; LLVM IR from mtsamis/box2d-optimized :: src/dynamics/b2_wheel_joint.ll (ZN12b2WheelJoint24SolveVelocityConstraintsERK12b2SolverData)

; 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.b2WheelJoint = type <{ %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, i8, i8, [2 x i8], float, float, i32, i32, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float, float, float, float, float, float, [4 x i8] }>
%class.b2Joint = type { ptr, i32, ptr, ptr, %struct.b2JointEdge, %struct.b2JointEdge, ptr, ptr, i32, i8, i8, %struct.b2JointUserData }
%struct.b2JointEdge = type { ptr, ptr, ptr, ptr }
%struct.b2JointUserData = type { i64 }
%struct.b2SolverData = type { %struct.b2TimeStep, ptr, ptr }
%struct.b2TimeStep = type { float, float, float, i32, i32, i32, i8 }
%struct.b2Velocity = type { %struct.b2Vec2, float }

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

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZmlfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) #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)) #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)) #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN12b2WheelJoint24SolveVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(308) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #6 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca float, align 4
  %6 = alloca float, align 4
  %7 = alloca float, align 4
  %8 = alloca float, align 4
  %9 = alloca %struct.b2Vec2, align 4
  %10 = alloca float, align 4
  %11 = alloca %struct.b2Vec2, align 4
  %12 = alloca float, align 4
  %13 = alloca float, align 4
  %14 = alloca %struct.b2Vec2, align 4
  %15 = alloca float, align 4
  %16 = alloca %struct.b2Vec2, align 4
  %17 = alloca float, align 4
  %18 = alloca float, align 4
  %19 = alloca %struct.b2Vec2, align 4
  %20 = alloca %struct.b2Vec2, align 4
  %21 = alloca float, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca float, align 4
  %27 = alloca %struct.b2Vec2, align 4
  %28 = alloca float, align 4
  %29 = alloca float, align 4
  %30 = alloca %struct.b2Vec2, align 4
  %31 = alloca float, align 4
  %32 = alloca float, align 4
  %33 = alloca %struct.b2Vec2, align 4
  %34 = alloca %struct.b2Vec2, align 4
  %35 = alloca float, align 4
  %36 = alloca float, align 4
  %37 = alloca %struct.b2Vec2, align 4
  %38 = alloca float, align 4
  %39 = alloca float, align 4
  %40 = alloca %struct.b2Vec2, 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 float, align 4
  %46 = alloca %struct.b2Vec2, align 4
  %47 = alloca float, align 4
  %48 = alloca %struct.b2Vec2, align 4
  %49 = alloca float, align 4
  %50 = alloca float, align 4
  %51 = alloca %struct.b2Vec2, align 4
  %52 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %53 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #7
  %54 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 24
  %55 = load float, ptr %54, align 4, !tbaa !9
  store float %55, ptr %5, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #7
  %56 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 25
  %57 = load float, ptr %56, align 8, !tbaa !21
  store float %57, ptr %6, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #7
  %58 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 26
  %59 = load float, ptr %58, align 4, !tbaa !22
  store float %59, ptr %7, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #7
  %60 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 27
  %61 = load float, ptr %60, align 8, !tbaa !23
  store float %61, ptr %8, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %62 = load ptr, ptr %4, align 8, !tbaa !5
  %63 = getelementptr inbounds %struct.b2SolverData, ptr %62, i32 0, i32 2
  %64 = load ptr, ptr %63, align 8, !tbaa !24
  %65 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 20
  %66 = load i32, ptr %65, align 4, !tbaa !27
  %67 = sext i32 %66 to i64
  %68 = getelementptr inbounds %struct.b2Velocity, ptr %64, i64 %67
  %69 = getelementptr inbounds %struct.b2Velocity, ptr %68, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %9, ptr align 4 %69, i64 8, i1 false), !tbaa.struct !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #7
  %70 = load ptr, ptr %4, align 8, !tbaa !5
  %71 = getelementptr inbounds %struct.b2SolverData, ptr %70, i32 0, i32 2
  %72 = load ptr, ptr %71, align 8, !tbaa !24
  %73 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 20
  %74 = load i32, ptr %73, align 4, !tbaa !27
  %75 = sext i32 %74 to i64
  %76 = getelementptr inbounds %struct.b2Velocity, ptr %72, i64 %75
  %77 = getelementptr inbounds %struct.b2Velocity, ptr %76, i32 0, i32 1
  %78 = load float, ptr %77, align 4, !tbaa !29
  store float %78, ptr %10, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %79 = load ptr, ptr %4, align 8, !tbaa !5
  %80 = getelementptr inbounds %struct.b2SolverData, ptr %79, i32 0, i32 2
  %81 = load ptr, ptr %80, align 8, !tbaa !24
  %82 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 21
  %83 = load i32, ptr %82, align 8, !tbaa !31
  %84 = sext i32 %83 to i64
  %85 = getelementptr inbounds %struct.b2Velocity, ptr %81, i64 %84
  %86 = getelementptr inbounds %struct.b2Velocity, ptr %85, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 4 %86, i64 8, i1 false), !tbaa.struct !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #7
  %87 = load ptr, ptr %4, align 8, !tbaa !5
  %88 = getelementptr inbounds %struct.b2SolverData, ptr %87, i32 0, i32 2
  %89 = load ptr, ptr %88, align 8, !tbaa !24
  %90 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 21
  %91 = load i32, ptr %90, align 8, !tbaa !31
  %92 = sext i32 %91 to i64
  %93 = getelementptr inbounds %struct.b2Velocity, ptr %89, i64 %92
  %94 = getelementptr inbounds %struct.b2Velocity, ptr %93, i32 0, i32 1
  %95 = load float, ptr %94, align 4, !tbaa !29
  store float %95, ptr %12, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #7
  %96 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 28
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %97 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %97, ptr %14, align 4
  %98 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %96, ptr noundef nonnull align 4 dereferenceable(8) %14)
  %99 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 31
  %100 = load float, ptr %99, align 8, !tbaa !32
  %101 = load float, ptr %12, align 4, !tbaa !20
  %102 = call float @llvm.fmuladd.f32(float %100, float %101, float %98)
  %103 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 30
  %104 = load float, ptr %103, align 4, !tbaa !33
  %105 = load float, ptr %10, align 4, !tbaa !20
  %106 = fneg float %104
  %107 = call float @llvm.fmuladd.f32(float %106, float %105, float %102)
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  store float %107, ptr %13, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #7
  %108 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 37
  %109 = load float, ptr %108, align 8, !tbaa !34
  %110 = fneg float %109
  %111 = load float, ptr %13, align 4, !tbaa !20
  %112 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 38
  %113 = load float, ptr %112, align 4, !tbaa !35
  %114 = fadd float %111, %113
  %115 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 39
  %116 = load float, ptr %115, align 8, !tbaa !36
  %117 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 7
  %118 = load float, ptr %117, align 8, !tbaa !37
  %119 = call float @llvm.fmuladd.f32(float %116, float %118, float %114)
  %120 = fmul float %110, %119
  store float %120, ptr %15, align 4, !tbaa !20
  %121 = load float, ptr %15, align 4, !tbaa !20
  %122 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 7
  %123 = load float, ptr %122, align 8, !tbaa !37
  %124 = fadd float %123, %121
  store float %124, ptr %122, align 8, !tbaa !37
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  %125 = load float, ptr %15, align 4, !tbaa !20
  %126 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 28
  %127 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %125, ptr noundef nonnull align 4 dereferenceable(8) %126)
  store <2 x float> %127, ptr %16, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #7
  %128 = load float, ptr %15, align 4, !tbaa !20
  %129 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 30
  %130 = load float, ptr %129, align 4, !tbaa !33
  %131 = fmul float %128, %130
  store float %131, ptr %17, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #7
  %132 = load float, ptr %15, align 4, !tbaa !20
  %133 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 31
  %134 = load float, ptr %133, align 8, !tbaa !32
  %135 = fmul float %132, %134
  store float %135, ptr %18, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #7
  %136 = load float, ptr %5, align 4, !tbaa !20
  %137 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %136, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %137, ptr %19, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %19)
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #7
  %138 = load float, ptr %7, align 4, !tbaa !20
  %139 = load float, ptr %17, align 4, !tbaa !20
  %140 = load float, ptr %10, align 4, !tbaa !20
  %141 = fneg float %138
  %142 = call float @llvm.fmuladd.f32(float %141, float %139, float %140)
  store float %142, ptr %10, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #7
  %143 = load float, ptr %6, align 4, !tbaa !20
  %144 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %143, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %144, ptr %20, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %20)
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #7
  %145 = load float, ptr %8, align 4, !tbaa !20
  %146 = load float, ptr %18, align 4, !tbaa !20
  %147 = load float, ptr %12, align 4, !tbaa !20
  %148 = call float @llvm.fmuladd.f32(float %145, float %146, float %147)
  store float %148, ptr %12, align 4, !tbaa !20
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #7
  %149 = load float, ptr %12, align 4, !tbaa !20
  %150 = load float, ptr %10, align 4, !tbaa !20
  %151 = fsub float %149, %150
  %152 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 14
  %153 = load float, ptr %152, align 4, !tbaa !38
  %154 = fsub float %151, %153
  store float %154, ptr %21, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #7
  %155 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 35
  %156 = load float, ptr %155, align 8, !tbaa !39
  %157 = fneg float %156
  %158 = load float, ptr %21, align 4, !tbaa !20
  %159 = fmul float %157, %158
  store float %159, ptr %22, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #7
  %160 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 6
  %161 = load float, ptr %160, align 4, !tbaa !40
  store float %161, ptr %23, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  %162 = load ptr, ptr %4, align 8, !tbaa !5
  %163 = getelementptr inbounds %struct.b2SolverData, ptr %162, i32 0, i32 0
  %164 = getelementptr inbounds %struct.b2TimeStep, ptr %163, i32 0, i32 0
  %165 = load float, ptr %164, align 8, !tbaa !41
  %166 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 13
  %167 = load float, ptr %166, align 8, !tbaa !42
  %168 = fmul float %165, %167
  store float %168, ptr %24, align 4, !tbaa !20
  %169 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 6
  %170 = load float, ptr %169, align 4, !tbaa !40
  %171 = load float, ptr %22, align 4, !tbaa !20
  %172 = fadd float %170, %171
  %173 = load float, ptr %24, align 4, !tbaa !20
  %174 = fneg float %173
  %175 = load float, ptr %24, align 4, !tbaa !20
  %176 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %172, float noundef %174, float noundef %175)
  %177 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 6
  store float %176, ptr %177, align 4, !tbaa !40
  %178 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 6
  %179 = load float, ptr %178, align 4, !tbaa !40
  %180 = load float, ptr %23, align 4, !tbaa !20
  %181 = fsub float %179, %180
  store float %181, ptr %22, align 4, !tbaa !20
  %182 = load float, ptr %7, align 4, !tbaa !20
  %183 = load float, ptr %22, align 4, !tbaa !20
  %184 = load float, ptr %10, align 4, !tbaa !20
  %185 = fneg float %182
  %186 = call float @llvm.fmuladd.f32(float %185, float %183, float %184)
  store float %186, ptr %10, align 4, !tbaa !20
  %187 = load float, ptr %8, align 4, !tbaa !20
  %188 = load float, ptr %22, align 4, !tbaa !20
  %189 = load float, ptr %12, align 4, !tbaa !20
  %190 = call float @llvm.fmuladd.f32(float %187, float %188, float %189)
  store float %190, ptr %12, align 4, !tbaa !20
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  %191 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 15
  %192 = load i8, ptr %191, align 8, !tbaa !43, !range !44, !noundef !45
  %193 = trunc i8 %192 to i1
  br i1 %193, label %194, label %325

194:                                              ; preds = %2
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  %195 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 10
  %196 = load float, ptr %195, align 4, !tbaa !46
  %197 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 11
  %198 = load float, ptr %197, align 8, !tbaa !47
  %199 = fsub float %196, %198
  store float %199, ptr %25, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  %200 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 28
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #7
  %201 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %201, ptr %27, align 4
  %202 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %200, ptr noundef nonnull align 4 dereferenceable(8) %27)
  %203 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 31
  %204 = load float, ptr %203, align 8, !tbaa !32
  %205 = load float, ptr %12, align 4, !tbaa !20
  %206 = call float @llvm.fmuladd.f32(float %204, float %205, float %202)
  %207 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 30
  %208 = load float, ptr %207, align 4, !tbaa !33
  %209 = load float, ptr %10, align 4, !tbaa !20
  %210 = fneg float %208
  %211 = call float @llvm.fmuladd.f32(float %210, float %209, float %206)
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #7
  store float %211, ptr %26, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #7
  %212 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 36
  %213 = load float, ptr %212, align 4, !tbaa !48
  %214 = fneg float %213
  %215 = load float, ptr %26, align 4, !tbaa !20
  %216 = load float, ptr %25, align 4, !tbaa !20
  %217 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %216, float noundef 0.000000e+00)
  %218 = load ptr, ptr %4, align 8, !tbaa !5
  %219 = getelementptr inbounds %struct.b2SolverData, ptr %218, i32 0, i32 0
  %220 = getelementptr inbounds %struct.b2TimeStep, ptr %219, i32 0, i32 1
  %221 = load float, ptr %220, align 4, !tbaa !49
  %222 = call float @llvm.fmuladd.f32(float %217, float %221, float %215)
  %223 = fmul float %214, %222
  store float %223, ptr %28, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #7
  %224 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 8
  %225 = load float, ptr %224, align 4, !tbaa !50
  store float %225, ptr %29, align 4, !tbaa !20
  %226 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 8
  %227 = load float, ptr %226, align 4, !tbaa !50
  %228 = load float, ptr %28, align 4, !tbaa !20
  %229 = fadd float %227, %228
  %230 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %229, float noundef 0.000000e+00)
  %231 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 8
  store float %230, ptr %231, align 4, !tbaa !50
  %232 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 8
  %233 = load float, ptr %232, align 4, !tbaa !50
  %234 = load float, ptr %29, align 4, !tbaa !20
  %235 = fsub float %233, %234
  store float %235, ptr %28, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #7
  %236 = load float, ptr %28, align 4, !tbaa !20
  %237 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 28
  %238 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %236, ptr noundef nonnull align 4 dereferenceable(8) %237)
  store <2 x float> %238, ptr %30, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #7
  %239 = load float, ptr %28, align 4, !tbaa !20
  %240 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 30
  %241 = load float, ptr %240, align 4, !tbaa !33
  %242 = fmul float %239, %241
  store float %242, ptr %31, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #7
  %243 = load float, ptr %28, align 4, !tbaa !20
  %244 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 31
  %245 = load float, ptr %244, align 8, !tbaa !32
  %246 = fmul float %243, %245
  store float %246, ptr %32, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #7
  %247 = load float, ptr %5, align 4, !tbaa !20
  %248 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %247, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %248, ptr %33, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %33)
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #7
  %249 = load float, ptr %7, align 4, !tbaa !20
  %250 = load float, ptr %31, align 4, !tbaa !20
  %251 = load float, ptr %10, align 4, !tbaa !20
  %252 = fneg float %249
  %253 = call float @llvm.fmuladd.f32(float %252, float %250, float %251)
  store float %253, ptr %10, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #7
  %254 = load float, ptr %6, align 4, !tbaa !20
  %255 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %254, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %255, ptr %34, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %34)
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #7
  %256 = load float, ptr %8, align 4, !tbaa !20
  %257 = load float, ptr %32, align 4, !tbaa !20
  %258 = load float, ptr %12, align 4, !tbaa !20
  %259 = call float @llvm.fmuladd.f32(float %256, float %257, float %258)
  store float %259, ptr %12, align 4, !tbaa !20
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #7
  %260 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 12
  %261 = load float, ptr %260, align 4, !tbaa !51
  %262 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 10
  %263 = load float, ptr %262, align 4, !tbaa !46
  %264 = fsub float %261, %263
  store float %264, ptr %35, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #7
  %265 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 28
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #7
  %266 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %266, ptr %37, align 4
  %267 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %265, ptr noundef nonnull align 4 dereferenceable(8) %37)
  %268 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 30
  %269 = load float, ptr %268, align 4, !tbaa !33
  %270 = load float, ptr %10, align 4, !tbaa !20
  %271 = call float @llvm.fmuladd.f32(float %269, float %270, float %267)
  %272 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 31
  %273 = load float, ptr %272, align 8, !tbaa !32
  %274 = load float, ptr %12, align 4, !tbaa !20
  %275 = fneg float %273
  %276 = call float @llvm.fmuladd.f32(float %275, float %274, float %271)
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #7
  store float %276, ptr %36, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #7
  %277 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 36
  %278 = load float, ptr %277, align 4, !tbaa !48
  %279 = fneg float %278
  %280 = load float, ptr %36, align 4, !tbaa !20
  %281 = load float, ptr %35, align 4, !tbaa !20
  %282 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %281, float noundef 0.000000e+00)
  %283 = load ptr, ptr %4, align 8, !tbaa !5
  %284 = getelementptr inbounds %struct.b2SolverData, ptr %283, i32 0, i32 0
  %285 = getelementptr inbounds %struct.b2TimeStep, ptr %284, i32 0, i32 1
  %286 = load float, ptr %285, align 4, !tbaa !49
  %287 = call float @llvm.fmuladd.f32(float %282, float %286, float %280)
  %288 = fmul float %279, %287
  store float %288, ptr %38, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #7
  %289 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 9
  %290 = load float, ptr %289, align 8, !tbaa !52
  store float %290, ptr %39, align 4, !tbaa !20
  %291 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 9
  %292 = load float, ptr %291, align 8, !tbaa !52
  %293 = load float, ptr %38, align 4, !tbaa !20
  %294 = fadd float %292, %293
  %295 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %294, float noundef 0.000000e+00)
  %296 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 9
  store float %295, ptr %296, align 8, !tbaa !52
  %297 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 9
  %298 = load float, ptr %297, align 8, !tbaa !52
  %299 = load float, ptr %39, align 4, !tbaa !20
  %300 = fsub float %298, %299
  store float %300, ptr %38, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #7
  %301 = load float, ptr %38, align 4, !tbaa !20
  %302 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 28
  %303 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %301, ptr noundef nonnull align 4 dereferenceable(8) %302)
  store <2 x float> %303, ptr %40, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #7
  %304 = load float, ptr %38, align 4, !tbaa !20
  %305 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 30
  %306 = load float, ptr %305, align 4, !tbaa !33
  %307 = fmul float %304, %306
  store float %307, ptr %41, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #7
  %308 = load float, ptr %38, align 4, !tbaa !20
  %309 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 31
  %310 = load float, ptr %309, align 8, !tbaa !32
  %311 = fmul float %308, %310
  store float %311, ptr %42, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #7
  %312 = load float, ptr %5, align 4, !tbaa !20
  %313 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %312, ptr noundef nonnull align 4 dereferenceable(8) %40)
  store <2 x float> %313, ptr %43, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %43)
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  %314 = load float, ptr %7, align 4, !tbaa !20
  %315 = load float, ptr %41, align 4, !tbaa !20
  %316 = load float, ptr %10, align 4, !tbaa !20
  %317 = call float @llvm.fmuladd.f32(float %314, float %315, float %316)
  store float %317, ptr %10, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #7
  %318 = load float, ptr %6, align 4, !tbaa !20
  %319 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %318, ptr noundef nonnull align 4 dereferenceable(8) %40)
  store <2 x float> %319, ptr %44, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %44)
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  %320 = load float, ptr %8, align 4, !tbaa !20
  %321 = load float, ptr %42, align 4, !tbaa !20
  %322 = load float, ptr %12, align 4, !tbaa !20
  %323 = fneg float %320
  %324 = call float @llvm.fmuladd.f32(float %323, float %321, float %322)
  store float %324, ptr %12, align 4, !tbaa !20
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #7
  br label %325

325:                                              ; preds = %194, %2
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #7
  %326 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 29
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #7
  %327 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %327, ptr %46, align 4
  %328 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %326, ptr noundef nonnull align 4 dereferenceable(8) %46)
  %329 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 33
  %330 = load float, ptr %329, align 8, !tbaa !53
  %331 = load float, ptr %12, align 4, !tbaa !20
  %332 = call float @llvm.fmuladd.f32(float %330, float %331, float %328)
  %333 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 32
  %334 = load float, ptr %333, align 4, !tbaa !54
  %335 = load float, ptr %10, align 4, !tbaa !20
  %336 = fneg float %334
  %337 = call float @llvm.fmuladd.f32(float %336, float %335, float %332)
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #7
  store float %337, ptr %45, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #7
  %338 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 34
  %339 = load float, ptr %338, align 4, !tbaa !55
  %340 = fneg float %339
  %341 = load float, ptr %45, align 4, !tbaa !20
  %342 = fmul float %340, %341
  store float %342, ptr %47, align 4, !tbaa !20
  %343 = load float, ptr %47, align 4, !tbaa !20
  %344 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 5
  %345 = load float, ptr %344, align 8, !tbaa !56
  %346 = fadd float %345, %343
  store float %346, ptr %344, align 8, !tbaa !56
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #7
  %347 = load float, ptr %47, align 4, !tbaa !20
  %348 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 29
  %349 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %347, ptr noundef nonnull align 4 dereferenceable(8) %348)
  store <2 x float> %349, ptr %48, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #7
  %350 = load float, ptr %47, align 4, !tbaa !20
  %351 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 32
  %352 = load float, ptr %351, align 4, !tbaa !54
  %353 = fmul float %350, %352
  store float %353, ptr %49, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #7
  %354 = load float, ptr %47, align 4, !tbaa !20
  %355 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 33
  %356 = load float, ptr %355, align 8, !tbaa !53
  %357 = fmul float %354, %356
  store float %357, ptr %50, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #7
  %358 = load float, ptr %5, align 4, !tbaa !20
  %359 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %358, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %359, ptr %51, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %51)
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #7
  %360 = load float, ptr %7, align 4, !tbaa !20
  %361 = load float, ptr %49, align 4, !tbaa !20
  %362 = load float, ptr %10, align 4, !tbaa !20
  %363 = fneg float %360
  %364 = call float @llvm.fmuladd.f32(float %363, float %361, float %362)
  store float %364, ptr %10, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #7
  %365 = load float, ptr %6, align 4, !tbaa !20
  %366 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %365, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %366, ptr %52, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %52)
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #7
  %367 = load float, ptr %8, align 4, !tbaa !20
  %368 = load float, ptr %50, align 4, !tbaa !20
  %369 = load float, ptr %12, align 4, !tbaa !20
  %370 = call float @llvm.fmuladd.f32(float %367, float %368, float %369)
  store float %370, ptr %12, align 4, !tbaa !20
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #7
  %371 = load ptr, ptr %4, align 8, !tbaa !5
  %372 = getelementptr inbounds %struct.b2SolverData, ptr %371, i32 0, i32 2
  %373 = load ptr, ptr %372, align 8, !tbaa !24
  %374 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 20
  %375 = load i32, ptr %374, align 4, !tbaa !27
  %376 = sext i32 %375 to i64
  %377 = getelementptr inbounds %struct.b2Velocity, ptr %373, i64 %376
  %378 = getelementptr inbounds %struct.b2Velocity, ptr %377, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %378, ptr align 4 %9, i64 8, i1 false), !tbaa.struct !28
  %379 = load float, ptr %10, align 4, !tbaa !20
  %380 = load ptr, ptr %4, align 8, !tbaa !5
  %381 = getelementptr inbounds %struct.b2SolverData, ptr %380, i32 0, i32 2
  %382 = load ptr, ptr %381, align 8, !tbaa !24
  %383 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 20
  %384 = load i32, ptr %383, align 4, !tbaa !27
  %385 = sext i32 %384 to i64
  %386 = getelementptr inbounds %struct.b2Velocity, ptr %382, i64 %385
  %387 = getelementptr inbounds %struct.b2Velocity, ptr %386, i32 0, i32 1
  store float %379, ptr %387, align 4, !tbaa !29
  %388 = load ptr, ptr %4, align 8, !tbaa !5
  %389 = getelementptr inbounds %struct.b2SolverData, ptr %388, i32 0, i32 2
  %390 = load ptr, ptr %389, align 8, !tbaa !24
  %391 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 21
  %392 = load i32, ptr %391, align 8, !tbaa !31
  %393 = sext i32 %392 to i64
  %394 = getelementptr inbounds %struct.b2Velocity, ptr %390, i64 %393
  %395 = getelementptr inbounds %struct.b2Velocity, ptr %394, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %395, ptr align 4 %11, i64 8, i1 false), !tbaa.struct !28
  %396 = load float, ptr %12, align 4, !tbaa !20
  %397 = load ptr, ptr %4, align 8, !tbaa !5
  %398 = getelementptr inbounds %struct.b2SolverData, ptr %397, i32 0, i32 2
  %399 = load ptr, ptr %398, align 8, !tbaa !24
  %400 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 21
  %401 = load i32, ptr %400, align 8, !tbaa !31
  %402 = sext i32 %401 to i64
  %403 = getelementptr inbounds %struct.b2Velocity, ptr %399, i64 %402
  %404 = getelementptr inbounds %struct.b2Velocity, ptr %403, i32 0, i32 1
  store float %396, ptr %404, align 4, !tbaa !29
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #7
  ret void
}

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

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !19, i64 236}
!10 = !{!"_ZTS12b2WheelJoint", !11, i64 0, !18, i64 128, !18, i64 136, !18, i64 144, !18, i64 152, !19, i64 160, !19, i64 164, !19, i64 168, !19, i64 172, !19, i64 176, !19, i64 180, !19, i64 184, !19, i64 188, !19, i64 192, !19, i64 196, !15, i64 200, !15, i64 201, !19, i64 204, !19, i64 208, !14, i64 212, !14, i64 216, !18, i64 220, !18, i64 228, !19, i64 236, !19, i64 240, !19, i64 244, !19, i64 248, !18, i64 252, !18, i64 260, !19, i64 268, !19, i64 272, !19, i64 276, !19, i64 280, !19, i64 284, !19, i64 288, !19, i64 292, !19, i64 296, !19, i64 300, !19, i64 304}
!11 = !{!"_ZTS7b2Joint", !12, i64 8, !6, i64 16, !6, i64 24, !13, i64 32, !13, i64 64, !6, i64 96, !6, i64 104, !14, i64 112, !15, i64 116, !15, i64 117, !16, i64 120}
!12 = !{!"_ZTS11b2JointType", !7, i64 0}
!13 = !{!"_ZTS11b2JointEdge", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!14 = !{!"int", !7, i64 0}
!15 = !{!"bool", !7, i64 0}
!16 = !{!"_ZTS15b2JointUserData", !17, i64 0}
!17 = !{!"long", !7, i64 0}
!18 = !{!"_ZTS6b2Vec2", !19, i64 0, !19, i64 4}
!19 = !{!"float", !7, i64 0}
!20 = !{!19, !19, i64 0}
!21 = !{!10, !19, i64 240}
!22 = !{!10, !19, i64 244}
!23 = !{!10, !19, i64 248}
!24 = !{!25, !6, i64 40}
!25 = !{!"_ZTS12b2SolverData", !26, i64 0, !6, i64 32, !6, i64 40}
!26 = !{!"_ZTS10b2TimeStep", !19, i64 0, !19, i64 4, !19, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !15, i64 24}
!27 = !{!10, !14, i64 212}
!28 = !{i64 0, i64 4, !20, i64 4, i64 4, !20}
!29 = !{!30, !19, i64 8}
!30 = !{!"_ZTS10b2Velocity", !18, i64 0, !19, i64 8}
!31 = !{!10, !14, i64 216}
!32 = !{!10, !19, i64 272}
!33 = !{!10, !19, i64 268}
!34 = !{!10, !19, i64 296}
!35 = !{!10, !19, i64 300}
!36 = !{!10, !19, i64 304}
!37 = !{!10, !19, i64 168}
!38 = !{!10, !19, i64 196}
!39 = !{!10, !19, i64 288}
!40 = !{!10, !19, i64 164}
!41 = !{!25, !19, i64 0}
!42 = !{!10, !19, i64 192}
!43 = !{!10, !15, i64 200}
!44 = !{i8 0, i8 2}
!45 = !{}
!46 = !{!10, !19, i64 180}
!47 = !{!10, !19, i64 184}
!48 = !{!10, !19, i64 292}
!49 = !{!25, !19, i64 4}
!50 = !{!10, !19, i64 172}
!51 = !{!10, !19, i64 188}
!52 = !{!10, !19, i64 176}
!53 = !{!10, !19, i64 280}
!54 = !{!10, !19, i64 276}
!55 = !{!10, !19, i64 284}
!56 = !{!10, !19, i64 160}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%struct.b2Vec2 = type { float, float }
%struct.b2Velocity = type { %struct.b2Vec2, float }

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

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

; Function Attrs: 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 #1

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_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> @_ZmlfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1

; 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 #4 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 #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN12b2WheelJoint24SolveVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(308) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(48) %1) unnamed_addr #5 align 2 {
  %3 = alloca %struct.b2Vec2, align 8
  %4 = alloca %struct.b2Vec2, align 8
  %5 = alloca %struct.b2Vec2, align 8
  %6 = alloca %struct.b2Vec2, align 8
  %7 = alloca %struct.b2Vec2, align 8
  %8 = alloca %struct.b2Vec2, align 8
  %9 = alloca %struct.b2Vec2, align 8
  %10 = alloca %struct.b2Vec2, align 8
  %11 = alloca %struct.b2Vec2, align 8
  %12 = alloca %struct.b2Vec2, align 8
  %13 = alloca %struct.b2Vec2, align 8
  %14 = alloca %struct.b2Vec2, align 8
  %15 = alloca %struct.b2Vec2, align 8
  %16 = alloca %struct.b2Vec2, align 8
  %17 = alloca %struct.b2Vec2, align 8
  %18 = alloca %struct.b2Vec2, align 8
  %19 = alloca %struct.b2Vec2, align 8
  %20 = alloca %struct.b2Vec2, align 8
  %21 = getelementptr inbounds i8, ptr %0, i64 236
  %22 = load float, ptr %21, align 4, !tbaa !5
  %23 = getelementptr inbounds i8, ptr %0, i64 240
  %24 = load float, ptr %23, align 8, !tbaa !19
  %25 = getelementptr inbounds i8, ptr %0, i64 244
  %26 = load float, ptr %25, align 4, !tbaa !20
  %27 = getelementptr inbounds i8, ptr %0, i64 248
  %28 = load float, ptr %27, align 8, !tbaa !21
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  %29 = getelementptr inbounds i8, ptr %1, i64 40
  %30 = load ptr, ptr %29, align 8, !tbaa !22
  %31 = getelementptr inbounds i8, ptr %0, i64 212
  %32 = load i32, ptr %31, align 4, !tbaa !25
  %33 = sext i32 %32 to i64
  %34 = getelementptr inbounds %struct.b2Velocity, ptr %30, i64 %33
  %35 = load i64, ptr %34, align 4
  store i64 %35, ptr %3, align 8
  %36 = getelementptr inbounds %struct.b2Velocity, ptr %30, i64 %33, i32 1
  %37 = load float, ptr %36, align 4, !tbaa !26
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %38 = getelementptr inbounds i8, ptr %0, i64 216
  %39 = load i32, ptr %38, align 8, !tbaa !28
  %40 = sext i32 %39 to i64
  %41 = getelementptr inbounds %struct.b2Velocity, ptr %30, i64 %40
  %42 = load i64, ptr %41, align 4
  store i64 %42, ptr %4, align 8
  %43 = getelementptr inbounds %struct.b2Velocity, ptr %30, i64 %40, i32 1
  %44 = load float, ptr %43, align 4, !tbaa !26
  %45 = getelementptr inbounds i8, ptr %0, i64 252
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  %46 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %46, ptr %5, align 8
  %47 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %45, ptr noundef nonnull align 4 dereferenceable(8) %5)
  %48 = getelementptr inbounds i8, ptr %0, i64 272
  %49 = load float, ptr %48, align 8, !tbaa !29
  %50 = call float @llvm.fmuladd.f32(float %49, float %44, float %47)
  %51 = getelementptr inbounds i8, ptr %0, i64 268
  %52 = load float, ptr %51, align 4, !tbaa !30
  %53 = fneg float %52
  %54 = call float @llvm.fmuladd.f32(float %53, float %37, float %50)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  %55 = getelementptr inbounds i8, ptr %0, i64 296
  %56 = load float, ptr %55, align 8, !tbaa !31
  %57 = fneg float %56
  %58 = getelementptr inbounds i8, ptr %0, i64 300
  %59 = load float, ptr %58, align 4, !tbaa !32
  %60 = fadd float %54, %59
  %61 = getelementptr inbounds i8, ptr %0, i64 304
  %62 = load float, ptr %61, align 8, !tbaa !33
  %63 = getelementptr inbounds i8, ptr %0, i64 168
  %64 = load float, ptr %63, align 8, !tbaa !34
  %65 = call float @llvm.fmuladd.f32(float %62, float %64, float %60)
  %66 = fmul float %65, %57
  %67 = fadd float %64, %66
  store float %67, ptr %63, align 8, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #7
  %68 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %66, ptr noundef nonnull align 4 dereferenceable(8) %45)
  store <2 x float> %68, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #7
  %69 = fneg float %26
  %70 = load <2 x float>, ptr %51, align 4, !tbaa !35
  %71 = insertelement <2 x float> poison, float %66, i64 0
  %72 = shufflevector <2 x float> %71, <2 x float> poison, <2 x i32> zeroinitializer
  %73 = fmul <2 x float> %72, %70
  %74 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %22, ptr noundef nonnull align 4 dereferenceable(8) %6)
  store <2 x float> %74, ptr %7, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %7)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #7
  %75 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %24, ptr noundef nonnull align 4 dereferenceable(8) %6)
  store <2 x float> %75, ptr %8, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %8)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #7
  %76 = insertelement <2 x float> poison, float %69, i64 0
  %77 = insertelement <2 x float> %76, float %28, i64 1
  %78 = insertelement <2 x float> poison, float %37, i64 0
  %79 = insertelement <2 x float> %78, float %44, i64 1
  %80 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %77, <2 x float> %73, <2 x float> %79)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #7
  %shift = shufflevector <2 x float> %80, <2 x float> poison, <2 x i32> <i32 1, i32 poison>
  %81 = fsub <2 x float> %shift, %80
  %82 = extractelement <2 x float> %81, i64 0
  %83 = getelementptr inbounds i8, ptr %0, i64 196
  %84 = load float, ptr %83, align 4, !tbaa !36
  %85 = fsub float %82, %84
  %86 = getelementptr inbounds i8, ptr %0, i64 288
  %87 = load float, ptr %86, align 8, !tbaa !37
  %88 = getelementptr inbounds i8, ptr %0, i64 164
  %89 = load float, ptr %88, align 4, !tbaa !38
  %90 = load float, ptr %1, align 8, !tbaa !39
  %91 = getelementptr inbounds i8, ptr %0, i64 192
  %92 = load float, ptr %91, align 8, !tbaa !40
  %93 = fmul float %90, %92
  %94 = fmul float %87, %85
  %95 = fsub float %89, %94
  %96 = fneg float %93
  %97 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %95, float noundef %96, float noundef %93)
  store float %97, ptr %88, align 4, !tbaa !38
  %98 = fsub float %97, %89
  %99 = insertelement <2 x float> poison, float %98, i64 0
  %100 = shufflevector <2 x float> %99, <2 x float> poison, <2 x i32> zeroinitializer
  %101 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %77, <2 x float> %100, <2 x float> %80)
  %102 = getelementptr inbounds i8, ptr %0, i64 200
  %103 = load i8, ptr %102, align 8, !tbaa !41, !range !42, !noundef !43
  %104 = trunc nuw i8 %103 to i1
  br i1 %104, label %105, label %174

105:                                              ; preds = %2
  %106 = getelementptr inbounds i8, ptr %0, i64 180
  %107 = load float, ptr %106, align 4, !tbaa !44
  %108 = getelementptr inbounds i8, ptr %0, i64 184
  %109 = load float, ptr %108, align 8, !tbaa !45
  %110 = fsub float %107, %109
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #7
  %111 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %111, ptr %9, align 8
  %112 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %45, ptr noundef nonnull align 4 dereferenceable(8) %9)
  %113 = load float, ptr %48, align 8, !tbaa !29
  %114 = extractelement <2 x float> %101, i64 1
  %115 = call float @llvm.fmuladd.f32(float %113, float %114, float %112)
  %116 = load float, ptr %51, align 4, !tbaa !30
  %117 = fneg float %116
  %118 = extractelement <2 x float> %101, i64 0
  %119 = call float @llvm.fmuladd.f32(float %117, float %118, float %115)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #7
  %120 = getelementptr inbounds i8, ptr %0, i64 292
  %121 = load float, ptr %120, align 4, !tbaa !46
  %122 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %110, float noundef 0.000000e+00)
  %123 = getelementptr inbounds i8, ptr %1, i64 4
  %124 = load float, ptr %123, align 4, !tbaa !47
  %125 = call float @llvm.fmuladd.f32(float %122, float %124, float %119)
  %126 = getelementptr inbounds i8, ptr %0, i64 172
  %127 = load float, ptr %126, align 4, !tbaa !48
  %128 = fmul float %121, %125
  %129 = fsub float %127, %128
  %130 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %129, float noundef 0.000000e+00)
  store float %130, ptr %126, align 4, !tbaa !48
  %131 = fsub float %130, %127
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #7
  %132 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %131, ptr noundef nonnull align 4 dereferenceable(8) %45)
  store <2 x float> %132, ptr %10, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #7
  %133 = getelementptr inbounds i8, ptr %0, i64 188
  %134 = getelementptr inbounds i8, ptr %0, i64 176
  %135 = load <2 x float>, ptr %51, align 4, !tbaa !35
  %136 = insertelement <2 x float> poison, float %131, i64 0
  %137 = shufflevector <2 x float> %136, <2 x float> poison, <2 x i32> zeroinitializer
  %138 = fmul <2 x float> %137, %135
  %139 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %22, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %139, ptr %11, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %11)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #7
  %140 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %24, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %140, ptr %12, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #7
  %141 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %77, <2 x float> %138, <2 x float> %101)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #7
  %142 = load float, ptr %133, align 4, !tbaa !49
  %143 = load float, ptr %106, align 4, !tbaa !44
  %144 = fsub float %142, %143
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #7
  %145 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %145, ptr %13, align 8
  %146 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %45, ptr noundef nonnull align 4 dereferenceable(8) %13)
  %147 = load float, ptr %51, align 4, !tbaa !30
  %148 = extractelement <2 x float> %141, i64 0
  %149 = call float @llvm.fmuladd.f32(float %147, float %148, float %146)
  %150 = load float, ptr %48, align 8, !tbaa !29
  %151 = fneg float %150
  %152 = extractelement <2 x float> %141, i64 1
  %153 = call float @llvm.fmuladd.f32(float %151, float %152, float %149)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #7
  %154 = load float, ptr %120, align 4, !tbaa !46
  %155 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %144, float noundef 0.000000e+00)
  %156 = load float, ptr %123, align 4, !tbaa !47
  %157 = call float @llvm.fmuladd.f32(float %155, float %156, float %153)
  %158 = load float, ptr %134, align 8, !tbaa !50
  %159 = fmul float %154, %157
  %160 = fsub float %158, %159
  %161 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %160, float noundef 0.000000e+00)
  store float %161, ptr %134, align 8, !tbaa !50
  %162 = fsub float %161, %158
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #7
  %163 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %162, ptr noundef nonnull align 4 dereferenceable(8) %45)
  store <2 x float> %163, ptr %14, align 8
  %164 = load <2 x float>, ptr %51, align 4, !tbaa !35
  %165 = insertelement <2 x float> poison, float %162, i64 0
  %166 = shufflevector <2 x float> %165, <2 x float> poison, <2 x i32> zeroinitializer
  %167 = fmul <2 x float> %166, %164
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #7
  %168 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %22, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %168, ptr %15, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %15)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #7
  %169 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %24, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %169, ptr %16, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %16)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #7
  %170 = fneg float %28
  %171 = insertelement <2 x float> poison, float %26, i64 0
  %172 = insertelement <2 x float> %171, float %170, i64 1
  %173 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %172, <2 x float> %167, <2 x float> %141)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #7
  br label %174

174:                                              ; preds = %105, %2
  %175 = phi <2 x float> [ %173, %105 ], [ %101, %2 ]
  %176 = getelementptr inbounds i8, ptr %0, i64 260
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #7
  %177 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %177, ptr %17, align 8
  %178 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %176, ptr noundef nonnull align 4 dereferenceable(8) %17)
  %179 = getelementptr inbounds i8, ptr %0, i64 280
  %180 = load float, ptr %179, align 8, !tbaa !51
  %181 = extractelement <2 x float> %175, i64 1
  %182 = call float @llvm.fmuladd.f32(float %180, float %181, float %178)
  %183 = getelementptr inbounds i8, ptr %0, i64 276
  %184 = load float, ptr %183, align 4, !tbaa !52
  %185 = fneg float %184
  %186 = extractelement <2 x float> %175, i64 0
  %187 = call float @llvm.fmuladd.f32(float %185, float %186, float %182)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #7
  %188 = getelementptr inbounds i8, ptr %0, i64 284
  %189 = load float, ptr %188, align 4, !tbaa !53
  %190 = fneg float %189
  %191 = fmul float %187, %190
  %192 = getelementptr inbounds i8, ptr %0, i64 160
  %193 = load float, ptr %192, align 8, !tbaa !54
  %194 = fadd float %193, %191
  store float %194, ptr %192, align 8, !tbaa !54
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #7
  %195 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %191, ptr noundef nonnull align 4 dereferenceable(8) %176)
  store <2 x float> %195, ptr %18, align 8
  %196 = load float, ptr %183, align 4, !tbaa !52
  %197 = fmul float %191, %196
  %198 = load float, ptr %179, align 8, !tbaa !51
  %199 = fmul float %191, %198
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #7
  %200 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %22, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %200, ptr %19, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %19)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #7
  %201 = call float @llvm.fmuladd.f32(float %69, float %197, float %186)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #7
  %202 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %24, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %202, ptr %20, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %20)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #7
  %203 = call float @llvm.fmuladd.f32(float %28, float %199, float %181)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #7
  %204 = load ptr, ptr %29, align 8, !tbaa !22
  %205 = load i32, ptr %31, align 4, !tbaa !25
  %206 = sext i32 %205 to i64
  %207 = getelementptr inbounds %struct.b2Velocity, ptr %204, i64 %206
  %208 = load i64, ptr %3, align 8
  store i64 %208, ptr %207, align 4
  %209 = load ptr, ptr %29, align 8, !tbaa !22
  %210 = load i32, ptr %31, align 4, !tbaa !25
  %211 = sext i32 %210 to i64
  %212 = getelementptr inbounds %struct.b2Velocity, ptr %209, i64 %211, i32 1
  store float %201, ptr %212, align 4, !tbaa !26
  %213 = load i32, ptr %38, align 8, !tbaa !28
  %214 = sext i32 %213 to i64
  %215 = getelementptr inbounds %struct.b2Velocity, ptr %209, i64 %214
  %216 = load i64, ptr %4, align 8
  store i64 %216, ptr %215, align 4
  %217 = load ptr, ptr %29, align 8, !tbaa !22
  %218 = load i32, ptr %38, align 8, !tbaa !28
  %219 = sext i32 %218 to i64
  %220 = getelementptr inbounds %struct.b2Velocity, ptr %217, i64 %219, i32 1
  store float %203, ptr %220, align 4, !tbaa !26
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef, float noundef, float noundef) local_unnamed_addr #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: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <2 x float> @llvm.fmuladd.v2f32(<2 x float>, <2 x float>, <2 x float>) #6

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !18, i64 236}
!6 = !{!"_ZTS12b2WheelJoint", !7, i64 0, !17, i64 128, !17, i64 136, !17, i64 144, !17, i64 152, !18, i64 160, !18, i64 164, !18, i64 168, !18, i64 172, !18, i64 176, !18, i64 180, !18, i64 184, !18, i64 188, !18, i64 192, !18, i64 196, !14, i64 200, !14, i64 201, !18, i64 204, !18, i64 208, !13, i64 212, !13, i64 216, !17, i64 220, !17, i64 228, !18, i64 236, !18, i64 240, !18, i64 244, !18, i64 248, !17, i64 252, !17, i64 260, !18, i64 268, !18, i64 272, !18, i64 276, !18, i64 280, !18, i64 284, !18, i64 288, !18, i64 292, !18, i64 296, !18, i64 300, !18, i64 304}
!7 = !{!"_ZTS7b2Joint", !8, i64 8, !11, i64 16, !11, i64 24, !12, i64 32, !12, i64 64, !11, i64 96, !11, i64 104, !13, i64 112, !14, i64 116, !14, i64 117, !15, i64 120}
!8 = !{!"_ZTS11b2JointType", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"any pointer", !9, i64 0}
!12 = !{!"_ZTS11b2JointEdge", !11, i64 0, !11, i64 8, !11, i64 16, !11, i64 24}
!13 = !{!"int", !9, i64 0}
!14 = !{!"bool", !9, i64 0}
!15 = !{!"_ZTS15b2JointUserData", !16, i64 0}
!16 = !{!"long", !9, i64 0}
!17 = !{!"_ZTS6b2Vec2", !18, i64 0, !18, i64 4}
!18 = !{!"float", !9, i64 0}
!19 = !{!6, !18, i64 240}
!20 = !{!6, !18, i64 244}
!21 = !{!6, !18, i64 248}
!22 = !{!23, !11, i64 40}
!23 = !{!"_ZTS12b2SolverData", !24, i64 0, !11, i64 32, !11, i64 40}
!24 = !{!"_ZTS10b2TimeStep", !18, i64 0, !18, i64 4, !18, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !14, i64 24}
!25 = !{!6, !13, i64 212}
!26 = !{!27, !18, i64 8}
!27 = !{!"_ZTS10b2Velocity", !17, i64 0, !18, i64 8}
!28 = !{!6, !13, i64 216}
!29 = !{!6, !18, i64 272}
!30 = !{!6, !18, i64 268}
!31 = !{!6, !18, i64 296}
!32 = !{!6, !18, i64 300}
!33 = !{!6, !18, i64 304}
!34 = !{!6, !18, i64 168}
!35 = !{!18, !18, i64 0}
!36 = !{!6, !18, i64 196}
!37 = !{!6, !18, i64 288}
!38 = !{!6, !18, i64 164}
!39 = !{!23, !18, i64 0}
!40 = !{!6, !18, i64 192}
!41 = !{!6, !14, i64 200}
!42 = !{i8 0, i8 2}
!43 = !{}
!44 = !{!6, !18, i64 180}
!45 = !{!6, !18, i64 184}
!46 = !{!6, !18, i64 292}
!47 = !{!23, !18, i64 4}
!48 = !{!6, !18, i64 172}
!49 = !{!6, !18, i64 188}
!50 = !{!6, !18, i64 176}
!51 = !{!6, !18, i64 280}
!52 = !{!6, !18, i64 276}
!53 = !{!6, !18, i64 284}
!54 = !{!6, !18, i64 160}


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