !5
  %187 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %186, i32 0, i32 0
  %188 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %185, ptr noundef nonnull align 4 dereferenceable(8) %187)
  store <2 x float> %188, ptr %25, align 4
  %189 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %25)
  store <2 x float> %189, ptr %24, align 4
  %190 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %22, ptr noundef nonnull align 4 dereferenceable(8) %24)
  store <2 x float> %190, ptr %21, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #8
  %191 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %21, ptr noundef nonnull align 4 dereferenceable(8) %18)
  %192 = load ptr, ptr %5, align 8, !tbaa !5
  %193 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %192, i32 0, i32 13
  %194 = load float, ptr %193, align 4, !tbaa !30
  %195 = fsub float %191, %194
  store float %195, ptr %26, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #8
  %196 = load ptr, ptr %20, align 8, !tbaa !5
  %197 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %196, i32 0, i32 5
  %198 = load float, ptr %197, align 4, !tbaa !31
  %199 = load float, ptr %26, align 4, !tbaa !21
  %200 = fneg float %199
  %201 = fmul float %198, %200
  store float %201, ptr %27, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #8
  %202 = load ptr, ptr %5, align 8, !tbaa !5
  %203 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %202, i32 0, i32 10
  %204 = load float, ptr %203, align 8, !tbaa !33
  %205 = load ptr, ptr %20, align 8, !tbaa !5
  %206 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %205, i32 0, i32 2
  %207 = load float, ptr %206, align 4, !tbaa !34
  %208 = fmul float %204, %207
  store float %208, ptr %28, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #8
  %209 = load ptr, ptr %20, align 8, !tbaa !5
  %210 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %209, i32 0, i32 4
  %211 = load float, ptr %210, align 4, !tbaa !35
  %212 = load float, ptr %27, align 4, !tbaa !21
  %213 = fadd float %211, %212
  %214 = load float, ptr %28, align 4, !tbaa !21
  %215 = fneg float %214
  %216 = load float, ptr %28, align 4, !tbaa !21
  %217 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %213, float noundef %215, float noundef %216)
  store float %217, ptr %29, align 4, !tbaa !21
  %218 = load float, ptr %29, align 4, !tbaa !21
  %219 = load ptr, ptr %20, align 8, !tbaa !5
  %220 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %219, i32 0, i32 4
  %221 = load float, ptr %220, align 4, !tbaa !35
  %222 = fsub float %218, %221
  store float %222, ptr %27, align 4, !tbaa !21
  %223 = load float, ptr %29, align 4, !tbaa !21
  %224 = load ptr, ptr %20, align 8, !tbaa !5
  %225 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %224, i32 0, i32 4
  store float %223, ptr %225, align 4, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #8
  %226 = load float, ptr %27, align 4, !tbaa !21
  %227 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %226, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %227, ptr %30, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #8
  %228 = load float, ptr %8, align 4, !tbaa !21
  %229 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %228, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %229, ptr %31, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %31)
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #8
  %230 = load float, ptr %9, align 4, !tbaa !21
  %231 = load ptr, ptr %20, align 8, !tbaa !5
  %232 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %231, i32 0, i32 0
  %233 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %232, ptr noundef nonnull align 4 dereferenceable(8) %30)
  %234 = load float, ptr %14, align 4, !tbaa !21
  %235 = fneg float %230
  %236 = call float @llvm.fmuladd.f32(float %235, float %233, float %234)
  store float %236, ptr %14, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  %237 = load float, ptr %10, align 4, !tbaa !21
  %238 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %237, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %238, ptr %32, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %32)
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  %239 = load float, ptr %11, align 4, !tbaa !21
  %240 = load ptr, ptr %20, align 8, !tbaa !5
  %241 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %240, i32 0, i32 1
  %242 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %241, ptr noundef nonnull align 4 dereferenceable(8) %30)
  %243 = load float, ptr %16, align 4, !tbaa !21
  %244 = call float @llvm.fmuladd.f32(float %239, float %242, float %243)
  store float %244, ptr %16, align 4, !tbaa !21
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #8
  br label %245

245:                                              ; preds = %173
  %246 = load i32, ptr %19, align 4, !tbaa !9
  %247 = add nsw i32 %246, 1
  store i32 %247, ptr %19, align 4, !tbaa !9
  br label %168, !llvm.loop !36

248:                                              ; preds = %172
  %249 = load i32, ptr %12, align 4, !tbaa !9
  %250 = icmp eq i32 %249, 1
  br i1 %250, label %256, label %251

251:                                              ; preds = %248
  %252 = load i8, ptr @g_blockSolve, align 1, !tbaa !38, !range !40, !noundef !41
  %253 = trunc i8 %252 to i1
  %254 = zext i1 %253 to i32
  %255 = icmp eq i32 %254, 0
  br i1 %255, label %256, label %328

256:                                              ; preds = %251, %248
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #8
  store i32 0, ptr %33, align 4, !tbaa !9
  br label %257

257:                                              ; preds = %324, %256
  %258 = load i32, ptr %33, align 4, !tbaa !9
  %259 = load i32, ptr %12, align 4, !tbaa !9
  %260 = icmp slt i32 %258, %259
  br i1 %260, label %262, label %261

261:                                              ; preds = %257
  store i32 8, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #8
  br label %327

262:                                              ; preds = %257
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #8
  %263 = load ptr, ptr %5, align 8, !tbaa !5
  %264 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %263, i32 0, i32 0
  %265 = getelementptr inbounds [2 x %struct.b2VelocityConstraintPoint], ptr %264, i64 0, i64 0
  %266 = load i32, ptr %33, align 4, !tbaa !9
  %267 = sext i32 %266 to i64
  %268 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %265, i64 %267
  store ptr %268, ptr %34, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #8
  %269 = load float, ptr %16, align 4, !tbaa !21
  %270 = load ptr, ptr %34, align 8, !tbaa !5
  %271 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %270, i32 0, i32 1
  %272 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %269, ptr noundef nonnull align 4 dereferenceable(8) %271)
  store <2 x float> %272, ptr %37, align 4
  %273 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %37)
  store <2 x float> %273, ptr %36, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #8
  %274 = load float, ptr %14, align 4, !tbaa !21
  %275 = load ptr, ptr %34, align 8, !tbaa !5
  %276 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %275, i32 0, i32 0
  %277 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %274, ptr noundef nonnull align 4 dereferenceable(8) %276)
  store <2 x float> %277, ptr %39, align 4
  %278 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %39)
  store <2 x float> %278, ptr %38, align 4
  %279 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(8) %38)
  store <2 x float> %279, ptr %35, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #8
  %280 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %35, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store float %280, ptr %40, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #8
  %281 = load ptr, ptr %34, align 8, !tbaa !5
  %282 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %281, i32 0, i32 3
  %283 = load float, ptr %282, align 4, !tbaa !42
  %284 = fneg float %283
  %285 = load float, ptr %40, align 4, !tbaa !21
  %286 = load ptr, ptr %34, align 8, !tbaa !5
  %287 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %286, i32 0, i32 6
  %288 = load float, ptr %287, align 4, !tbaa !43
  %289 = fsub float %285, %288
  %290 = fmul float %284, %289
  store float %290, ptr %41, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #8
  %291 = load ptr, ptr %34, align 8, !tbaa !5
  %292 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %291, i32 0, i32 2
  %293 = load float, ptr %292, align 4, !tbaa !34
  %294 = load float, ptr %41, align 4, !tbaa !21
  %295 = fadd float %293, %294
  %296 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %295, float noundef 0.000000e+00)
  store float %296, ptr %42, align 4, !tbaa !21
  %297 = load float, ptr %42, align 4, !tbaa !21
  %298 = load ptr, ptr %34, align 8, !tbaa !5
  %299 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %298, i32 0, i32 2
  %300 = load float, ptr %299, align 4, !tbaa !34
  %301 = fsub float %297, %300
  store float %301, ptr %41, align 4, !tbaa !21
  %302 = load float, ptr %42, align 4, !tbaa !21
  %303 = load ptr, ptr %34, align 8, !tbaa !5
  %304 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %303, i32 0, i32 2
  store float %302, ptr %304, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #8
  %305 = load float, ptr %41, align 4, !tbaa !21
  %306 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %305, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %306, ptr %43, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #8
  %307 = load float, ptr %8, align 4, !tbaa !21
  %308 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %307, ptr noundef nonnull align 4 dereferenceable(8) %43)
  store <2 x float> %308, ptr %44, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %44)
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #8
  %309 = load float, ptr %9, align 4, !tbaa !21
  %310 = load ptr, ptr %34, align 8, !tbaa !5
  %311 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %310, i32 0, i32 0
  %312 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %311, ptr noundef nonnull align 4 dereferenceable(8) %43)
  %313 = load float, ptr %14, align 4, !tbaa !21
  %314 = fneg float %309
  %315 = call float @llvm.fmuladd.f32(float %314, float %312, float %313)
  store float %315, ptr %14, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #8
  %316 = load float, ptr %10, align 4, !tbaa !21
  %317 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %316, ptr noundef nonnull align 4 dereferenceable(8) %43)
  store <2 x float> %317, ptr %45, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %45)
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #8
  %318 = load float, ptr %11, align 4, !tbaa !21
  %319 = load ptr, ptr %34, align 8, !tbaa !5
  %320 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %319, i32 0, i32 1
  %321 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %320, ptr noundef nonnull align 4 dereferenceable(8) %43)
  %322 = load float, ptr %16, align 4, !tbaa !21
  %323 = call float @llvm.fmuladd.f32(float %318, float %321, float %322)
  store float %323, ptr %16, align 4, !tbaa !21
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  br label %324

324:                                              ; preds = %262
  %325 = load i32, ptr %33, align 4, !tbaa !9
  %326 = add nsw i32 %325, 1
  store i32 %326, ptr %33, align 4, !tbaa !9
  br label %257, !llvm.loop !44

327:                                              ; preds = %261
  br label %646

328:                                              ; preds = %251
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #8
  %329 = load ptr, ptr %5, align 8, !tbaa !5
  %330 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %329, i32 0, i32 0
  %331 = getelementptr inbounds [2 x %struct.b2VelocityConstraintPoint], ptr %330, i64 0, i64 0
  %332 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %331, i64 0
  store ptr %332, ptr %46, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #8
  %333 = load ptr, ptr %5, align 8, !tbaa !5
  %334 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %333, i32 0, i32 0
  %335 = getelementptr inbounds [2 x %struct.b2VelocityConstraintPoint], ptr %334, i64 0, i64 0
  %336 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %335, i64 1
  store ptr %336, ptr %47, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #8
  %337 = load ptr, ptr %46, align 8, !tbaa !5
  %338 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %337, i32 0, i32 2
  %339 = load float, ptr %338, align 4, !tbaa !34
  %340 = load ptr, ptr %47, align 8, !tbaa !5
  %341 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %340, i32 0, i32 2
  %342 = load float, ptr %341, align 4, !tbaa !34
  call void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8) %48, float noundef %339, float noundef %342)
  %343 = getelementptr inbounds %struct.b2Vec2, ptr %48, i32 0, i32 0
  %344 = load float, ptr %343, align 4, !tbaa !45
  %345 = fcmp oge float %344, 0.000000e+00
  br i1 %345, label %346, label %350

346:                                              ; preds = %328
  %347 = getelementptr inbounds %struct.b2Vec2, ptr %48, i32 0, i32 1
  %348 = load float, ptr %347, align 4, !tbaa !46
  %349 = fcmp oge float %348, 0.000000e+00
  br label %350

350:                                              ; preds = %346, %328
  %351 = phi i1 [ false, %328 ], [ %349, %346 ]
  br i1 %351, label %352, label %353

352:                                              ; preds = %350
  br label %355

353:                                              ; preds = %350
  call void @__assert_fail(ptr noundef @.str.4, ptr noundef @.str.1, i32 noundef 428, ptr noundef @__PRETTY_FUNCTION__._ZN15b2ContactSolver24SolveVelocityConstraintsEv) #9
  unreachable

354:                                              ; No predecessors!
  br label %355

355:                                              ; preds = %354, %352
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #8
  %356 = load float, ptr %16, align 4, !tbaa !21
  %357 = load ptr, ptr %46, align 8, !tbaa !5
  %358 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %357, i32 0, i32 1
  %359 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %356, ptr noundef nonnull align 4 dereferenceable(8) %358)
  store <2 x float> %359, ptr %51, align 4
  %360 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %51)
  store <2 x float> %360, ptr %50, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #8
  %361 = load float, ptr %14, align 4, !tbaa !21
  %362 = load ptr, ptr %46, align 8, !tbaa !5
  %363 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %362, i32 0, i32 0
  %364 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %361, ptr noundef nonnull align 4 dereferenceable(8) %363)
  store <2 x float> %364, ptr %53, align 4
  %365 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %53)
  store <2 x float> %365, ptr %52, align 4
  %366 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %50, ptr noundef nonnull align 4 dereferenceable(8) %52)
  store <2 x float> %366, ptr %49, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #8
  %367 = load float, ptr %16, align 4, !tbaa !21
  %368 = load ptr, ptr %47, align 8, !tbaa !5
  %369 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %368, i32 0, i32 1
  %370 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %367, ptr noundef nonnull align 4 dereferenceable(8) %369)
  store <2 x float> %370, ptr %56, align 4
  %371 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %56)
  store <2 x float> %371, ptr %55, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %58) #8
  %372 = load float, ptr %14, align 4, !tbaa !21
  %373 = load ptr, ptr %47, align 8, !tbaa !5
  %374 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %373, i32 0, i32 0
  %375 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %372, ptr noundef nonnull align 4 dereferenceable(8) %374)
  store <2 x float> %375, ptr %58, align 4
  %376 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %58)
  store <2 x float> %376, ptr %57, align 4
  %377 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %55, ptr noundef nonnull align 4 dereferenceable(8) %57)
  store <2 x float> %377, ptr %54, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %59) #8
  %378 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %49, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store float %378, ptr %59, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 4, ptr %60) #8
  %379 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %54, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store float %379, ptr %60, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %61) #8
  call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %61)
  %380 = load float, ptr %59, align 4, !tbaa !21
  %381 = load ptr, ptr %46, align 8, !tbaa !5
  %382 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %381, i32 0, i32 6
  %383 = load float, ptr %382, align 4, !tbaa !43
  %384 = fsub float %380, %383
  %385 = getelementptr inbounds %struct.b2Vec2, ptr %61, i32 0, i32 0
  store float %384, ptr %385, align 4, !tbaa !45
  %386 = load float, ptr %60, align 4, !tbaa !21
  %387 = load ptr, ptr %47, align 8, !tbaa !5
  %388 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %387, i32 0, i32 6
  %389 = load float, ptr %388, align 4, !tbaa !43
  %390 = fsub float %386, %389
  %391 = getelementptr inbounds %struct.b2Vec2, ptr %61, i32 0, i32 1
  store float %390, ptr %391, align 4, !tbaa !46
  call void @llvm.lifetime.start.p0(i64 8, ptr %62) #8
  %392 = load ptr, ptr %5, align 8, !tbaa !5
  %393 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %392, i32 0, i32 3
  %394 = call <2 x float> @_Z5b2MulRK7b2Mat22RK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %393, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %394, ptr %62, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %61, ptr noundef nonnull align 4 dereferenceable(8) %62)
  call void @llvm.lifetime.end.p0(i64 8, ptr %62) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %63) #8
  store float 0x3F50624DE0000000, ptr %63, align 4, !tbaa !21
  br label %395

395:                                              ; preds = %355
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %65) #8
  %396 = load ptr, ptr %5, align 8, !tbaa !5
  %397 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %396, i32 0, i32 2
  %398 = call <2 x float> @_Z5b2MulRK7b2Mat22RK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %397, ptr noundef nonnull align 4 dereferenceable(8) %61)
  store <2 x float> %398, ptr %65, align 4
  %399 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %65)
  store <2 x float> %399, ptr %64, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #8
  %400 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  %401 = load float, ptr %400, align 4, !tbaa !45
  %402 = fcmp oge float %401, 0.000000e+00
  br i1 %402, label %403, label %450

403:                                              ; preds = %395
  %404 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  %405 = load float, ptr %404, align 4, !tbaa !46
  %406 = fcmp oge float %405, 0.000000e+00
  br i1 %406, label %407, label %450

407:                                              ; preds = %403
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #8
  %408 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %64, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %408, ptr %66, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %67) #8
  %409 = getelementptr inbounds %struct.b2Vec2, ptr %66, i32 0, i32 0
  %410 = load float, ptr %409, align 4, !tbaa !45
  %411 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %410, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %411, ptr %67, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %68) #8
  %412 = getelementptr inbounds %struct.b2Vec2, ptr %66, i32 0, i32 1
  %413 = load float, ptr %412, align 4, !tbaa !46
  %414 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %413, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %414, ptr %68, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %69) #8
  %415 = load float, ptr %8, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %70) #8
  %416 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %67, ptr noundef nonnull align 4 dereferenceable(8) %68)
  store <2 x float> %416, ptr %70, align 4
  %417 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %415, ptr noundef nonnull align 4 dereferenceable(8) %70)
  store <2 x float> %417, ptr %69, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %69)
  call void @llvm.lifetime.end.p0(i64 8, ptr %70) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %69) #8
  %418 = load float, ptr %9, align 4, !tbaa !21
  %419 = load ptr, ptr %46, align 8, !tbaa !5
  %420 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %419, i32 0, i32 0
  %421 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %420, ptr noundef nonnull align 4 dereferenceable(8) %67)
  %422 = load ptr, ptr %47, align 8, !tbaa !5
  %423 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %422, i32 0, i32 0
  %424 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %423, ptr noundef nonnull align 4 dereferenceable(8) %68)
  %425 = fadd float %421, %424
  %426 = load float, ptr %14, align 4, !tbaa !21
  %427 = fneg float %418
  %428 = call float @llvm.fmuladd.f32(float %427, float %425, float %426)
  store float %428, ptr %14, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %71) #8
  %429 = load float, ptr %10, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %72) #8
  %430 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %67, ptr noundef nonnull align 4 dereferenceable(8) %68)
  store <2 x float> %430, ptr %72, align 4
  %431 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %429, ptr noundef nonnull align 4 dereferenceable(8) %72)
  store <2 x float> %431, ptr %71, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %71)
  call void @llvm.lifetime.end.p0(i64 8, ptr %72) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #8
  %432 = load float, ptr %11, align 4, !tbaa !21
  %433 = load ptr, ptr %46, align 8, !tbaa !5
  %434 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %433, i32 0, i32 1
  %435 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %434, ptr noundef nonnull align 4 dereferenceable(8) %67)
  %436 = load ptr, ptr %47, align 8, !tbaa !5
  %437 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %436, i32 0, i32 1
  %438 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %437, ptr noundef nonnull align 4 dereferenceable(8) %68)
  %439 = fadd float %435, %438
  %440 = load float, ptr %16, align 4, !tbaa !21
  %441 = call float @llvm.fmuladd.f32(float %432, float %439, float %440)
  store float %441, ptr %16, align 4, !tbaa !21
  %442 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  %443 = load float, ptr %442, align 4, !tbaa !45
  %444 = load ptr, ptr %46, align 8, !tbaa !5
  %445 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %444, i32 0, i32 2
  store float %443, ptr %445, align 4, !tbaa !34
  %446 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  %447 = load float, ptr %446, align 4, !tbaa !46
  %448 = load ptr, ptr %47, align 8, !tbaa !5
  %449 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %448, i32 0, i32 2
  store float %447, ptr %449, align 4, !tbaa !34
  store i32 11, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %68) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %67) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #8
  br label %644

450:                                              ; preds = %403, %395
  %451 = load ptr, ptr %46, align 8, !tbaa !5
  %452 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %451, i32 0, i32 3
  %453 = load float, ptr %452, align 4, !tbaa !42
  %454 = fneg float %453
  %455 = getelementptr inbounds %struct.b2Vec2, ptr %61, i32 0, i32 0
  %456 = load float, ptr %455, align 4, !tbaa !45
  %457 = fmul float %454, %456
  %458 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  store float %457, ptr %458, align 4, !tbaa !45
  %459 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  store float 0.000000e+00, ptr %459, align 4, !tbaa !46
  store float 0.000000e+00, ptr %59, align 4, !tbaa !21
  %460 = load ptr, ptr %5, align 8, !tbaa !5
  %461 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %460, i32 0, i32 3
  %462 = getelementptr inbounds %struct.b2Mat22, ptr %461, i32 0, i32 0
  %463 = getelementptr inbounds %struct.b2Vec2, ptr %462, i32 0, i32 1
  %464 = load float, ptr %463, align 4, !tbaa !47
  %465 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  %466 = load float, ptr %465, align 4, !tbaa !45
  %467 = getelementptr inbounds %struct.b2Vec2, ptr %61, i32 0, i32 1
  %468 = load float, ptr %467, align 4, !tbaa !46
  %469 = call float @llvm.fmuladd.f32(float %464, float %466, float %468)
  store float %469, ptr %60, align 4, !tbaa !21
  %470 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  %471 = load float, ptr %470, align 4, !tbaa !45
  %472 = fcmp oge float %471, 0.000000e+00
  br i1 %472, label %473, label %519

473:                                              ; preds = %450
  %474 = load float, ptr %60, align 4, !tbaa !21
  %475 = fcmp oge float %474, 0.000000e+00
  br i1 %475, label %476, label %519

476:                                              ; preds = %473
  call void @llvm.lifetime.start.p0(i64 8, ptr %73) #8
  %477 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %64, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %477, ptr %73, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %74) #8
  %478 = getelementptr inbounds %struct.b2Vec2, ptr %73, i32 0, i32 0
  %479 = load float, ptr %478, align 4, !tbaa !45
  %480 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %479, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %480, ptr %74, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %75) #8
  %481 = getelementptr inbounds %struct.b2Vec2, ptr %73, i32 0, i32 1
  %482 = load float, ptr %481, align 4, !tbaa !46
  %483 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %482, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %483, ptr %75, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %76) #8
  %484 = load float, ptr %8, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %77) #8
  %485 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %74, ptr noundef nonnull align 4 dereferenceable(8) %75)
  store <2 x float> %485, ptr %77, align 4
  %486 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %484, ptr noundef nonnull align 4 dereferenceable(8) %77)
  store <2 x float> %486, ptr %76, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %76)
  call void @llvm.lifetime.end.p0(i64 8, ptr %77) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %76) #8
  %487 = load float, ptr %9, align 4, !tbaa !21
  %488 = load ptr, ptr %46, align 8, !tbaa !5
  %489 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %488, i32 0, i32 0
  %490 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %489, ptr noundef nonnull align 4 dereferenceable(8) %74)
  %491 = load ptr, ptr %47, align 8, !tbaa !5
  %492 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %491, i32 0, i32 0
  %493 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %492, ptr noundef nonnull align 4 dereferenceable(8) %75)
  %494 = fadd float %490, %493
  %495 = load float, ptr %14, align 4, !tbaa !21
  %496 = fneg float %487
  %497 = call float @llvm.fmuladd.f32(float %496, float %494, float %495)
  store float %497, ptr %14, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %78) #8
  %498 = load float, ptr %10, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %79) #8
  %499 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %74, ptr noundef nonnull align 4 dereferenceable(8) %75)
  store <2 x float> %499, ptr %79, align 4
  %500 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %498, ptr noundef nonnull align 4 dereferenceable(8) %79)
  store <2 x float> %500, ptr %78, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %78)
  call void @llvm.lifetime.end.p0(i64 8, ptr %79) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %78) #8
  %501 = load float, ptr %11, align 4, !tbaa !21
  %502 = load ptr, ptr %46, align 8, !tbaa !5
  %503 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %502, i32 0, i32 1
  %504 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %503, ptr noundef nonnull align 4 dereferenceable(8) %74)
  %505 = load ptr, ptr %47, align 8, !tbaa !5
  %506 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %505, i32 0, i32 1
  %507 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %506, ptr noundef nonnull align 4 dereferenceable(8) %75)
  %508 = fadd float %504, %507
  %509 = load float, ptr %16, align 4, !tbaa !21
  %510 = call float @llvm.fmuladd.f32(float %501, float %508, float %509)
  store float %510, ptr %16, align 4, !tbaa !21
  %511 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  %512 = load float, ptr %511, align 4, !tbaa !45
  %513 = load ptr, ptr %46, align 8, !tbaa !5
  %514 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %513, i32 0, i32 2
  store float %512, ptr %514, align 4, !tbaa !34
  %515 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  %516 = load float, ptr %515, align 4, !tbaa !46
  %517 = load ptr, ptr %47, align 8, !tbaa !5
  %518 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %517, i32 0, i32 2
  store float %516, ptr %518, align 4, !tbaa !34
  store i32 11, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %74) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %73) #8
  br label %644

519:                                              ; preds = %473, %450
  %520 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  store float 0.000000e+00, ptr %520, align 4, !tbaa !45
  %521 = load ptr, ptr %47, align 8, !tbaa !5
  %522 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %521, i32 0, i32 3
  %523 = load float, ptr %522, align 4, !tbaa !42
  %524 = fneg float %523
  %525 = getelementptr inbounds %struct.b2Vec2, ptr %61, i32 0, i32 1
  %526 = load float, ptr %525, align 4, !tbaa !46
  %527 = fmul float %524, %526
  %528 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  store float %527, ptr %528, align 4, !tbaa !46
  %529 = load ptr, ptr %5, align 8, !tbaa !5
  %530 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %529, i32 0, i32 3
  %531 = getelementptr inbounds %struct.b2Mat22, ptr %530, i32 0, i32 1
  %532 = getelementptr inbounds %struct.b2Vec2, ptr %531, i32 0, i32 0
  %533 = load float, ptr %532, align 8, !tbaa !48
  %534 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  %535 = load float, ptr %534, align 4, !tbaa !46
  %536 = getelementptr inbounds %struct.b2Vec2, ptr %61, i32 0, i32 0
  %537 = load float, ptr %536, align 4, !tbaa !45
  %538 = call float @llvm.fmuladd.f32(float %533, float %535, float %537)
  store float %538, ptr %59, align 4, !tbaa !21
  store float 0.000000e+00, ptr %60, align 4, !tbaa !21
  %539 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  %540 = load float, ptr %539, align 4, !tbaa !46
  %541 = fcmp oge float %540, 0.000000e+00
  br i1 %541, label %542, label %588

542:                                              ; preds = %519
  %543 = load float, ptr %59, align 4, !tbaa !21
  %544 = fcmp oge float %543, 0.000000e+00
  br i1 %544, label %545, label %588

545:                                              ; preds = %542
  call void @llvm.lifetime.start.p0(i64 8, ptr %80) #8
  %546 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %64, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %546, ptr %80, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %81) #8
  %547 = getelementptr inbounds %struct.b2Vec2, ptr %80, i32 0, i32 0
  %548 = load float, ptr %547, align 4, !tbaa !45
  %549 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %548, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %549, ptr %81, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %82) #8
  %550 = getelementptr inbounds %struct.b2Vec2, ptr %80, i32 0, i32 1
  %551 = load float, ptr %550, align 4, !tbaa !46
  %552 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %551, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %552, ptr %82, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %83) #8
  %553 = load float, ptr %8, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %84) #8
  %554 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %81, ptr noundef nonnull align 4 dereferenceable(8) %82)
  store <2 x float> %554, ptr %84, align 4
  %555 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %553, ptr noundef nonnull align 4 dereferenceable(8) %84)
  store <2 x float> %555, ptr %83, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %83)
  call void @llvm.lifetime.end.p0(i64 8, ptr %84) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %83) #8
  %556 = load float, ptr %9, align 4, !tbaa !21
  %557 = load ptr, ptr %46, align 8, !tbaa !5
  %558 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %557, i32 0, i32 0
  %559 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %558, ptr noundef nonnull align 4 dereferenceable(8) %81)
  %560 = load ptr, ptr %47, align 8, !tbaa !5
  %561 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %560, i32 0, i32 0
  %562 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %561, ptr noundef nonnull align 4 dereferenceable(8) %82)
  %563 = fadd float %559, %562
  %564 = load float, ptr %14, align 4, !tbaa !21
  %565 = fneg float %556
  %566 = call float @llvm.fmuladd.f32(float %565, float %563, float %564)
  store float %566, ptr %14, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %85) #8
  %567 = load float, ptr %10, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %86) #8
  %568 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %81, ptr noundef nonnull align 4 dereferenceable(8) %82)
  store <2 x float> %568, ptr %86, align 4
  %569 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %567, ptr noundef nonnull align 4 dereferenceable(8) %86)
  store <2 x float> %569, ptr %85, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %85)
  call void @llvm.lifetime.end.p0(i64 8, ptr %86) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %85) #8
  %570 = load float, ptr %11, align 4, !tbaa !21
  %571 = load ptr, ptr %46, align 8, !tbaa !5
  %572 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %571, i32 0, i32 1
  %573 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %572, ptr noundef nonnull align 4 dereferenceable(8) %81)
  %574 = load ptr, ptr %47, align 8, !tbaa !5
  %575 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %574, i32 0, i32 1
  %576 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %575, ptr noundef nonnull align 4 dereferenceable(8) %82)
  %577 = fadd float %573, %576
  %578 = load float, ptr %16, align 4, !tbaa !21
  %579 = call float @llvm.fmuladd.f32(float %570, float %577, float %578)
  store float %579, ptr %16, align 4, !tbaa !21
  %580 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  %581 = load float, ptr %580, align 4, !tbaa !45
  %582 = load ptr, ptr %46, align 8, !tbaa !5
  %583 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %582, i32 0, i32 2
  store float %581, ptr %583, align 4, !tbaa !34
  %584 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  %585 = load float, ptr %584, align 4, !tbaa !46
  %586 = load ptr, ptr %47, align 8, !tbaa !5
  %587 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %586, i32 0, i32 2
  store float %585, ptr %587, align 4, !tbaa !34
  store i32 11, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %82) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %81) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %80) #8
  br label %644

588:                                              ; preds = %542, %519
  %589 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  store float 0.000000e+00, ptr %589, align 4, !tbaa !45
  %590 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  store float 0.000000e+00, ptr %590, align 4, !tbaa !46
  %591 = getelementptr inbounds %struct.b2Vec2, ptr %61, i32 0, i32 0
  %592 = load float, ptr %591, align 4, !tbaa !45
  store float %592, ptr %59, align 4, !tbaa !21
  %593 = getelementptr inbounds %struct.b2Vec2, ptr %61, i32 0, i32 1
  %594 = load float, ptr %593, align 4, !tbaa !46
  store float %594, ptr %60, align 4, !tbaa !21
  %595 = load float, ptr %59, align 4, !tbaa !21
  %596 = fcmp oge float %595, 0.000000e+00
  br i1 %596, label %597, label %643

597:                                              ; preds = %588
  %598 = load float, ptr %60, align 4, !tbaa !21
  %599 = fcmp oge float %598, 0.000000e+00
  br i1 %599, label %600, label %643

600:                                              ; preds = %597
  call void @llvm.lifetime.start.p0(i64 8, ptr %87) #8
  %601 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %64, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %601, ptr %87, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %88) #8
  %602 = getelementptr inbounds %struct.b2Vec2, ptr %87, i32 0, i32 0
  %603 = load float, ptr %602, align 4, !tbaa !45
  %604 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %603, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %604, ptr %88, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %89) #8
  %605 = getelementptr inbounds %struct.b2Vec2, ptr %87, i32 0, i32 1
  %606 = load float, ptr %605, align 4, !tbaa !46
  %607 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %606, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %607, ptr %89, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %90) #8
  %608 = load float, ptr %8, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %91) #8
  %609 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %88, ptr noundef nonnull align 4 dereferenceable(8) %89)
  store <2 x float> %609, ptr %91, align 4
  %610 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %608, ptr noundef nonnull align 4 dereferenceable(8) %91)
  store <2 x float> %610, ptr %90, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %90)
  call void @llvm.lifetime.end.p0(i64 8, ptr %91) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %90) #8
  %611 = load float, ptr %9, align 4, !tbaa !21
  %612 = load ptr, ptr %46, align 8, !tbaa !5
  %613 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %612, i32 0, i32 0
  %614 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %613, ptr noundef nonnull align 4 dereferenceable(8) %88)
  %615 = load ptr, ptr %47, align 8, !tbaa !5
  %616 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %615, i32 0, i32 0
  %617 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %616, ptr noundef nonnull align 4 dereferenceable(8) %89)
  %618 = fadd float %614, %617
  %619 = load float, ptr %14, align 4, !tbaa !21
  %620 = fneg float %611
  %621 = call float @llvm.fmuladd.f32(float %620, float %618, float %619)
  store float %621, ptr %14, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %92) #8
  %622 = load float, ptr %10, align 4, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr %93) #8
  %623 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %88, ptr noundef nonnull align 4 dereferenceable(8) %89)
  store <2 x float> %623, ptr %93, align 4
  %624 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %622, ptr noundef nonnull align 4 dereferenceable(8) %93)
  store <2 x float> %624, ptr %92, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %92)
  call void @llvm.lifetime.end.p0(i64 8, ptr %93) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %92) #8
  %625 = load float, ptr %11, align 4, !tbaa !21
  %626 = load ptr, ptr %46, align 8, !tbaa !5
  %627 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %626, i32 0, i32 1
  %628 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %627, ptr noundef nonnull align 4 dereferenceable(8) %88)
  %629 = load ptr, ptr %47, align 8, !tbaa !5
  %630 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %629, i32 0, i32 1
  %631 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %630, ptr noundef nonnull align 4 dereferenceable(8) %89)
  %632 = fadd float %628, %631
  %633 = load float, ptr %16, align 4, !tbaa !21
  %634 = call float @llvm.fmuladd.f32(float %625, float %632, float %633)
  store float %634, ptr %16, align 4, !tbaa !21
  %635 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 0
  %636 = load float, ptr %635, align 4, !tbaa !45
  %637 = load ptr, ptr %46, align 8, !tbaa !5
  %638 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %637, i32 0, i32 2
  store float %636, ptr %638, align 4, !tbaa !34
  %639 = getelementptr inbounds %struct.b2Vec2, ptr %64, i32 0, i32 1
  %640 = load float, ptr %639, align 4, !tbaa !46
  %641 = load ptr, ptr %47, align 8, !tbaa !5
  %642 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %641, i32 0, i32 2
  store float %640, ptr %642, align 4, !tbaa !34
  store i32 11, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %89) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %88) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %87) #8
  br label %644

643:                                              ; preds = %597, %588
  store i32 11, ptr %4, align 4
  br label %644

644:                                              ; preds = %643, %600, %545, %476, %407
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #8
  br label %645

645:                                              ; preds = %644
  call void @llvm.lifetime.end.p0(i64 4, ptr %63) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %61) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %60) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %59) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #8
  br label %646

646:                                              ; preds = %645, %327
  %647 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 1
  %648 = load ptr, ptr %647, align 8, !tbaa !26
  %649 = load i32, ptr %6, align 4, !tbaa !9
  %650 = sext i32 %649 to i64
  %651 = getelementptr inbounds %struct.b2Velocity, ptr %648, i64 %650
  %652 = getelementptr inbounds %struct.b2Velocity, ptr %651, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %652, ptr align 4 %13, i64 8, i1 false), !tbaa.struct !27
  %653 = load float, ptr %14, align 4, !tbaa !21
  %654 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 1
  %655 = load ptr, ptr %654, align 8, !tbaa !26
  %656 = load i32, ptr %6, align 4, !tbaa !9
  %657 = sext i32 %656 to i64
  %658 = getelementptr inbounds %struct.b2Velocity, ptr %655, i64 %657
  %659 = getelementptr inbounds %struct.b2Velocity, ptr %658, i32 0, i32 1
  store float %653, ptr %659, align 4, !tbaa !28
  %660 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 1
  %661 = load ptr, ptr %660, align 8, !tbaa !26
  %662 = load i32, ptr %7, align 4, !tbaa !9
  %663 = sext i32 %662 to i64
  %664 = getelementptr inbounds %struct.b2Velocity, ptr %661, i64 %663
  %665 = getelementptr inbounds %struct.b2Velocity, ptr %664, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %665, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !27
  %666 = load float, ptr %16, align 4, !tbaa !21
  %667 = getelementptr inbounds %class.b2ContactSolver, ptr %94, i32 0, i32 1
  %668 = load ptr, ptr %667, align 8, !tbaa !26
  %669 = load i32, ptr %7, align 4, !tbaa !9
  %670 = sext i32 %669 to i64
  %671 = getelementptr inbounds %struct.b2Velocity, ptr %668, i64 %670
  %672 = getelementptr inbounds %struct.b2Velocity, ptr %671, i32 0, i32 1
  store float %666, ptr %672, align 4, !tbaa !28
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #8
  br label %673

673:                                              ; preds = %646
  %674 = load i32, ptr %3, align 4, !tbaa !9
  %675 = add nsw i32 %674, 1
  store i32 %675, ptr %3, align 4, !tbaa !9
  br label %95, !llvm.loop !49

676:                                              ; preds = %100
  ret void
}

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2MaxIfET_S0_S0_(float noundef, float noundef) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z5b2MulRK7b2Mat22RK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(8)) #3

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { noreturn nounwind "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 = { 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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #6 = { 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 = { 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 = { nounwind }
attributes #9 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 40}
!12 = !{!"_ZTS15b2ContactSolver", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !10, i64 40}
!13 = !{!12, !6, i64 32}
!14 = !{!15, !10, i64 112}
!15 = !{!"_ZTS27b2ContactVelocityConstraint", !7, i64 0, !16, i64 72, !18, i64 80, !18, i64 96, !10, i64 112, !10, i64 116, !17, i64 120, !17, i64 124, !17, i64 128, !17, i64 132, !17, i64 136, !17, i64 140, !17, i64 144, !17, i64 148, !10, i64 152, !6, i64 160}
!16 = !{!"_ZTS6b2Vec2", !17, i64 0, !17, i64 4}
!17 = !{!"float", !7, i64 0}
!18 = !{!"_ZTS7b2Mat22", !16, i64 0, !16, i64 8}
!19 = !{!15, !10, i64 116}
!20 = !{!15, !17, i64 120}
!21 = !{!17, !17, i64 0}
!22 = !{!15, !17, i64 128}
!23 = !{!15, !17, i64 124}
!24 = !{!15, !17, i64 132}
!25 = !{!15, !10, i64 152}
!26 = !{!12, !6, i64 8}
!27 = !{i64 0, i64 4, !21, i64 4, i64 4, !21}
!28 = !{!29, !17, i64 8}
!29 = !{!"_ZTS10b2Velocity", !16, i64 0, !17, i64 8}
!30 = !{!15, !17, i64 148}
!31 = !{!32, !17, i64 28}
!32 = !{!"_ZTS25b2VelocityConstraintPoint", !16, i64 0, !16, i64 8, !17, i64 16, !17, i64 20, !17, i64 24, !17, i64 28, !17, i64 32}
!33 = !{!15, !17, i64 136}
!34 = !{!32, !17, i64 16}
!35 = !{!32, !17, i64 24}
!36 = distinct !{!36, !37}
!37 = !{!"llvm.loop.mustprogress"}
!38 = !{!39, !39, i64 0}
!39 = !{!"bool", !7, i64 0}
!40 = !{i8 0, i8 2}
!41 = !{}
!42 = !{!32, !17, i64 20}
!43 = !{!32, !17, i64 32}
!44 = distinct !{!44, !37}
!45 = !{!16, !17, i64 0}
!46 = !{!16, !17, i64 4}
!47 = !{!15, !17, i64 100}
!48 = !{!15, !17, i64 104}
!49 = distinct !{!49, !37}


; 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.b2ContactVelocityConstraint = type { [2 x %struct.b2VelocityConstraintPoint], %struct.b2Vec2, %struct.b2Mat22, %struct.b2Mat22, i32, i32, float, float, float, float, float, float, float, float, i32, ptr }
%struct.b2VelocityConstraintPoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2Velocity = type { %struct.b2Vec2, float }

@g_blockSolve = external dso_local local_unnamed_addr global i8, align 1
@.str.1 = external hidden unnamed_addr constant [92 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [35 x i8], align 1
@__PRETTY_FUNCTION__._ZN15b2ContactSolver24SolveVelocityConstraintsEv = external hidden unnamed_addr constant [49 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [27 x i8], align 1

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

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #1

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossRK6b2Vec2f(ptr noundef nonnull align 4 dereferenceable(8), float noundef) local_unnamed_addr #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 #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 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 #3

; 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 #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2

; 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 #5 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 #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN15b2ContactSolver24SolveVelocityConstraintsEv(ptr nocapture noundef nonnull readonly align 8 dereferenceable(44) %0) local_unnamed_addr #6 align 2 {
  %2 = alloca %struct.b2Vec2, align 8
  %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 8
  %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 4
  %23 = alloca %struct.b2Vec2, align 8
  %24 = alloca %struct.b2Vec2, align 8
  %25 = alloca %struct.b2Vec2, align 8
  %26 = alloca %struct.b2Vec2, align 8
  %27 = alloca %struct.b2Vec2, align 8
  %28 = alloca %struct.b2Vec2, align 8
  %29 = alloca %struct.b2Vec2, align 8
  %30 = alloca %struct.b2Vec2, align 8
  %31 = alloca %struct.b2Vec2, align 8
  %32 = alloca %struct.b2Vec2, align 8
  %33 = alloca %struct.b2Vec2, align 8
  %34 = alloca %struct.b2Vec2, align 8
  %35 = alloca %struct.b2Vec2, align 8
  %36 = alloca %struct.b2Vec2, align 8
  %37 = alloca %struct.b2Vec2, align 8
  %38 = alloca %struct.b2Vec2, align 8
  %39 = alloca %struct.b2Vec2, align 8
  %40 = alloca %struct.b2Vec2, align 8
  %41 = alloca %struct.b2Vec2, align 8
  %42 = alloca %struct.b2Vec2, align 8
  %43 = alloca %struct.b2Vec2, align 8
  %44 = alloca %struct.b2Vec2, align 8
  %45 = alloca %struct.b2Vec2, align 8
  %46 = alloca %struct.b2Vec2, align 8
  %47 = alloca %struct.b2Vec2, align 8
  %48 = alloca %struct.b2Vec2, align 8
  %49 = alloca %struct.b2Vec2, align 8
  %50 = alloca %struct.b2Vec2, align 8
  %51 = alloca %struct.b2Vec2, align 8
  %52 = alloca %struct.b2Vec2, align 8
  %53 = alloca %struct.b2Vec2, align 8
  %54 = alloca %struct.b2Vec2, align 8
  %55 = alloca %struct.b2Vec2, align 8
  %56 = alloca %struct.b2Vec2, align 8
  %57 = alloca %struct.b2Vec2, align 8
  %58 = alloca %struct.b2Vec2, align 8
  %59 = alloca %struct.b2Vec2, align 8
  %60 = alloca %struct.b2Vec2, align 8
  %61 = getelementptr inbounds i8, ptr %0, i64 40
  %62 = load i32, ptr %61, align 8, !tbaa !5
  %63 = icmp sgt i32 %62, 0
  br i1 %63, label %.lr.ph189, label %._crit_edge190

.lr.ph189:                                        ; preds = %1
  %64 = getelementptr inbounds i8, ptr %0, i64 32
  %65 = getelementptr inbounds i8, ptr %0, i64 8
  %66 = getelementptr inbounds i8, ptr %22, i64 4
  %67 = getelementptr inbounds i8, ptr %33, i64 4
  %68 = getelementptr inbounds i8, ptr %35, i64 4
  %.pre = load ptr, ptr %65, align 8, !tbaa !11
  br label %69

._crit_edge190:                                   ; preds = %.loopexit, %1
  ret void

69:                                               ; preds = %.lr.ph189, %.loopexit
  %70 = phi ptr [ %.pre, %.lr.ph189 ], [ %354, %.loopexit ]
  %indvars.iv200 = phi i64 [ 0, %.lr.ph189 ], [ %indvars.iv.next201, %.loopexit ]
  %71 = load ptr, ptr %64, align 8, !tbaa !12
  %72 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %71, i64 %indvars.iv200
  %73 = getelementptr inbounds i8, ptr %72, i64 112
  %74 = load i32, ptr %73, align 8, !tbaa !13
  %75 = getelementptr inbounds i8, ptr %72, i64 116
  %76 = load i32, ptr %75, align 4, !tbaa !18
  %77 = getelementptr inbounds i8, ptr %72, i64 120
  %78 = load float, ptr %77, align 8, !tbaa !19
  %79 = getelementptr inbounds i8, ptr %72, i64 128
  %80 = load float, ptr %79, align 8, !tbaa !20
  %81 = getelementptr inbounds i8, ptr %72, i64 124
  %82 = load float, ptr %81, align 4, !tbaa !21
  %83 = getelementptr inbounds i8, ptr %72, i64 132
  %84 = load float, ptr %83, align 4, !tbaa !22
  %85 = getelementptr inbounds i8, ptr %72, i64 152
  %86 = load i32, ptr %85, align 8, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #8
  %87 = sext i32 %74 to i64
  %88 = getelementptr inbounds %struct.b2Velocity, ptr %70, i64 %87
  %89 = load i64, ptr %88, align 4
  store i64 %89, ptr %2, align 8
  %90 = getelementptr inbounds %struct.b2Velocity, ptr %70, i64 %87, i32 1
  %91 = load float, ptr %90, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #8
  %92 = sext i32 %76 to i64
  %93 = getelementptr inbounds %struct.b2Velocity, ptr %70, i64 %92
  %94 = load i64, ptr %93, align 4
  store i64 %94, ptr %3, align 8
  %95 = getelementptr inbounds %struct.b2Velocity, ptr %70, i64 %92, i32 1
  %96 = load float, ptr %95, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #8
  %97 = getelementptr inbounds i8, ptr %72, i64 72
  %98 = load i64, ptr %97, align 8
  store i64 %98, ptr %4, align 8
  %99 = icmp eq i32 %86, 1
  %100 = add i32 %86, -1
  %101 = icmp ult i32 %100, 2
  br i1 %101, label %.lr.ph, label %102

102:                                              ; preds = %69
  call void @__assert_fail(ptr noundef nonnull @.str.3, ptr noundef nonnull @.str.1, i32 noundef 322, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN15b2ContactSolver24SolveVelocityConstraintsEv) #9
  unreachable

.lr.ph:                                           ; preds = %69
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #8
  %103 = call <2 x float> @_Z7b2CrossRK6b2Vec2f(ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef 1.000000e+00)
  store <2 x float> %103, ptr %5, align 8
  %104 = getelementptr inbounds i8, ptr %72, i64 148
  %105 = getelementptr inbounds i8, ptr %72, i64 136
  %106 = fneg float %80
  %wide.trip.count = zext nneg i32 %86 to i64
  %107 = insertelement <2 x float> poison, float %96, i64 0
  %108 = insertelement <2 x float> %107, float %91, i64 1
  %109 = insertelement <2 x float> poison, float %84, i64 0
  %110 = insertelement <2 x float> %109, float %106, i64 1
  br label %115

._crit_edge:                                      ; preds = %115
  %111 = load i8, ptr @g_blockSolve, align 1, !range !26
  %112 = icmp eq i8 %111, 0
  %or.cond176 = select i1 %99, i1 true, i1 %112
  br i1 %or.cond176, label %.lr.ph184, label %183

.lr.ph184:                                        ; preds = %._crit_edge
  %113 = fneg float %80
  %wide.trip.count198 = zext nneg i32 %86 to i64
  %114 = insertelement <2 x float> %110, float %113, i64 1
  br label %151

115:                                              ; preds = %.lr.ph, %115
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %115 ]
  %116 = phi <2 x float> [ %108, %.lr.ph ], [ %150, %115 ]
  %117 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %72, i64 %indvars.iv
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #8
  %118 = getelementptr inbounds i8, ptr %117, i64 8
  %119 = extractelement <2 x float> %116, i64 0
  %120 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %119, ptr noundef nonnull align 4 dereferenceable(8) %118)
  store <2 x float> %120, ptr %8, align 8
  %121 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %8)
  store <2 x float> %121, ptr %7, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #8
  %122 = extractelement <2 x float> %116, i64 1
  %123 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %122, ptr noundef nonnull align 4 dereferenceable(8) %117)
  store <2 x float> %123, ptr %10, align 8
  %124 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %124, ptr %9, align 8
  %125 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %125, ptr %6, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  %126 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %5)
  %127 = load float, ptr %104, align 4, !tbaa !27
  %128 = fsub float %126, %127
  %129 = getelementptr inbounds i8, ptr %117, i64 28
  %130 = load float, ptr %129, align 4, !tbaa !28
  %131 = load float, ptr %105, align 8, !tbaa !30
  %132 = getelementptr inbounds i8, ptr %117, i64 16
  %133 = load float, ptr %132, align 4, !tbaa !31
  %134 = fmul float %131, %133
  %135 = getelementptr inbounds i8, ptr %117, i64 24
  %136 = load float, ptr %135, align 4, !tbaa !32
  %137 = fmul float %128, %130
  %138 = fsub float %136, %137
  %139 = fneg float %134
  %140 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %138, float noundef %139, float noundef %134)
  %141 = load float, ptr %135, align 4, !tbaa !32
  %142 = fsub float %140, %141
  store float %140, ptr %135, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #8
  %143 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %142, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %143, ptr %11, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #8
  %144 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %78, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %144, ptr %12, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #8
  %145 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %117, ptr noundef nonnull align 4 dereferenceable(8) %11)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #8
  %146 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %82, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %146, ptr %13, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %13)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #8
  %147 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %118, ptr noundef nonnull align 4 dereferenceable(8) %11)
  %148 = insertelement <2 x float> poison, float %147, i64 0
  %149 = insertelement <2 x float> %148, float %145, i64 1
  %150 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %110, <2 x float> %149, <2 x float> %116)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #8
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %115, !llvm.loop !33

151:                                              ; preds = %.lr.ph184, %151
  %indvars.iv195 = phi i64 [ 0, %.lr.ph184 ], [ %indvars.iv.next196, %151 ]
  %152 = phi <2 x float> [ %150, %.lr.ph184 ], [ %182, %151 ]
  %153 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %72, i64 %indvars.iv195
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #8
  %154 = getelementptr inbounds i8, ptr %153, i64 8
  %155 = extractelement <2 x float> %152, i64 0
  %156 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %155, ptr noundef nonnull align 4 dereferenceable(8) %154)
  store <2 x float> %156, ptr %16, align 8
  %157 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %157, ptr %15, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #8
  %158 = extractelement <2 x float> %152, i64 1
  %159 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %158, ptr noundef nonnull align 4 dereferenceable(8) %153)
  store <2 x float> %159, ptr %18, align 8
  %160 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %160, ptr %17, align 8
  %161 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %161, ptr %14, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #8
  %162 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %14, ptr noundef nonnull align 4 dereferenceable(8) %4)
  %163 = getelementptr inbounds i8, ptr %153, i64 20
  %164 = load float, ptr %163, align 4, !tbaa !35
  %165 = getelementptr inbounds i8, ptr %153, i64 32
  %166 = load float, ptr %165, align 4, !tbaa !36
  %167 = fsub float %162, %166
  %168 = getelementptr inbounds i8, ptr %153, i64 16
  %169 = load float, ptr %168, align 4, !tbaa !31
  %170 = fmul float %164, %167
  %171 = fsub float %169, %170
  %172 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %171, float noundef 0.000000e+00)
  %173 = load float, ptr %168, align 4, !tbaa !31
  %174 = fsub float %172, %173
  store float %172, ptr %168, align 4, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #8
  %175 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %174, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %175, ptr %19, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #8
  %176 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %78, ptr noundef nonnull align 4 dereferenceable(8) %19)
  store <2 x float> %176, ptr %20, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %20)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #8
  %177 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %153, ptr noundef nonnull align 4 dereferenceable(8) %19)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #8
  %178 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %82, ptr noundef nonnull align 4 dereferenceable(8) %19)
  store <2 x float> %178, ptr %21, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %21)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #8
  %179 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %154, ptr noundef nonnull align 4 dereferenceable(8) %19)
  %180 = insertelement <2 x float> poison, float %179, i64 0
  %181 = insertelement <2 x float> %180, float %177, i64 1
  %182 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %114, <2 x float> %181, <2 x float> %152)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #8
  %indvars.iv.next196 = add nuw nsw i64 %indvars.iv195, 1
  %exitcond199.not = icmp eq i64 %indvars.iv.next196, %wide.trip.count198
  br i1 %exitcond199.not, label %.loopexit, label %151, !llvm.loop !37

183:                                              ; preds = %._crit_edge
  %184 = getelementptr inbounds i8, ptr %72, i64 36
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #8
  %185 = getelementptr inbounds i8, ptr %72, i64 16
  %186 = load float, ptr %185, align 4, !tbaa !31
  %187 = getelementptr inbounds i8, ptr %72, i64 52
  %188 = load float, ptr %187, align 4, !tbaa !31
  call void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8) %22, float noundef %186, float noundef %188)
  %189 = load float, ptr %22, align 4, !tbaa !38
  %190 = fcmp oge float %189, 0.000000e+00
  %191 = load float, ptr %66, align 4
  %192 = fcmp oge float %191, 0.000000e+00
  %193 = select i1 %190, i1 %192, i1 false
  br i1 %193, label %195, label %194

194:                                              ; preds = %183
  call void @__assert_fail(ptr noundef nonnull @.str.4, ptr noundef nonnull @.str.1, i32 noundef 428, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN15b2ContactSolver24SolveVelocityConstraintsEv) #9
  unreachable

195:                                              ; preds = %183
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #8
  %196 = getelementptr inbounds i8, ptr %72, i64 8
  %197 = extractelement <2 x float> %150, i64 0
  %198 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %197, ptr noundef nonnull align 4 dereferenceable(8) %196)
  store <2 x float> %198, ptr %25, align 8
  %199 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %25)
  store <2 x float> %199, ptr %24, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #8
  %200 = extractelement <2 x float> %150, i64 1
  %201 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %200, ptr noundef nonnull align 4 dereferenceable(8) %72)
  store <2 x float> %201, ptr %27, align 8
  %202 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %27)
  store <2 x float> %202, ptr %26, align 8
  %203 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %24, ptr noundef nonnull align 4 dereferenceable(8) %26)
  store <2 x float> %203, ptr %23, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #8
  %204 = getelementptr inbounds i8, ptr %72, i64 44
  %205 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %197, ptr noundef nonnull align 4 dereferenceable(8) %204)
  store <2 x float> %205, ptr %30, align 8
  %206 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %206, ptr %29, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %32) #8
  %207 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %200, ptr noundef nonnull align 4 dereferenceable(8) %184)
  store <2 x float> %207, ptr %32, align 8
  %208 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %32)
  store <2 x float> %208, ptr %31, align 8
  %209 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %29, ptr noundef nonnull align 4 dereferenceable(8) %31)
  store <2 x float> %209, ptr %28, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #8
  %210 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %23, ptr noundef nonnull align 4 dereferenceable(8) %4)
  %211 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %28, ptr noundef nonnull align 4 dereferenceable(8) %4)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %33) #8
  call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %33)
  %212 = getelementptr inbounds i8, ptr %72, i64 32
  %213 = load float, ptr %212, align 4, !tbaa !36
  %214 = getelementptr inbounds i8, ptr %72, i64 68
  %215 = load float, ptr %214, align 4, !tbaa !36
  %216 = insertelement <2 x float> poison, float %210, i64 0
  %217 = insertelement <2 x float> %216, float %211, i64 1
  %218 = insertelement <2 x float> poison, float %213, i64 0
  %219 = insertelement <2 x float> %218, float %215, i64 1
  %220 = fsub <2 x float> %217, %219
  store <2 x float> %220, ptr %33, align 8, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %34) #8
  %221 = getelementptr inbounds i8, ptr %72, i64 96
  %222 = call <2 x float> @_Z5b2MulRK7b2Mat22RK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %221, ptr noundef nonnull align 4 dereferenceable(8) %22)
  store <2 x float> %222, ptr %34, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %33, ptr noundef nonnull align 4 dereferenceable(8) %34)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %35) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %36) #8
  %223 = getelementptr inbounds i8, ptr %72, i64 80
  %224 = call <2 x float> @_Z5b2MulRK7b2Mat22RK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %223, ptr noundef nonnull align 4 dereferenceable(8) %33)
  store <2 x float> %224, ptr %36, align 8
  %225 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %36)
  store <2 x float> %225, ptr %35, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #8
  %226 = extractelement <2 x float> %225, i64 0
  %227 = fcmp oge float %226, 0.000000e+00
  %228 = extractelement <2 x float> %225, i64 1
  %229 = fcmp oge float %228, 0.000000e+00
  %or.cond = select i1 %227, i1 %229, i1 false
  br i1 %or.cond, label %230, label %252

230:                                              ; preds = %195
  %231 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %35, ptr noundef nonnull align 4 dereferenceable(8) %22)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %37) #8
  %.sroa.011.0.vec.extract = extractelement <2 x float> %231, i64 0
  %232 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.sroa.011.0.vec.extract, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %232, ptr %37, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %38) #8
  %.sroa.011.4.vec.extract = extractelement <2 x float> %231, i64 1
  %233 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.sroa.011.4.vec.extract, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %233, ptr %38, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %39) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %40) #8
  %234 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %37, ptr noundef nonnull align 4 dereferenceable(8) %38)
  store <2 x float> %234, ptr %40, align 8
  %235 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %78, ptr noundef nonnull align 4 dereferenceable(8) %40)
  store <2 x float> %235, ptr %39, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %39)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %40) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %39) #8
  %236 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %72, ptr noundef nonnull align 4 dereferenceable(8) %37)
  %237 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %184, ptr noundef nonnull align 4 dereferenceable(8) %38)
  %238 = fneg float %80
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %41) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %42) #8
  %239 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %37, ptr noundef nonnull align 4 dereferenceable(8) %38)
  store <2 x float> %239, ptr %42, align 8
  %240 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %82, ptr noundef nonnull align 4 dereferenceable(8) %42)
  store <2 x float> %240, ptr %41, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %41)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %42) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #8
  %241 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %196, ptr noundef nonnull align 4 dereferenceable(8) %37)
  %242 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %204, ptr noundef nonnull align 4 dereferenceable(8) %38)
  %243 = insertelement <2 x float> poison, float %241, i64 0
  %244 = insertelement <2 x float> %243, float %236, i64 1
  %245 = insertelement <2 x float> poison, float %242, i64 0
  %246 = insertelement <2 x float> %245, float %237, i64 1
  %247 = fadd <2 x float> %244, %246
  %248 = insertelement <2 x float> %110, float %238, i64 1
  %249 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %248, <2 x float> %247, <2 x float> %150)
  %250 = load float, ptr %35, align 8, !tbaa !38
  store float %250, ptr %185, align 4, !tbaa !31
  %251 = load float, ptr %68, align 4, !tbaa !40
  store float %251, ptr %187, align 4, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %38) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #8
  br label %343

252:                                              ; preds = %195
  %253 = getelementptr inbounds i8, ptr %72, i64 20
  %254 = load float, ptr %253, align 4, !tbaa !35
  %255 = fneg float %254
  %256 = load float, ptr %33, align 8, !tbaa !38
  %257 = fmul float %256, %255
  store float %257, ptr %35, align 8, !tbaa !38
  store float 0.000000e+00, ptr %68, align 4, !tbaa !40
  %258 = getelementptr inbounds i8, ptr %72, i64 100
  %259 = load float, ptr %258, align 4, !tbaa !41
  %260 = load float, ptr %67, align 4, !tbaa !40
  %261 = call float @llvm.fmuladd.f32(float %259, float %257, float %260)
  %262 = fcmp oge float %257, 0.000000e+00
  %263 = fcmp oge float %261, 0.000000e+00
  %or.cond4 = select i1 %262, i1 %263, i1 false
  br i1 %or.cond4, label %264, label %286

264:                                              ; preds = %252
  %265 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %35, ptr noundef nonnull align 4 dereferenceable(8) %22)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %43) #8
  %.sroa.010.0.vec.extract = extractelement <2 x float> %265, i64 0
  %266 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.sroa.010.0.vec.extract, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %266, ptr %43, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %44) #8
  %.sroa.010.4.vec.extract = extractelement <2 x float> %265, i64 1
  %267 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.sroa.010.4.vec.extract, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %267, ptr %44, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %45) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %46) #8
  %268 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %43, ptr noundef nonnull align 4 dereferenceable(8) %44)
  store <2 x float> %268, ptr %46, align 8
  %269 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %78, ptr noundef nonnull align 4 dereferenceable(8) %46)
  store <2 x float> %269, ptr %45, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %45)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %46) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %45) #8
  %270 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %72, ptr noundef nonnull align 4 dereferenceable(8) %43)
  %271 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %184, ptr noundef nonnull align 4 dereferenceable(8) %44)
  %272 = fneg float %80
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %47) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %48) #8
  %273 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %43, ptr noundef nonnull align 4 dereferenceable(8) %44)
  store <2 x float> %273, ptr %48, align 8
  %274 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %82, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %274, ptr %47, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %47)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %48) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %47) #8
  %275 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %196, ptr noundef nonnull align 4 dereferenceable(8) %43)
  %276 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %204, ptr noundef nonnull align 4 dereferenceable(8) %44)
  %277 = insertelement <2 x float> poison, float %275, i64 0
  %278 = insertelement <2 x float> %277, float %270, i64 1
  %279 = insertelement <2 x float> poison, float %276, i64 0
  %280 = insertelement <2 x float> %279, float %271, i64 1
  %281 = fadd <2 x float> %278, %280
  %282 = insertelement <2 x float> %110, float %272, i64 1
  %283 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %282, <2 x float> %281, <2 x float> %150)
  %284 = load float, ptr %35, align 8, !tbaa !38
  store float %284, ptr %185, align 4, !tbaa !31
  %285 = load float, ptr %68, align 4, !tbaa !40
  store float %285, ptr %187, align 4, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %44) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %43) #8
  br label %343

286:                                              ; preds = %252
  store float 0.000000e+00, ptr %35, align 8, !tbaa !38
  %287 = getelementptr inbounds i8, ptr %72, i64 56
  %288 = load float, ptr %287, align 4, !tbaa !35
  %289 = fneg float %288
  %290 = fmul float %260, %289
  store float %290, ptr %68, align 4, !tbaa !40
  %291 = getelementptr inbounds i8, ptr %72, i64 104
  %292 = load float, ptr %291, align 8, !tbaa !42
  %293 = call float @llvm.fmuladd.f32(float %292, float %290, float %256)
  %294 = fcmp oge float %290, 0.000000e+00
  %295 = fcmp oge float %293, 0.000000e+00
  %or.cond6 = select i1 %294, i1 %295, i1 false
  br i1 %or.cond6, label %296, label %318

296:                                              ; preds = %286
  %297 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %35, ptr noundef nonnull align 4 dereferenceable(8) %22)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %49) #8
  %.sroa.09.0.vec.extract = extractelement <2 x float> %297, i64 0
  %298 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.sroa.09.0.vec.extract, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %298, ptr %49, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %50) #8
  %.sroa.09.4.vec.extract = extractelement <2 x float> %297, i64 1
  %299 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.sroa.09.4.vec.extract, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %299, ptr %50, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %51) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %52) #8
  %300 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %49, ptr noundef nonnull align 4 dereferenceable(8) %50)
  store <2 x float> %300, ptr %52, align 8
  %301 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %78, ptr noundef nonnull align 4 dereferenceable(8) %52)
  store <2 x float> %301, ptr %51, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %51)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %52) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %51) #8
  %302 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %72, ptr noundef nonnull align 4 dereferenceable(8) %49)
  %303 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %184, ptr noundef nonnull align 4 dereferenceable(8) %50)
  %304 = fneg float %80
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %53) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %54) #8
  %305 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %49, ptr noundef nonnull align 4 dereferenceable(8) %50)
  store <2 x float> %305, ptr %54, align 8
  %306 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %82, ptr noundef nonnull align 4 dereferenceable(8) %54)
  store <2 x float> %306, ptr %53, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %53)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %54) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %53) #8
  %307 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %196, ptr noundef nonnull align 4 dereferenceable(8) %49)
  %308 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %204, ptr noundef nonnull align 4 dereferenceable(8) %50)
  %309 = insertelement <2 x float> poison, float %307, i64 0
  %310 = insertelement <2 x float> %309, float %302, i64 1
  %311 = insertelement <2 x float> poison, float %308, i64 0
  %312 = insertelement <2 x float> %311, float %303, i64 1
  %313 = fadd <2 x float> %310, %312
  %314 = insertelement <2 x float> %110, float %304, i64 1
  %315 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %314, <2 x float> %313, <2 x float> %150)
  %316 = load float, ptr %35, align 8, !tbaa !38
  store float %316, ptr %185, align 4, !tbaa !31
  %317 = load float, ptr %68, align 4, !tbaa !40
  store float %317, ptr %187, align 4, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %50) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %49) #8
  br label %343

318:                                              ; preds = %286
  store float 0.000000e+00, ptr %68, align 4, !tbaa !40
  %319 = fcmp oge float %256, 0.000000e+00
  %320 = fcmp oge float %260, 0.000000e+00
  %or.cond8 = select i1 %319, i1 %320, i1 false
  br i1 %or.cond8, label %321, label %343

321:                                              ; preds = %318
  %322 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %35, ptr noundef nonnull align 4 dereferenceable(8) %22)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %55) #8
  %.sroa.0.0.vec.extract = extractelement <2 x float> %322, i64 0
  %323 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.sroa.0.0.vec.extract, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %323, ptr %55, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %56) #8
  %.sroa.0.4.vec.extract = extractelement <2 x float> %322, i64 1
  %324 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.sroa.0.4.vec.extract, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %324, ptr %56, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %57) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %58) #8
  %325 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %55, ptr noundef nonnull align 4 dereferenceable(8) %56)
  store <2 x float> %325, ptr %58, align 8
  %326 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %78, ptr noundef nonnull align 4 dereferenceable(8) %58)
  store <2 x float> %326, ptr %57, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %2, ptr noundef nonnull align 4 dereferenceable(8) %57)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %58) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %57) #8
  %327 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %72, ptr noundef nonnull align 4 dereferenceable(8) %55)
  %328 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %184, ptr noundef nonnull align 4 dereferenceable(8) %56)
  %329 = fneg float %80
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %59) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %60) #8
  %330 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %55, ptr noundef nonnull align 4 dereferenceable(8) %56)
  store <2 x float> %330, ptr %60, align 8
  %331 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %82, ptr noundef nonnull align 4 dereferenceable(8) %60)
  store <2 x float> %331, ptr %59, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %59)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %60) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %59) #8
  %332 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %196, ptr noundef nonnull align 4 dereferenceable(8) %55)
  %333 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %204, ptr noundef nonnull align 4 dereferenceable(8) %56)
  %334 = insertelement <2 x float> poison, float %332, i64 0
  %335 = insertelement <2 x float> %334, float %327, i64 1
  %336 = insertelement <2 x float> poison, float %333, i64 0
  %337 = insertelement <2 x float> %336, float %328, i64 1
  %338 = fadd <2 x float> %335, %337
  %339 = insertelement <2 x float> %110, float %329, i64 1
  %340 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %339, <2 x float> %338, <2 x float> %150)
  %341 = load float, ptr %35, align 8, !tbaa !38
  store float %341, ptr %185, align 4, !tbaa !31
  %342 = load float, ptr %68, align 4, !tbaa !40
  store float %342, ptr %187, align 4, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %56) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %55) #8
  br label %343

343:                                              ; preds = %318, %321, %296, %264, %230
  %344 = phi <2 x float> [ %249, %230 ], [ %283, %264 ], [ %315, %296 ], [ %340, %321 ], [ %150, %318 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %35) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %33) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #8
  br label %.loopexit

.loopexit:                                        ; preds = %151, %343
  %345 = phi <2 x float> [ %344, %343 ], [ %182, %151 ]
  %346 = load ptr, ptr %65, align 8, !tbaa !11
  %347 = getelementptr inbounds %struct.b2Velocity, ptr %346, i64 %87
  %348 = load i64, ptr %2, align 8
  store i64 %348, ptr %347, align 4
  %349 = load ptr, ptr %65, align 8, !tbaa !11
  %350 = getelementptr inbounds %struct.b2Velocity, ptr %349, i64 %87, i32 1
  %351 = extractelement <2 x float> %345, i64 1
  store float %351, ptr %350, align 4, !tbaa !24
  %352 = getelementptr inbounds %struct.b2Velocity, ptr %349, i64 %92
  %353 = load i64, ptr %3, align 8
  store i64 %353, ptr %352, align 4
  %354 = load ptr, ptr %65, align 8, !tbaa !11
  %355 = getelementptr inbounds %struct.b2Velocity, ptr %354, i64 %92, i32 1
  %356 = extractelement <2 x float> %345, i64 0
  store float %356, ptr %355, align 4, !tbaa !24
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #8
  %indvars.iv.next201 = add nuw nsw i64 %indvars.iv200, 1
  %357 = load i32, ptr %61, align 8, !tbaa !5
  %358 = sext i32 %357 to i64
  %359 = icmp slt i64 %indvars.iv.next201, %358
  br i1 %359, label %69, label %._crit_edge190, !llvm.loop !43
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef, float noundef, float noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2MaxIfET_S0_S0_(float noundef, float noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z5b2MulRK7b2Mat22RK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #6 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>) #7

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { 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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { nounwind }
attributes #9 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !10, i64 40}
!6 = !{!"_ZTS15b2ContactSolver", !7, i64 0, !7, i64 8, !7, i64 16, !7, i64 24, !7, i64 32, !10, i64 40}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"int", !8, i64 0}
!11 = !{!6, !7, i64 8}
!12 = !{!6, !7, i64 32}
!13 = !{!14, !10, i64 112}
!14 = !{!"_ZTS27b2ContactVelocityConstraint", !8, i64 0, !15, i64 72, !17, i64 80, !17, i64 96, !10, i64 112, !10, i64 116, !16, i64 120, !16, i64 124, !16, i64 128, !16, i64 132, !16, i64 136, !16, i64 140, !16, i64 144, !16, i64 148, !10, i64 152, !7, i64 160}
!15 = !{!"_ZTS6b2Vec2", !16, i64 0, !16, i64 4}
!16 = !{!"float", !8, i64 0}
!17 = !{!"_ZTS7b2Mat22", !15, i64 0, !15, i64 8}
!18 = !{!14, !10, i64 116}
!19 = !{!14, !16, i64 120}
!20 = !{!14, !16, i64 128}
!21 = !{!14, !16, i64 124}
!22 = !{!14, !16, i64 132}
!23 = !{!14, !10, i64 152}
!24 = !{!25, !16, i64 8}
!25 = !{!"_ZTS10b2Velocity", !15, i64 0, !16, i64 8}
!26 = !{i8 0, i8 2}
!27 = !{!14, !16, i64 148}
!28 = !{!29, !16, i64 28}
!29 = !{!"_ZTS25b2VelocityConstraintPoint", !15, i64 0, !15, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!30 = !{!14, !16, i64 136}
!31 = !{!29, !16, i64 16}
!32 = !{!29, !16, i64 24}
!33 = distinct !{!33, !34}
!34 = !{!"llvm.loop.mustprogress"}
!35 = !{!29, !16, i64 20}
!36 = !{!29, !16, i64 32}
!37 = distinct !{!37, !34}
!38 = !{!15, !16, i64 0}
!39 = !{!16, !16, i64 0}
!40 = !{!15, !16, i64 4}
!41 = !{!14, !16, i64 100}
!42 = !{!14, !16, i64 104}
!43 = distinct !{!43, !34}


; Effective O3 passes: DSEPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,ReassociatePass,SCCPPass,SLPVectorizerPass,SROAPass,SimplifyCFGPass