; LLVM IR from mtsamis/box2d-optimized :: src/dynamics/b2_prismatic_joint.ll (ZN16b2PrismaticJointC2EPK19b2PrismaticJointDef)

; 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.b2PrismaticJoint = type <{ %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, %struct.b2Vec2, float, float, float, float, float, float, float, i8, i8, [2 x i8], i32, i32, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat22, float, float, [4 x i8] }>
%class.b2Joint = type { ptr, i32, ptr, ptr, %struct.b2JointEdge, %struct.b2JointEdge, ptr, ptr, i32, i8, i8, %struct.b2JointUserData }
%struct.b2JointEdge = type { ptr, ptr, ptr, ptr }
%struct.b2JointUserData = type { i64 }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2PrismaticJointDef = type { %struct.b2JointDef.base, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, i8, float, float, i8, float, float }
%struct.b2JointDef.base = type <{ i32, [4 x i8], %struct.b2JointUserData, ptr, ptr, i8 }>

@_ZTV16b2PrismaticJoint = external dso_local unnamed_addr constant { [14 x ptr] }, align 8
@.str = external hidden unnamed_addr constant [41 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [93 x i8], align 1
@__PRETTY_FUNCTION__._ZN16b2PrismaticJointC2EPK19b2PrismaticJointDef = external hidden unnamed_addr constant [64 x i8], align 1

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16b2PrismaticJointC2EPK19b2PrismaticJointDef(ptr noundef nonnull align 8 dereferenceable(300) %0, ptr noundef %1) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %8 = load ptr, ptr %3, align 8
  %9 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZN7b2JointC2EPK10b2JointDef(ptr noundef nonnull align 8 dereferenceable(128) %8, ptr noundef %9)
  store ptr getelementptr inbounds inrange(-16, 96) ({ [14 x ptr] }, ptr @_ZTV16b2PrismaticJoint, i32 0, i32 0, i32 2), ptr %8, align 8, !tbaa !9
  %10 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 1
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %10)
          to label %11 unwind label %71

11:                                               ; preds = %2
  %12 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 2
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %12)
          to label %13 unwind label %71

13:                                               ; preds = %11
  %14 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 3
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %14)
          to label %15 unwind label %71

15:                                               ; preds = %13
  %16 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 4
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %16)
          to label %17 unwind label %71

17:                                               ; preds = %15
  %18 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 6
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %18)
          to label %19 unwind label %71

19:                                               ; preds = %17
  %20 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 19
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %20)
          to label %21 unwind label %71

21:                                               ; preds = %19
  %22 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 20
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %22)
          to label %23 unwind label %71

23:                                               ; preds = %21
  %24 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 25
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %24)
          to label %25 unwind label %71

25:                                               ; preds = %23
  %26 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 26
  invoke void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %26)
          to label %27 unwind label %71

27:                                               ; preds = %25
  %28 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 31
  invoke void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16) %28)
          to label %29 unwind label %71

29:                                               ; preds = %27
  %30 = load ptr, ptr %4, align 8, !tbaa !5
  %31 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %30, i32 0, i32 1
  %32 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %32, ptr align 4 %31, i64 8, i1 false), !tbaa.struct !11
  %33 = load ptr, ptr %4, align 8, !tbaa !5
  %34 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %33, i32 0, i32 2
  %35 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %35, ptr align 4 %34, i64 8, i1 false), !tbaa.struct !11
  %36 = load ptr, ptr %4, align 8, !tbaa !5
  %37 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %36, i32 0, i32 3
  %38 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %38, ptr align 4 %37, i64 8, i1 false), !tbaa.struct !11
  %39 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 3
  %40 = invoke noundef float @_ZN6b2Vec29NormalizeEv(ptr noundef nonnull align 4 dereferenceable(8) %39)
          to label %41 unwind label %71

41:                                               ; preds = %29
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #8
  %42 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 3
  %43 = invoke <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef 1.000000e+00, ptr noundef nonnull align 4 dereferenceable(8) %42)
          to label %44 unwind label %75

44:                                               ; preds = %41
  store <2 x float> %43, ptr %7, align 4
  %45 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %45, ptr align 4 %7, i64 8, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #8
  %46 = load ptr, ptr %4, align 8, !tbaa !5
  %47 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %46, i32 0, i32 4
  %48 = load float, ptr %47, align 4, !tbaa !14
  %49 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 5
  store float %48, ptr %49, align 8, !tbaa !22
  %50 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 6
  invoke void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %50)
          to label %51 unwind label %71

51:                                               ; preds = %44
  %52 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 33
  store float 0.000000e+00, ptr %52, align 8, !tbaa !28
  %53 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 7
  store float 0.000000e+00, ptr %53, align 4, !tbaa !29
  %54 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 8
  store float 0.000000e+00, ptr %54, align 8, !tbaa !30
  %55 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 9
  store float 0.000000e+00, ptr %55, align 4, !tbaa !31
  %56 = load ptr, ptr %4, align 8, !tbaa !5
  %57 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %56, i32 0, i32 6
  %58 = load float, ptr %57, align 4, !tbaa !32
  %59 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 10
  store float %58, ptr %59, align 8, !tbaa !33
  %60 = load ptr, ptr %4, align 8, !tbaa !5
  %61 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %60, i32 0, i32 7
  %62 = load float, ptr %61, align 8, !tbaa !34
  %63 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 11
  store float %62, ptr %63, align 4, !tbaa !35
  %64 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 10
  %65 = load float, ptr %64, align 8, !tbaa !33
  %66 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 11
  %67 = load float, ptr %66, align 4, !tbaa !35
  %68 = fcmp ole float %65, %67
  br i1 %68, label %69, label %70

69:                                               ; preds = %51
  br label %80

70:                                               ; preds = %51
  call void @__assert_fail(ptr noundef @.str, ptr noundef @.str.1, i32 noundef 102, ptr noundef @__PRETTY_FUNCTION__._ZN16b2PrismaticJointC2EPK19b2PrismaticJointDef) #9
  unreachable

71:                                               ; preds = %103, %80, %44, %29, %27, %25, %23, %21, %19, %17, %15, %13, %11, %2
  %72 = landingpad { ptr, i32 }
          cleanup
  %73 = extractvalue { ptr, i32 } %72, 0
  store ptr %73, ptr %5, align 8
  %74 = extractvalue { ptr, i32 } %72, 1
  store i32 %74, ptr %6, align 4
  br label %106

75:                                               ; preds = %41
  %76 = landingpad { ptr, i32 }
          cleanup
  %77 = extractvalue { ptr, i32 } %76, 0
  store ptr %77, ptr %5, align 8
  %78 = extractvalue { ptr, i32 } %76, 1
  store i32 %78, ptr %6, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #8
  br label %106

79:                                               ; No predecessors!
  br label %80

80:                                               ; preds = %79, %69
  %81 = load ptr, ptr %4, align 8, !tbaa !5
  %82 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %81, i32 0, i32 9
  %83 = load float, ptr %82, align 8, !tbaa !36
  %84 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 12
  store float %83, ptr %84, align 8, !tbaa !37
  %85 = load ptr, ptr %4, align 8, !tbaa !5
  %86 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %85, i32 0, i32 10
  %87 = load float, ptr %86, align 4, !tbaa !38
  %88 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 13
  store float %87, ptr %88, align 4, !tbaa !39
  %89 = load ptr, ptr %4, align 8, !tbaa !5
  %90 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %89, i32 0, i32 5
  %91 = load i8, ptr %90, align 8, !tbaa !40, !range !41, !noundef !42
  %92 = trunc i8 %91 to i1
  %93 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 14
  %94 = zext i1 %92 to i8
  store i8 %94, ptr %93, align 8, !tbaa !43
  %95 = load ptr, ptr %4, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct.b2PrismaticJointDef, ptr %95, i32 0, i32 8
  %97 = load i8, ptr %96, align 4, !tbaa !44, !range !41, !noundef !42
  %98 = trunc i8 %97 to i1
  %99 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 15
  %100 = zext i1 %98 to i8
  store i8 %100, ptr %99, align 1, !tbaa !45
  %101 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 32
  store float 0.000000e+00, ptr %101, align 4, !tbaa !46
  %102 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 25
  invoke void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %102)
          to label %103 unwind label %71

103:                                              ; preds = %80
  %104 = getelementptr inbounds %class.b2PrismaticJoint, ptr %8, i32 0, i32 26
  invoke void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %104)
          to label %105 unwind label %71

105:                                              ; preds = %103
  ret void

106:                                              ; preds = %75, %71
  call void @_ZN7b2JointD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %8) #8
  br label %107

107:                                              ; preds = %106
  %108 = load ptr, ptr %5, align 8
  %109 = load i32, ptr %6, align 4
  %110 = insertvalue { ptr, i32 } poison, ptr %108, 0
  %111 = insertvalue { ptr, i32 } %110, i32 %109, 1
  resume { ptr, i32 } %111
}

declare void @_ZN7b2JointC2EPK10b2JointDef(ptr noundef nonnull align 8 dereferenceable(128), ptr noundef) unnamed_addr #3

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

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16)) unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZN6b2Vec29NormalizeEv(ptr noundef nonnull align 4 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8)) #4 align 2

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN7b2JointD2Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #4 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="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 = { "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"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress uwtable "min-legal-vector-width"="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 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }
attributes #9 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}
!11 = !{i64 0, i64 4, !12, i64 4, i64 4, !12}
!12 = !{!13, !13, i64 0}
!13 = !{!"float", !7, i64 0}
!14 = !{!15, !13, i64 60}
!15 = !{!"_ZTS19b2PrismaticJointDef", !16, i64 0, !21, i64 36, !21, i64 44, !21, i64 52, !13, i64 60, !20, i64 64, !13, i64 68, !13, i64 72, !20, i64 76, !13, i64 80, !13, i64 84}
!16 = !{!"_ZTS10b2JointDef", !17, i64 0, !18, i64 8, !6, i64 16, !6, i64 24, !20, i64 32}
!17 = !{!"_ZTS11b2JointType", !7, i64 0}
!18 = !{!"_ZTS15b2JointUserData", !19, i64 0}
!19 = !{!"long", !7, i64 0}
!20 = !{!"bool", !7, i64 0}
!21 = !{!"_ZTS6b2Vec2", !13, i64 0, !13, i64 4}
!22 = !{!23, !13, i64 160}
!23 = !{!"_ZTS16b2PrismaticJoint", !24, i64 0, !21, i64 128, !21, i64 136, !21, i64 144, !21, i64 152, !13, i64 160, !21, i64 164, !13, i64 172, !13, i64 176, !13, i64 180, !13, i64 184, !13, i64 188, !13, i64 192, !13, i64 196, !20, i64 200, !20, i64 201, !26, i64 204, !26, i64 208, !21, i64 212, !21, i64 220, !13, i64 228, !13, i64 232, !13, i64 236, !13, i64 240, !21, i64 244, !21, i64 252, !13, i64 260, !13, i64 264, !13, i64 268, !13, i64 272, !27, i64 276, !13, i64 292, !13, i64 296}
!24 = !{!"_ZTS7b2Joint", !17, i64 8, !6, i64 16, !6, i64 24, !25, i64 32, !25, i64 64, !6, i64 96, !6, i64 104, !26, i64 112, !20, i64 116, !20, i64 117, !18, i64 120}
!25 = !{!"_ZTS11b2JointEdge", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!26 = !{!"int", !7, i64 0}
!27 = !{!"_ZTS7b2Mat22", !21, i64 0, !21, i64 8}
!28 = !{!23, !13, i64 296}
!29 = !{!23, !13, i64 172}
!30 = !{!23, !13, i64 176}
!31 = !{!23, !13, i64 180}
!32 = !{!15, !13, i64 68}
!33 = !{!23, !13, i64 184}
!34 = !{!15, !13, i64 72}
!35 = !{!23, !13, i64 188}
!36 = !{!15, !13, i64 80}
!37 = !{!23, !13, i64 192}
!38 = !{!15, !13, i64 84}
!39 = !{!23, !13, i64 196}
!40 = !{!15, !20, i64 64}
!41 = !{i8 0, i8 2}
!42 = !{}
!43 = !{!23, !20, i64 200}
!44 = !{!15, !20, i64 76}
!45 = !{!23, !20, i64 201}
!46 = !{!23, !13, i64 292}


; 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"

@_ZTV16b2PrismaticJoint = external dso_local unnamed_addr constant { [14 x ptr] }, align 8
@.str = external hidden unnamed_addr constant [41 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [93 x i8], align 1
@__PRETTY_FUNCTION__._ZN16b2PrismaticJointC2EPK19b2PrismaticJointDef = external hidden unnamed_addr constant [64 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16b2PrismaticJointC2EPK19b2PrismaticJointDef(ptr noundef nonnull align 8 dereferenceable(300) %0, ptr noundef %1) unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
  tail call void @_ZN7b2JointC2EPK10b2JointDef(ptr noundef nonnull align 8 dereferenceable(128) %0, ptr noundef %1)
  store ptr getelementptr inbounds inrange(-16, 96) (i8, ptr @_ZTV16b2PrismaticJoint, i64 16), ptr %0, align 8, !tbaa !5
  %3 = getelementptr inbounds i8, ptr %0, i64 128
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %4 = getelementptr inbounds i8, ptr %0, i64 136
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %5 = getelementptr inbounds i8, ptr %0, i64 144
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %5)
  %6 = getelementptr inbounds i8, ptr %0, i64 152
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %6)
  %7 = getelementptr inbounds i8, ptr %0, i64 164
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %7)
  %8 = getelementptr inbounds i8, ptr %0, i64 212
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %8)
  %9 = getelementptr inbounds i8, ptr %0, i64 220
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %9)
  %10 = getelementptr inbounds i8, ptr %0, i64 244
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %10)
  %11 = getelementptr inbounds i8, ptr %0, i64 252
  tail call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %11)
  %12 = getelementptr inbounds i8, ptr %0, i64 276
  invoke void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16) %12)
          to label %13 unwind label %37

13:                                               ; preds = %2
  %14 = getelementptr inbounds i8, ptr %1, i64 36
  %15 = load i64, ptr %14, align 4
  store i64 %15, ptr %3, align 8
  %16 = getelementptr inbounds i8, ptr %1, i64 44
  %17 = load i64, ptr %16, align 4
  store i64 %17, ptr %4, align 8
  %18 = getelementptr inbounds i8, ptr %1, i64 52
  %19 = load i64, ptr %18, align 4
  store i64 %19, ptr %5, align 8
  %20 = invoke noundef float @_ZN6b2Vec29NormalizeEv(ptr noundef nonnull align 4 dereferenceable(8) %5)
          to label %21 unwind label %37

21:                                               ; preds = %13
  %22 = invoke <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef 1.000000e+00, ptr noundef nonnull align 4 dereferenceable(8) %5)
          to label %23 unwind label %39

23:                                               ; preds = %21
  store <2 x float> %22, ptr %6, align 8
  %24 = getelementptr inbounds i8, ptr %1, i64 60
  %25 = load float, ptr %24, align 4, !tbaa !8
  %26 = getelementptr inbounds i8, ptr %0, i64 160
  store float %25, ptr %26, align 8, !tbaa !19
  tail call void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %7)
  %27 = getelementptr inbounds i8, ptr %0, i64 296
  store float 0.000000e+00, ptr %27, align 8, !tbaa !25
  %28 = getelementptr inbounds i8, ptr %0, i64 172
  store <2 x float> zeroinitializer, ptr %28, align 4, !tbaa !26
  %29 = getelementptr inbounds i8, ptr %0, i64 180
  store float 0.000000e+00, ptr %29, align 4, !tbaa !27
  %30 = getelementptr inbounds i8, ptr %1, i64 68
  %31 = getelementptr inbounds i8, ptr %0, i64 184
  %32 = load <2 x float>, ptr %30, align 4, !tbaa !26
  store <2 x float> %32, ptr %31, align 8, !tbaa !26
  %33 = extractelement <2 x float> %32, i64 0
  %34 = extractelement <2 x float> %32, i64 1
  %35 = fcmp ugt float %33, %34
  br i1 %35, label %36, label %41

36:                                               ; preds = %23
  tail call void @__assert_fail(ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i32 noundef 102, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN16b2PrismaticJointC2EPK19b2PrismaticJointDef) #6
  unreachable

37:                                               ; preds = %13, %2
  %38 = landingpad { ptr, i32 }
          cleanup
  br label %52

39:                                               ; preds = %21
  %40 = landingpad { ptr, i32 }
          cleanup
  br label %52

41:                                               ; preds = %23
  %42 = getelementptr inbounds i8, ptr %1, i64 80
  %43 = getelementptr inbounds i8, ptr %0, i64 192
  %44 = load <2 x float>, ptr %42, align 8, !tbaa !26
  store <2 x float> %44, ptr %43, align 8, !tbaa !26
  %45 = getelementptr inbounds i8, ptr %1, i64 64
  %46 = load i8, ptr %45, align 8, !tbaa !28, !range !29, !noundef !30
  %47 = getelementptr inbounds i8, ptr %0, i64 200
  store i8 %46, ptr %47, align 8, !tbaa !31
  %48 = getelementptr inbounds i8, ptr %1, i64 76
  %49 = load i8, ptr %48, align 4, !tbaa !32, !range !29, !noundef !30
  %50 = getelementptr inbounds i8, ptr %0, i64 201
  store i8 %49, ptr %50, align 1, !tbaa !33
  %51 = getelementptr inbounds i8, ptr %0, i64 292
  store float 0.000000e+00, ptr %51, align 4, !tbaa !34
  tail call void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %10)
  tail call void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %11)
  ret void

52:                                               ; preds = %39, %37
  %.pn = phi { ptr, i32 } [ %40, %39 ], [ %38, %37 ]
  tail call void @_ZN7b2JointD2Ev(ptr noundef nonnull align 8 dereferenceable(128) %0) #7
  resume { ptr, i32 } %.pn
}

declare void @_ZN7b2JointC2EPK10b2JointDef(ptr noundef nonnull align 8 dereferenceable(128), ptr noundef) unnamed_addr #1

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

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZN6b2Vec29NormalizeEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN7b2JointD2Ev(ptr noundef nonnull align 8 dereferenceable(128)) unnamed_addr #2 align 2

attributes #0 = { 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 #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { noreturn nounwind }
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 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !18, i64 60}
!9 = !{!"_ZTS19b2PrismaticJointDef", !10, i64 0, !17, i64 36, !17, i64 44, !17, i64 52, !18, i64 60, !16, i64 64, !18, i64 68, !18, i64 72, !16, i64 76, !18, i64 80, !18, i64 84}
!10 = !{!"_ZTS10b2JointDef", !11, i64 0, !13, i64 8, !15, i64 16, !15, i64 24, !16, i64 32}
!11 = !{!"_ZTS11b2JointType", !12, i64 0}
!12 = !{!"omnipotent char", !7, i64 0}
!13 = !{!"_ZTS15b2JointUserData", !14, i64 0}
!14 = !{!"long", !12, i64 0}
!15 = !{!"any pointer", !12, i64 0}
!16 = !{!"bool", !12, i64 0}
!17 = !{!"_ZTS6b2Vec2", !18, i64 0, !18, i64 4}
!18 = !{!"float", !12, i64 0}
!19 = !{!20, !18, i64 160}
!20 = !{!"_ZTS16b2PrismaticJoint", !21, i64 0, !17, i64 128, !17, i64 136, !17, i64 144, !17, i64 152, !18, i64 160, !17, i64 164, !18, i64 172, !18, i64 176, !18, i64 180, !18, i64 184, !18, i64 188, !18, i64 192, !18, i64 196, !16, i64 200, !16, i64 201, !23, i64 204, !23, i64 208, !17, i64 212, !17, i64 220, !18, i64 228, !18, i64 232, !18, i64 236, !18, i64 240, !17, i64 244, !17, i64 252, !18, i64 260, !18, i64 264, !18, i64 268, !18, i64 272, !24, i64 276, !18, i64 292, !18, i64 296}
!21 = !{!"_ZTS7b2Joint", !11, i64 8, !15, i64 16, !15, i64 24, !22, i64 32, !22, i64 64, !15, i64 96, !15, i64 104, !23, i64 112, !16, i64 116, !16, i64 117, !13, i64 120}
!22 = !{!"_ZTS11b2JointEdge", !15, i64 0, !15, i64 8, !15, i64 16, !15, i64 24}
!23 = !{!"int", !12, i64 0}
!24 = !{!"_ZTS7b2Mat22", !17, i64 0, !17, i64 8}
!25 = !{!20, !18, i64 296}
!26 = !{!18, !18, i64 0}
!27 = !{!20, !18, i64 180}
!28 = !{!9, !16, i64 64}
!29 = !{i8 0, i8 2}
!30 = !{}
!31 = !{!20, !16, i64 200}
!32 = !{!9, !16, i64 76}
!33 = !{!20, !16, i64 201}
!34 = !{!20, !18, i64 292}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass