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

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%struct.b2Vec2 = type { float, float }
%struct.b2SolverData = type { %struct.b2TimeStep, ptr, ptr }
%struct.b2TimeStep = type { float, float, float, i32, i32, i32, i8 }
%class.b2RevoluteJoint = type { %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, i8, float, float, i8, float, float, float, i32, i32, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat22, float, float }
%class.b2Joint = type { ptr, i32, ptr, ptr, %struct.b2JointEdge, %struct.b2JointEdge, ptr, ptr, i32, i8, i8, %struct.b2JointUserData }
%struct.b2JointEdge = type { ptr, ptr, ptr, ptr }
%struct.b2JointUserData = type { i64 }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2Velocity = type { %struct.b2Vec2, float }

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

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

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

; Function Attrs: 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 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)) #4 align 2

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN15b2RevoluteJoint24SolveVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(272) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #6 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %struct.b2Vec2, align 4
  %6 = alloca float, align 4
  %7 = alloca %struct.b2Vec2, align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca float, align 4
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  %13 = alloca i8, align 1
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca float, align 4
  %17 = alloca float, align 4
  %18 = alloca float, align 4
  %19 = alloca float, align 4
  %20 = alloca float, 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 %struct.b2Vec2, align 4
  %27 = alloca %struct.b2Vec2, align 4
  %28 = alloca %struct.b2Vec2, align 4
  %29 = alloca %struct.b2Vec2, align 4
  %30 = alloca %struct.b2Vec2, align 4
  %31 = alloca %struct.b2Vec2, align 4
  %32 = alloca %struct.b2Vec2, align 4
  %33 = alloca %struct.b2Vec2, align 4
  %34 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %35 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #8
  %36 = load ptr, ptr %4, align 8, !tbaa !5
  %37 = getelementptr inbounds %struct.b2SolverData, ptr %36, i32 0, i32 2
  %38 = load ptr, ptr %37, align 8, !tbaa !9
  %39 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 14
  %40 = load i32, ptr %39, align 8, !tbaa !15
  %41 = sext i32 %40 to i64
  %42 = getelementptr inbounds %struct.b2Velocity, ptr %38, i64 %41
  %43 = getelementptr inbounds %struct.b2Velocity, ptr %42, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %5, ptr align 4 %43, i64 8, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #8
  %44 = load ptr, ptr %4, align 8, !tbaa !5
  %45 = getelementptr inbounds %struct.b2SolverData, ptr %44, i32 0, i32 2
  %46 = load ptr, ptr %45, align 8, !tbaa !9
  %47 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 14
  %48 = load i32, ptr %47, align 8, !tbaa !15
  %49 = sext i32 %48 to i64
  %50 = getelementptr inbounds %struct.b2Velocity, ptr %46, i64 %49
  %51 = getelementptr inbounds %struct.b2Velocity, ptr %50, i32 0, i32 1
  %52 = load float, ptr %51, align 4, !tbaa !26
  store float %52, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #8
  %53 = load ptr, ptr %4, align 8, !tbaa !5
  %54 = getelementptr inbounds %struct.b2SolverData, ptr %53, i32 0, i32 2
  %55 = load ptr, ptr %54, align 8, !tbaa !9
  %56 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 15
  %57 = load i32, ptr %56, align 4, !tbaa !28
  %58 = sext i32 %57 to i64
  %59 = getelementptr inbounds %struct.b2Velocity, ptr %55, i64 %58
  %60 = getelementptr inbounds %struct.b2Velocity, ptr %59, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %7, ptr align 4 %60, i64 8, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #8
  %61 = load ptr, ptr %4, align 8, !tbaa !5
  %62 = getelementptr inbounds %struct.b2SolverData, ptr %61, i32 0, i32 2
  %63 = load ptr, ptr %62, align 8, !tbaa !9
  %64 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 15
  %65 = load i32, ptr %64, align 4, !tbaa !28
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds %struct.b2Velocity, ptr %63, i64 %66
  %68 = getelementptr inbounds %struct.b2Velocity, ptr %67, i32 0, i32 1
  %69 = load float, ptr %68, align 4, !tbaa !26
  store float %69, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #8
  %70 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 20
  %71 = load float, ptr %70, align 8, !tbaa !29
  store float %71, ptr %9, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #8
  %72 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 21
  %73 = load float, ptr %72, align 4, !tbaa !30
  store float %73, ptr %10, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #8
  %74 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 22
  %75 = load float, ptr %74, align 8, !tbaa !31
  store float %75, ptr %11, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #8
  %76 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 23
  %77 = load float, ptr %76, align 4, !tbaa !32
  store float %77, ptr %12, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 1, ptr %13) #8
  %78 = load float, ptr %11, align 4, !tbaa !25
  %79 = load float, ptr %12, align 4, !tbaa !25
  %80 = fadd float %78, %79
  %81 = fcmp oeq float %80, 0.000000e+00
  %82 = zext i1 %81 to i8
  store i8 %82, ptr %13, align 1, !tbaa !33
  %83 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 7
  %84 = load i8, ptr %83, align 4, !tbaa !34, !range !35, !noundef !36
  %85 = trunc i8 %84 to i1
  br i1 %85, label %86, label %134

86:                                               ; preds = %2
  %87 = load i8, ptr %13, align 1, !tbaa !33, !range !35, !noundef !36
  %88 = trunc i8 %87 to i1
  %89 = zext i1 %88 to i32
  %90 = icmp eq i32 %89, 0
  br i1 %90, label %91, label %134

91:                                               ; preds = %86
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #8
  %92 = load float, ptr %8, align 4, !tbaa !25
  %93 = load float, ptr %6, align 4, !tbaa !25
  %94 = fsub float %92, %93
  %95 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 9
  %96 = load float, ptr %95, align 4, !tbaa !37
  %97 = fsub float %94, %96
  store float %97, ptr %14, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #8
  %98 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 26
  %99 = load float, ptr %98, align 4, !tbaa !38
  %100 = fneg float %99
  %101 = load float, ptr %14, align 4, !tbaa !25
  %102 = fmul float %100, %101
  store float %102, ptr %15, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #8
  %103 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 4
  %104 = load float, ptr %103, align 8, !tbaa !39
  store float %104, ptr %16, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #8
  %105 = load ptr, ptr %4, align 8, !tbaa !5
  %106 = getelementptr inbounds %struct.b2SolverData, ptr %105, i32 0, i32 0
  %107 = getelementptr inbounds %struct.b2TimeStep, ptr %106, i32 0, i32 0
  %108 = load float, ptr %107, align 8, !tbaa !40
  %109 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 8
  %110 = load float, ptr %109, align 8, !tbaa !41
  %111 = fmul float %108, %110
  store float %111, ptr %17, align 4, !tbaa !25
  %112 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 4
  %113 = load float, ptr %112, align 8, !tbaa !39
  %114 = load float, ptr %15, align 4, !tbaa !25
  %115 = fadd float %113, %114
  %116 = load float, ptr %17, align 4, !tbaa !25
  %117 = fneg float %116
  %118 = load float, ptr %17, align 4, !tbaa !25
  %119 = call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %115, float noundef %117, float noundef %118)
  %120 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 4
  store float %119, ptr %120, align 8, !tbaa !39
  %121 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 4
  %122 = load float, ptr %121, align 8, !tbaa !39
  %123 = load float, ptr %16, align 4, !tbaa !25
  %124 = fsub float %122, %123
  store float %124, ptr %15, align 4, !tbaa !25
  %125 = load float, ptr %11, align 4, !tbaa !25
  %126 = load float, ptr %15, align 4, !tbaa !25
  %127 = load float, ptr %6, align 4, !tbaa !25
  %128 = fneg float %125
  %129 = call float @llvm.fmuladd.f32(float %128, float %126, float %127)
  store float %129, ptr %6, align 4, !tbaa !25
  %130 = load float, ptr %12, align 4, !tbaa !25
  %131 = load float, ptr %15, align 4, !tbaa !25
  %132 = load float, ptr %8, align 4, !tbaa !25
  %133 = call float @llvm.fmuladd.f32(float %130, float %131, float %132)
  store float %133, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #8
  br label %134

134:                                              ; preds = %91, %86, %2
  %135 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 10
  %136 = load i8, ptr %135, align 8, !tbaa !42, !range !35, !noundef !36
  %137 = trunc i8 %136 to i1
  br i1 %137, label %138, label %226

138:                                              ; preds = %134
  %139 = load i8, ptr %13, align 1, !tbaa !33, !range !35, !noundef !36
  %140 = trunc i8 %139 to i1
  %141 = zext i1 %140 to i32
  %142 = icmp eq i32 %141, 0
  br i1 %142, label %143, label %226

143:                                              ; preds = %138
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #8
  %144 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 25
  %145 = load float, ptr %144, align 8, !tbaa !43
  %146 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 12
  %147 = load float, ptr %146, align 8, !tbaa !44
  %148 = fsub float %145, %147
  store float %148, ptr %18, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #8
  %149 = load float, ptr %8, align 4, !tbaa !25
  %150 = load float, ptr %6, align 4, !tbaa !25
  %151 = fsub float %149, %150
  store float %151, ptr %19, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #8
  %152 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 26
  %153 = load float, ptr %152, align 4, !tbaa !38
  %154 = fneg float %153
  %155 = load float, ptr %19, align 4, !tbaa !25
  %156 = load float, ptr %18, align 4, !tbaa !25
  %157 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %156, float noundef 0.000000e+00)
  %158 = load ptr, ptr %4, align 8, !tbaa !5
  %159 = getelementptr inbounds %struct.b2SolverData, ptr %158, i32 0, i32 0
  %160 = getelementptr inbounds %struct.b2TimeStep, ptr %159, i32 0, i32 1
  %161 = load float, ptr %160, align 4, !tbaa !45
  %162 = call float @llvm.fmuladd.f32(float %157, float %161, float %155)
  %163 = fmul float %154, %162
  store float %163, ptr %20, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #8
  %164 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 5
  %165 = load float, ptr %164, align 4, !tbaa !46
  store float %165, ptr %21, align 4, !tbaa !25
  %166 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 5
  %167 = load float, ptr %166, align 4, !tbaa !46
  %168 = load float, ptr %20, align 4, !tbaa !25
  %169 = fadd float %167, %168
  %170 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %169, float noundef 0.000000e+00)
  %171 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 5
  store float %170, ptr %171, align 4, !tbaa !46
  %172 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 5
  %173 = load float, ptr %172, align 4, !tbaa !46
  %174 = load float, ptr %21, align 4, !tbaa !25
  %175 = fsub float %173, %174
  store float %175, ptr %20, align 4, !tbaa !25
  %176 = load float, ptr %11, align 4, !tbaa !25
  %177 = load float, ptr %20, align 4, !tbaa !25
  %178 = load float, ptr %6, align 4, !tbaa !25
  %179 = fneg float %176
  %180 = call float @llvm.fmuladd.f32(float %179, float %177, float %178)
  store float %180, ptr %6, align 4, !tbaa !25
  %181 = load float, ptr %12, align 4, !tbaa !25
  %182 = load float, ptr %20, align 4, !tbaa !25
  %183 = load float, ptr %8, align 4, !tbaa !25
  %184 = call float @llvm.fmuladd.f32(float %181, float %182, float %183)
  store float %184, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #8
  %185 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 13
  %186 = load float, ptr %185, align 4, !tbaa !47
  %187 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 25
  %188 = load float, ptr %187, align 8, !tbaa !43
  %189 = fsub float %186, %188
  store float %189, ptr %22, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #8
  %190 = load float, ptr %6, align 4, !tbaa !25
  %191 = load float, ptr %8, align 4, !tbaa !25
  %192 = fsub float %190, %191
  store float %192, ptr %23, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #8
  %193 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 26
  %194 = load float, ptr %193, align 4, !tbaa !38
  %195 = fneg float %194
  %196 = load float, ptr %23, align 4, !tbaa !25
  %197 = load float, ptr %22, align 4, !tbaa !25
  %198 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %197, float noundef 0.000000e+00)
  %199 = load ptr, ptr %4, align 8, !tbaa !5
  %200 = getelementptr inbounds %struct.b2SolverData, ptr %199, i32 0, i32 0
  %201 = getelementptr inbounds %struct.b2TimeStep, ptr %200, i32 0, i32 1
  %202 = load float, ptr %201, align 4, !tbaa !45
  %203 = call float @llvm.fmuladd.f32(float %198, float %202, float %196)
  %204 = fmul float %195, %203
  store float %204, ptr %24, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #8
  %205 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 6
  %206 = load float, ptr %205, align 8, !tbaa !48
  store float %206, ptr %25, align 4, !tbaa !25
  %207 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 6
  %208 = load float, ptr %207, align 8, !tbaa !48
  %209 = load float, ptr %24, align 4, !tbaa !25
  %210 = fadd float %208, %209
  %211 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %210, float noundef 0.000000e+00)
  %212 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 6
  store float %211, ptr %212, align 8, !tbaa !48
  %213 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 6
  %214 = load float, ptr %213, align 8, !tbaa !48
  %215 = load float, ptr %25, align 4, !tbaa !25
  %216 = fsub float %214, %215
  store float %216, ptr %24, align 4, !tbaa !25
  %217 = load float, ptr %11, align 4, !tbaa !25
  %218 = load float, ptr %24, align 4, !tbaa !25
  %219 = load float, ptr %6, align 4, !tbaa !25
  %220 = call float @llvm.fmuladd.f32(float %217, float %218, float %219)
  store float %220, ptr %6, align 4, !tbaa !25
  %221 = load float, ptr %12, align 4, !tbaa !25
  %222 = load float, ptr %24, align 4, !tbaa !25
  %223 = load float, ptr %8, align 4, !tbaa !25
  %224 = fneg float %221
  %225 = call float @llvm.fmuladd.f32(float %224, float %222, float %223)
  store float %225, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #8
  br label %226

226:                                              ; preds = %143, %138, %134
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #8
  %227 = load float, ptr %8, align 4, !tbaa !25
  %228 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 17
  %229 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %227, ptr noundef nonnull align 4 dereferenceable(8) %228)
  store <2 x float> %229, ptr %29, align 4
  %230 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %29)
  store <2 x float> %230, ptr %28, align 4
  %231 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %28, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %231, ptr %27, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #8
  %232 = load float, ptr %6, align 4, !tbaa !25
  %233 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 16
  %234 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %232, ptr noundef nonnull align 4 dereferenceable(8) %233)
  store <2 x float> %234, ptr %30, align 4
  %235 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %27, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %235, ptr %26, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #8
  %236 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 24
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  %237 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %26)
  store <2 x float> %237, ptr %32, align 4
  %238 = call <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %236, ptr noundef nonnull align 4 dereferenceable(8) %32)
  store <2 x float> %238, ptr %31, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  %239 = getelementptr inbounds %struct.b2Vec2, ptr %31, i32 0, i32 0
  %240 = load float, ptr %239, align 4, !tbaa !49
  %241 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 3
  %242 = getelementptr inbounds %struct.b2Vec2, ptr %241, i32 0, i32 0
  %243 = load float, ptr %242, align 8, !tbaa !50
  %244 = fadd float %243, %240
  store float %244, ptr %242, align 8, !tbaa !50
  %245 = getelementptr inbounds %struct.b2Vec2, ptr %31, i32 0, i32 1
  %246 = load float, ptr %245, align 4, !tbaa !51
  %247 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 3
  %248 = getelementptr inbounds %struct.b2Vec2, ptr %247, i32 0, i32 1
  %249 = load float, ptr %248, align 4, !tbaa !52
  %250 = fadd float %249, %246
  store float %250, ptr %248, align 4, !tbaa !52
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #8
  %251 = load float, ptr %9, align 4, !tbaa !25
  %252 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %251, ptr noundef nonnull align 4 dereferenceable(8) %31)
  store <2 x float> %252, ptr %33, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %33)
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  %253 = load float, ptr %11, align 4, !tbaa !25
  %254 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 16
  %255 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %254, ptr noundef nonnull align 4 dereferenceable(8) %31)
  %256 = load float, ptr %6, align 4, !tbaa !25
  %257 = fneg float %253
  %258 = call float @llvm.fmuladd.f32(float %257, float %255, float %256)
  store float %258, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #8
  %259 = load float, ptr %10, align 4, !tbaa !25
  %260 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %259, ptr noundef nonnull align 4 dereferenceable(8) %31)
  store <2 x float> %260, ptr %34, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %34)
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  %261 = load float, ptr %12, align 4, !tbaa !25
  %262 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 17
  %263 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %262, ptr noundef nonnull align 4 dereferenceable(8) %31)
  %264 = load float, ptr %8, align 4, !tbaa !25
  %265 = call float @llvm.fmuladd.f32(float %261, float %263, float %264)
  store float %265, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  %266 = load ptr, ptr %4, align 8, !tbaa !5
  %267 = getelementptr inbounds %struct.b2SolverData, ptr %266, i32 0, i32 2
  %268 = load ptr, ptr %267, align 8, !tbaa !9
  %269 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 14
  %270 = load i32, ptr %269, align 8, !tbaa !15
  %271 = sext i32 %270 to i64
  %272 = getelementptr inbounds %struct.b2Velocity, ptr %268, i64 %271
  %273 = getelementptr inbounds %struct.b2Velocity, ptr %272, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %273, ptr align 4 %5, i64 8, i1 false), !tbaa.struct !24
  %274 = load float, ptr %6, align 4, !tbaa !25
  %275 = load ptr, ptr %4, align 8, !tbaa !5
  %276 = getelementptr inbounds %struct.b2SolverData, ptr %275, i32 0, i32 2
  %277 = load ptr, ptr %276, align 8, !tbaa !9
  %278 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 14
  %279 = load i32, ptr %278, align 8, !tbaa !15
  %280 = sext i32 %279 to i64
  %281 = getelementptr inbounds %struct.b2Velocity, ptr %277, i64 %280
  %282 = getelementptr inbounds %struct.b2Velocity, ptr %281, i32 0, i32 1
  store float %274, ptr %282, align 4, !tbaa !26
  %283 = load ptr, ptr %4, align 8, !tbaa !5
  %284 = getelementptr inbounds %struct.b2SolverData, ptr %283, i32 0, i32 2
  %285 = load ptr, ptr %284, align 8, !tbaa !9
  %286 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 15
  %287 = load i32, ptr %286, align 4, !tbaa !28
  %288 = sext i32 %287 to i64
  %289 = getelementptr inbounds %struct.b2Velocity, ptr %285, i64 %288
  %290 = getelementptr inbounds %struct.b2Velocity, ptr %289, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %290, ptr align 4 %7, i64 8, i1 false), !tbaa.struct !24
  %291 = load float, ptr %8, align 4, !tbaa !25
  %292 = load ptr, ptr %4, align 8, !tbaa !5
  %293 = getelementptr inbounds %struct.b2SolverData, ptr %292, i32 0, i32 2
  %294 = load ptr, ptr %293, align 8, !tbaa !9
  %295 = getelementptr inbounds %class.b2RevoluteJoint, ptr %35, i32 0, i32 15
  %296 = load i32, ptr %295, align 4, !tbaa !28
  %297 = sext i32 %296 to i64
  %298 = getelementptr inbounds %struct.b2Velocity, ptr %294, i64 %297
  %299 = getelementptr inbounds %struct.b2Velocity, ptr %298, i32 0, i32 1
  store float %291, ptr %299, align 4, !tbaa !26
  call void @llvm.lifetime.end.p0(i64 1, 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 8, 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
  ret void
}

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

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

; 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)) #2

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

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(8)) #6 align 2

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress 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 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 40}
!10 = !{!"_ZTS12b2SolverData", !11, i64 0, !6, i64 32, !6, i64 40}
!11 = !{!"_ZTS10b2TimeStep", !12, i64 0, !12, i64 4, !12, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !14, i64 24}
!12 = !{!"float", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!16, !13, i64 192}
!16 = !{!"_ZTS15b2RevoluteJoint", !17, i64 0, !22, i64 128, !22, i64 136, !22, i64 144, !12, i64 152, !12, i64 156, !12, i64 160, !14, i64 164, !12, i64 168, !12, i64 172, !14, i64 176, !12, i64 180, !12, i64 184, !12, i64 188, !13, i64 192, !13, i64 196, !22, i64 200, !22, i64 208, !22, i64 216, !22, i64 224, !12, i64 232, !12, i64 236, !12, i64 240, !12, i64 244, !23, i64 248, !12, i64 264, !12, i64 268}
!17 = !{!"_ZTS7b2Joint", !18, i64 8, !6, i64 16, !6, i64 24, !19, i64 32, !19, i64 64, !6, i64 96, !6, i64 104, !13, i64 112, !14, i64 116, !14, i64 117, !20, i64 120}
!18 = !{!"_ZTS11b2JointType", !7, i64 0}
!19 = !{!"_ZTS11b2JointEdge", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!20 = !{!"_ZTS15b2JointUserData", !21, i64 0}
!21 = !{!"long", !7, i64 0}
!22 = !{!"_ZTS6b2Vec2", !12, i64 0, !12, i64 4}
!23 = !{!"_ZTS7b2Mat22", !22, i64 0, !22, i64 8}
!24 = !{i64 0, i64 4, !25, i64 4, i64 4, !25}
!25 = !{!12, !12, i64 0}
!26 = !{!27, !12, i64 8}
!27 = !{!"_ZTS10b2Velocity", !22, i64 0, !12, i64 8}
!28 = !{!16, !13, i64 196}
!29 = !{!16, !12, i64 232}
!30 = !{!16, !12, i64 236}
!31 = !{!16, !12, i64 240}
!32 = !{!16, !12, i64 244}
!33 = !{!14, !14, i64 0}
!34 = !{!16, !14, i64 164}
!35 = !{i8 0, i8 2}
!36 = !{}
!37 = !{!16, !12, i64 172}
!38 = !{!16, !12, i64 268}
!39 = !{!16, !12, i64 152}
!40 = !{!10, !12, i64 0}
!41 = !{!16, !12, i64 168}
!42 = !{!16, !14, i64 176}
!43 = !{!16, !12, i64 264}
!44 = !{!16, !12, i64 184}
!45 = !{!10, !12, i64 4}
!46 = !{!16, !12, i64 156}
!47 = !{!16, !12, i64 188}
!48 = !{!16, !12, i64 160}
!49 = !{!22, !12, i64 0}
!50 = !{!16, !12, i64 144}
!51 = !{!22, !12, i64 4}
!52 = !{!16, !12, i64 148}


; 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 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 #3 align 2

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

; 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 #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN15b2RevoluteJoint24SolveVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(272) %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
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #8
  %14 = getelementptr inbounds i8, ptr %1, i64 40
  %15 = load ptr, ptr %14, align 8, !tbaa !5
  %16 = getelementptr inbounds i8, ptr %0, i64 192
  %17 = load i32, ptr %16, align 8, !tbaa !14
  %18 = sext i32 %17 to i64
  %19 = getelementptr inbounds %struct.b2Velocity, ptr %15, i64 %18
  %20 = load i64, ptr %19, align 4
  store i64 %20, ptr %3, align 8
  %21 = getelementptr inbounds %struct.b2Velocity, ptr %15, i64 %18, i32 1
  %22 = load float, ptr %21, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #8
  %23 = getelementptr inbounds i8, ptr %0, i64 196
  %24 = load i32, ptr %23, align 4, !tbaa !25
  %25 = sext i32 %24 to i64
  %26 = getelementptr inbounds %struct.b2Velocity, ptr %15, i64 %25
  %27 = load i64, ptr %26, align 4
  store i64 %27, ptr %4, align 8
  %28 = getelementptr inbounds %struct.b2Velocity, ptr %15, i64 %25, i32 1
  %29 = load float, ptr %28, align 4, !tbaa !23
  %30 = getelementptr inbounds i8, ptr %0, i64 232
  %31 = load float, ptr %30, align 8, !tbaa !26
  %32 = getelementptr inbounds i8, ptr %0, i64 236
  %33 = load float, ptr %32, align 4, !tbaa !27
  %34 = getelementptr inbounds i8, ptr %0, i64 240
  %35 = load float, ptr %34, align 8, !tbaa !28
  %36 = getelementptr inbounds i8, ptr %0, i64 244
  %37 = load float, ptr %36, align 4, !tbaa !29
  %38 = fadd float %35, %37
  %39 = fcmp oeq float %38, 0.000000e+00
  %40 = getelementptr inbounds i8, ptr %0, i64 164
  %41 = load i8, ptr %40, align 4, !tbaa !30, !range !31, !noundef !32
  %42 = trunc nuw i8 %41 to i1
  %.not = xor i1 %42, true
  %brmerge = select i1 %.not, i1 true, i1 %39
  %43 = insertelement <2 x float> poison, float %29, i64 0
  %44 = insertelement <2 x float> %43, float %22, i64 1
  br i1 %brmerge, label %69, label %45

45:                                               ; preds = %2
  %46 = fsub float %29, %22
  %47 = getelementptr inbounds i8, ptr %0, i64 172
  %48 = load float, ptr %47, align 4, !tbaa !33
  %49 = fsub float %46, %48
  %50 = getelementptr inbounds i8, ptr %0, i64 268
  %51 = load float, ptr %50, align 4, !tbaa !34
  %52 = getelementptr inbounds i8, ptr %0, i64 152
  %53 = load float, ptr %52, align 8, !tbaa !35
  %54 = load float, ptr %1, align 8, !tbaa !36
  %55 = getelementptr inbounds i8, ptr %0, i64 168
  %56 = load float, ptr %55, align 8, !tbaa !37
  %57 = fmul float %54, %56
  %58 = fmul float %51, %49
  %59 = fsub float %53, %58
  %60 = fneg float %57
  %61 = tail call noundef float @_Z7b2ClampIfET_S0_S0_S0_(float noundef %59, float noundef %60, float noundef %57)
  store float %61, ptr %52, align 8, !tbaa !35
  %62 = fsub float %61, %53
  %63 = fneg float %35
  %64 = insertelement <2 x float> poison, float %37, i64 0
  %65 = insertelement <2 x float> %64, float %63, i64 1
  %66 = insertelement <2 x float> poison, float %62, i64 0
  %67 = shufflevector <2 x float> %66, <2 x float> poison, <2 x i32> zeroinitializer
  %68 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %65, <2 x float> %67, <2 x float> %44)
  br label %69

69:                                               ; preds = %2, %45
  %70 = phi <2 x float> [ %68, %45 ], [ %44, %2 ]
  %71 = getelementptr inbounds i8, ptr %0, i64 176
  %72 = load i8, ptr %71, align 8, !tbaa !38, !range !31, !noundef !32
  %73 = trunc nuw i8 %72 to i1
  %.not65 = xor i1 %73, true
  %brmerge67 = select i1 %.not65, i1 true, i1 %39
  br i1 %brmerge67, label %._crit_edge, label %74

._crit_edge:                                      ; preds = %69
  %.pre = fneg float %35
  br label %122

74:                                               ; preds = %69
  %75 = getelementptr inbounds i8, ptr %0, i64 264
  %76 = load float, ptr %75, align 8, !tbaa !39
  %77 = getelementptr inbounds i8, ptr %0, i64 184
  %78 = load float, ptr %77, align 8, !tbaa !40
  %79 = fsub float %76, %78
  %shift = shufflevector <2 x float> %70, <2 x float> poison, <2 x i32> <i32 1, i32 poison>
  %80 = fsub <2 x float> %70, %shift
  %81 = extractelement <2 x float> %80, i64 0
  %82 = getelementptr inbounds i8, ptr %0, i64 268
  %83 = load float, ptr %82, align 4, !tbaa !34
  %84 = tail call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %79, float noundef 0.000000e+00)
  %85 = getelementptr inbounds i8, ptr %1, i64 4
  %86 = load float, ptr %85, align 4, !tbaa !41
  %87 = tail call float @llvm.fmuladd.f32(float %84, float %86, float %81)
  %88 = getelementptr inbounds i8, ptr %0, i64 156
  %89 = load float, ptr %88, align 4, !tbaa !42
  %90 = fmul float %83, %87
  %91 = fsub float %89, %90
  %92 = tail call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %91, float noundef 0.000000e+00)
  store float %92, ptr %88, align 4, !tbaa !42
  %93 = fsub float %92, %89
  %94 = fneg float %35
  %95 = insertelement <2 x float> poison, float %37, i64 0
  %96 = insertelement <2 x float> %95, float %94, i64 1
  %97 = insertelement <2 x float> poison, float %93, i64 0
  %98 = shufflevector <2 x float> %97, <2 x float> poison, <2 x i32> zeroinitializer
  %99 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %96, <2 x float> %98, <2 x float> %70)
  %100 = getelementptr inbounds i8, ptr %0, i64 188
  %101 = load float, ptr %100, align 4, !tbaa !43
  %102 = load float, ptr %75, align 8, !tbaa !39
  %103 = fsub float %101, %102
  %shift71 = shufflevector <2 x float> %99, <2 x float> poison, <2 x i32> <i32 1, i32 poison>
  %104 = fsub <2 x float> %shift71, %99
  %105 = extractelement <2 x float> %104, i64 0
  %106 = load float, ptr %82, align 4, !tbaa !34
  %107 = tail call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %103, float noundef 0.000000e+00)
  %108 = load float, ptr %85, align 4, !tbaa !41
  %109 = tail call float @llvm.fmuladd.f32(float %107, float %108, float %105)
  %110 = getelementptr inbounds i8, ptr %0, i64 160
  %111 = load float, ptr %110, align 8, !tbaa !44
  %112 = fmul float %106, %109
  %113 = fsub float %111, %112
  %114 = tail call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %113, float noundef 0.000000e+00)
  store float %114, ptr %110, align 8, !tbaa !44
  %115 = fsub float %114, %111
  %116 = fneg float %37
  %117 = insertelement <2 x float> poison, float %116, i64 0
  %118 = insertelement <2 x float> %117, float %35, i64 1
  %119 = insertelement <2 x float> poison, float %115, i64 0
  %120 = shufflevector <2 x float> %119, <2 x float> poison, <2 x i32> zeroinitializer
  %121 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %118, <2 x float> %120, <2 x float> %99)
  br label %122

122:                                              ; preds = %._crit_edge, %74
  %.pre-phi = phi float [ %.pre, %._crit_edge ], [ %94, %74 ]
  %123 = phi <2 x float> [ %70, %._crit_edge ], [ %121, %74 ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #8
  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
  %124 = getelementptr inbounds i8, ptr %0, i64 208
  %125 = extractelement <2 x float> %123, i64 0
  %126 = tail call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %125, ptr noundef nonnull align 4 dereferenceable(8) %124)
  store <2 x float> %126, ptr %8, align 8
  %127 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %8)
  store <2 x float> %127, ptr %7, align 8
  %128 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %128, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #8
  %129 = getelementptr inbounds i8, ptr %0, i64 200
  %130 = extractelement <2 x float> %123, i64 1
  %131 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %130, ptr noundef nonnull align 4 dereferenceable(8) %129)
  store <2 x float> %131, ptr %9, align 8
  %132 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %132, ptr %5, align 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
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #8
  %133 = getelementptr inbounds i8, ptr %0, i64 248
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #8
  %134 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %134, ptr %11, align 8
  %135 = call <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %133, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %135, ptr %10, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #8
  %136 = getelementptr inbounds i8, ptr %0, i64 144
  %137 = load <2 x float>, ptr %136, align 8, !tbaa !45
  %138 = fadd <2 x float> %137, %135
  store <2 x float> %138, ptr %136, align 8, !tbaa !45
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #8
  %139 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %31, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %139, ptr %12, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #8
  %140 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %129, ptr noundef nonnull align 4 dereferenceable(8) %10)
  %141 = call float @llvm.fmuladd.f32(float %.pre-phi, float %140, float %130)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #8
  %142 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %33, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %142, ptr %13, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %13)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #8
  %143 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %124, ptr noundef nonnull align 4 dereferenceable(8) %10)
  %144 = call float @llvm.fmuladd.f32(float %37, float %143, float %125)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #8
  %145 = load ptr, ptr %14, align 8, !tbaa !5
  %146 = load i32, ptr %16, align 8, !tbaa !14
  %147 = sext i32 %146 to i64
  %148 = getelementptr inbounds %struct.b2Velocity, ptr %145, i64 %147
  %149 = load i64, ptr %3, align 8
  store i64 %149, ptr %148, align 4
  %150 = load ptr, ptr %14, align 8, !tbaa !5
  %151 = load i32, ptr %16, align 8, !tbaa !14
  %152 = sext i32 %151 to i64
  %153 = getelementptr inbounds %struct.b2Velocity, ptr %150, i64 %152, i32 1
  store float %141, ptr %153, align 4, !tbaa !23
  %154 = load i32, ptr %23, align 4, !tbaa !25
  %155 = sext i32 %154 to i64
  %156 = getelementptr inbounds %struct.b2Velocity, ptr %150, i64 %155
  %157 = load i64, ptr %4, align 8
  store i64 %157, ptr %156, align 4
  %158 = load ptr, ptr %14, align 8, !tbaa !5
  %159 = load i32, ptr %23, align 4, !tbaa !25
  %160 = sext i32 %159 to i64
  %161 = getelementptr inbounds %struct.b2Velocity, ptr %158, i64 %160, i32 1
  store float %144, ptr %161, align 4, !tbaa !23
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #8
  ret void
}

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2MaxIfET_S0_S0_(float noundef, float noundef) local_unnamed_addr #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)) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5 align 2

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <2 x float> @llvm.fmuladd.v2f32(<2 x float>, <2 x float>, <2 x float>) #7

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !13, i64 40}
!6 = !{!"_ZTS12b2SolverData", !7, i64 0, !13, i64 32, !13, i64 40}
!7 = !{!"_ZTS10b2TimeStep", !8, i64 0, !8, i64 4, !8, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !12, i64 24}
!8 = !{!"float", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"int", !9, i64 0}
!12 = !{!"bool", !9, i64 0}
!13 = !{!"any pointer", !9, i64 0}
!14 = !{!15, !11, i64 192}
!15 = !{!"_ZTS15b2RevoluteJoint", !16, i64 0, !21, i64 128, !21, i64 136, !21, i64 144, !8, i64 152, !8, i64 156, !8, i64 160, !12, i64 164, !8, i64 168, !8, i64 172, !12, i64 176, !8, i64 180, !8, i64 184, !8, i64 188, !11, i64 192, !11, i64 196, !21, i64 200, !21, i64 208, !21, i64 216, !21, i64 224, !8, i64 232, !8, i64 236, !8, i64 240, !8, i64 244, !22, i64 248, !8, i64 264, !8, i64 268}
!16 = !{!"_ZTS7b2Joint", !17, i64 8, !13, i64 16, !13, i64 24, !18, i64 32, !18, i64 64, !13, i64 96, !13, i64 104, !11, i64 112, !12, i64 116, !12, i64 117, !19, i64 120}
!17 = !{!"_ZTS11b2JointType", !9, i64 0}
!18 = !{!"_ZTS11b2JointEdge", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24}
!19 = !{!"_ZTS15b2JointUserData", !20, i64 0}
!20 = !{!"long", !9, i64 0}
!21 = !{!"_ZTS6b2Vec2", !8, i64 0, !8, i64 4}
!22 = !{!"_ZTS7b2Mat22", !21, i64 0, !21, i64 8}
!23 = !{!24, !8, i64 8}
!24 = !{!"_ZTS10b2Velocity", !21, i64 0, !8, i64 8}
!25 = !{!15, !11, i64 196}
!26 = !{!15, !8, i64 232}
!27 = !{!15, !8, i64 236}
!28 = !{!15, !8, i64 240}
!29 = !{!15, !8, i64 244}
!30 = !{!15, !12, i64 164}
!31 = !{i8 0, i8 2}
!32 = !{}
!33 = !{!15, !8, i64 172}
!34 = !{!15, !8, i64 268}
!35 = !{!15, !8, i64 152}
!36 = !{!6, !8, i64 0}
!37 = !{!15, !8, i64 168}
!38 = !{!15, !12, i64 176}
!39 = !{!15, !8, i64 264}
!40 = !{!15, !8, i64 184}
!41 = !{!6, !8, i64 4}
!42 = !{!15, !8, i64 156}
!43 = !{!15, !8, i64 188}
!44 = !{!15, !8, i64 160}
!45 = !{!8, !8, i64 0}


; Effective O3 passes: BDCEPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,ReassociatePass,SCCPPass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass,VectorCombinePass