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

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

%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%struct.b2Vec3 = type { float, float, float }
%struct.b2Mat33 = type { %struct.b2Vec3, %struct.b2Vec3, %struct.b2Vec3 }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2SolverData = type { %struct.b2TimeStep, ptr, ptr }
%struct.b2TimeStep = type { float, float, float, i32, i32, i32, i8 }
%class.b2PrismaticJoint = type <{ %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, %struct.b2Vec2, float, float, float, float, float, float, float, i8, i8, [2 x i8], i32, i32, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat22, float, float, [4 x i8] }>
%class.b2Joint = type { ptr, i32, ptr, ptr, %struct.b2JointEdge, %struct.b2JointEdge, ptr, ptr, i32, i8, i8, %struct.b2JointUserData }
%struct.b2JointEdge = type { ptr, ptr, ptr, ptr }
%struct.b2JointUserData = type { i64 }
%struct.b2Position = type { %struct.b2Vec2, float }

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

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

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8), float noundef) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(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> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #4

; 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: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) #2 align 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)) #5

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #2 align 2

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

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

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(8)) #7 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN16b2PrismaticJoint24SolvePositionConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(300) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #7 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 %struct.b2Rot, align 4
  %10 = alloca %struct.b2Rot, align 4
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  %13 = alloca float, align 4
  %14 = alloca float, align 4
  %15 = alloca %struct.b2Vec2, align 4
  %16 = alloca %struct.b2Vec2, align 4
  %17 = alloca %struct.b2Vec2, align 4
  %18 = alloca %struct.b2Vec2, align 4
  %19 = alloca %struct.b2Vec2, align 4
  %20 = alloca %struct.b2Vec2, align 4
  %21 = alloca %struct.b2Vec2, align 4
  %22 = alloca %struct.b2Vec2, align 4
  %23 = alloca float, align 4
  %24 = alloca %struct.b2Vec2, align 4
  %25 = alloca float, align 4
  %26 = alloca %struct.b2Vec2, align 4
  %27 = alloca float, align 4
  %28 = alloca %struct.b2Vec2, align 4
  %29 = alloca float, align 4
  %30 = alloca %struct.b2Vec3, align 4
  %31 = alloca %struct.b2Vec2, align 4
  %32 = alloca float, align 4
  %33 = alloca float, align 4
  %34 = alloca i8, align 1
  %35 = alloca float, align 4
  %36 = alloca float, align 4
  %37 = alloca float, align 4
  %38 = alloca float, align 4
  %39 = alloca float, align 4
  %40 = alloca float, align 4
  %41 = alloca float, align 4
  %42 = alloca float, align 4
  %43 = alloca %struct.b2Mat33, align 4
  %44 = alloca %struct.b2Vec3, align 4
  %45 = alloca %struct.b2Vec3, align 4
  %46 = alloca %struct.b2Vec3, align 4
  %47 = alloca { <2 x float>, float }, align 8
  %48 = alloca { <2 x float>, float }, align 8
  %49 = alloca float, align 4
  %50 = alloca float, align 4
  %51 = alloca float, align 4
  %52 = alloca %struct.b2Mat22, align 4
  %53 = alloca %struct.b2Vec2, align 4
  %54 = alloca %struct.b2Vec2, align 4
  %55 = alloca %struct.b2Vec2, align 4
  %56 = alloca %struct.b2Vec2, align 4
  %57 = alloca %struct.b2Vec2, align 4
  %58 = alloca float, align 4
  %59 = alloca float, align 4
  %60 = alloca %struct.b2Vec2, align 4
  %61 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %62 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #9
  %63 = load ptr, ptr %4, align 8, !tbaa !5
  %64 = getelementptr inbounds %struct.b2SolverData, ptr %63, i32 0, i32 1
  %65 = load ptr, ptr %64, align 8, !tbaa !9
  %66 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 17
  %67 = load i32, ptr %66, align 4, !tbaa !15
  %68 = sext i32 %67 to i64
  %69 = getelementptr inbounds %struct.b2Position, ptr %65, i64 %68
  %70 = getelementptr inbounds %struct.b2Position, ptr %69, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %5, ptr align 4 %70, i64 8, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #9
  %71 = load ptr, ptr %4, align 8, !tbaa !5
  %72 = getelementptr inbounds %struct.b2SolverData, ptr %71, i32 0, i32 1
  %73 = load ptr, ptr %72, align 8, !tbaa !9
  %74 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 17
  %75 = load i32, ptr %74, align 4, !tbaa !15
  %76 = sext i32 %75 to i64
  %77 = getelementptr inbounds %struct.b2Position, ptr %73, i64 %76
  %78 = getelementptr inbounds %struct.b2Position, ptr %77, i32 0, i32 1
  %79 = load float, ptr %78, align 4, !tbaa !26
  store float %79, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #9
  %80 = load ptr, ptr %4, align 8, !tbaa !5
  %81 = getelementptr inbounds %struct.b2SolverData, ptr %80, i32 0, i32 1
  %82 = load ptr, ptr %81, align 8, !tbaa !9
  %83 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 18
  %84 = load i32, ptr %83, align 8, !tbaa !28
  %85 = sext i32 %84 to i64
  %86 = getelementptr inbounds %struct.b2Position, ptr %82, i64 %85
  %87 = getelementptr inbounds %struct.b2Position, ptr %86, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %7, ptr align 4 %87, i64 8, i1 false), !tbaa.struct !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  %88 = load ptr, ptr %4, align 8, !tbaa !5
  %89 = getelementptr inbounds %struct.b2SolverData, ptr %88, i32 0, i32 1
  %90 = load ptr, ptr %89, align 8, !tbaa !9
  %91 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 18
  %92 = load i32, ptr %91, align 8, !tbaa !28
  %93 = sext i32 %92 to i64
  %94 = getelementptr inbounds %struct.b2Position, ptr %90, i64 %93
  %95 = getelementptr inbounds %struct.b2Position, ptr %94, i32 0, i32 1
  %96 = load float, ptr %95, align 4, !tbaa !26
  store float %96, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #9
  %97 = load float, ptr %6, align 4, !tbaa !25
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %9, float noundef %97)
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #9
  %98 = load float, ptr %8, align 4, !tbaa !25
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %10, float noundef %98)
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #9
  %99 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 21
  %100 = load float, ptr %99, align 4, !tbaa !29
  store float %100, ptr %11, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #9
  %101 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 22
  %102 = load float, ptr %101, align 8, !tbaa !30
  store float %102, ptr %12, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #9
  %103 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 23
  %104 = load float, ptr %103, align 4, !tbaa !31
  store float %104, ptr %13, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #9
  %105 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 24
  %106 = load float, ptr %105, align 8, !tbaa !32
  store float %106, ptr %14, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #9
  %107 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 1
  %108 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 19
  %109 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %107, ptr noundef nonnull align 4 dereferenceable(8) %108)
  store <2 x float> %109, ptr %16, align 4
  %110 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %110, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #9
  %111 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 2
  %112 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 20
  %113 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %111, ptr noundef nonnull align 4 dereferenceable(8) %112)
  store <2 x float> %113, ptr %18, align 4
  %114 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %10, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %114, ptr %17, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #9
  %115 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %115, ptr %21, align 4
  %116 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %21, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %116, ptr %20, align 4
  %117 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %20, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %117, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #9
  %118 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 3
  %119 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %118)
  store <2 x float> %119, ptr %22, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #9
  %120 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %120, ptr %24, align 4
  %121 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %24, ptr noundef nonnull align 4 dereferenceable(8) %22)
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #9
  store float %121, ptr %23, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #9
  %122 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %22)
  store float %122, ptr %25, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #9
  %123 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 4
  %124 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %123)
  store <2 x float> %124, ptr %26, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #9
  %125 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %125, ptr %28, align 4
  %126 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %28, ptr noundef nonnull align 4 dereferenceable(8) %26)
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #9
  store float %126, ptr %27, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  %127 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %26)
  store float %127, ptr %29, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 12, ptr %30) #9
  call void @_ZN6b2Vec3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %30)
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #9
  call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %31)
  %128 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %26, ptr noundef nonnull align 4 dereferenceable(8) %19)
  %129 = getelementptr inbounds %struct.b2Vec2, ptr %31, i32 0, i32 0
  store float %128, ptr %129, align 4, !tbaa !33
  %130 = load float, ptr %8, align 4, !tbaa !25
  %131 = load float, ptr %6, align 4, !tbaa !25
  %132 = fsub float %130, %131
  %133 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 5
  %134 = load float, ptr %133, align 8, !tbaa !34
  %135 = fsub float %132, %134
  %136 = getelementptr inbounds %struct.b2Vec2, ptr %31, i32 0, i32 1
  store float %135, ptr %136, align 4, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #9
  %137 = getelementptr inbounds %struct.b2Vec2, ptr %31, i32 0, i32 0
  %138 = load float, ptr %137, align 4, !tbaa !33
  %139 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %138)
  store float %139, ptr %32, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #9
  %140 = getelementptr inbounds %struct.b2Vec2, ptr %31, i32 0, i32 1
  %141 = load float, ptr %140, align 4, !tbaa !35
  %142 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %141)
  store float %142, ptr %33, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 1, ptr %34) #9
  store i8 0, ptr %34, align 1, !tbaa !36
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #9
  store float 0.000000e+00, ptr %35, align 4, !tbaa !25
  %143 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 14
  %144 = load i8, ptr %143, align 8, !tbaa !37, !range !38, !noundef !39
  %145 = trunc i8 %144 to i1
  br i1 %145, label %146, label %198

146:                                              ; preds = %2
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #9
  %147 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %22, ptr noundef nonnull align 4 dereferenceable(8) %19)
  store float %147, ptr %36, align 4, !tbaa !25
  %148 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 11
  %149 = load float, ptr %148, align 4, !tbaa !40
  %150 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 10
  %151 = load float, ptr %150, align 8, !tbaa !41
  %152 = fsub float %149, %151
  %153 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %152)
  %154 = fcmp olt float %153, 0x3F847AE140000000
  br i1 %154, label %155, label %161

155:                                              ; preds = %146
  %156 = load float, ptr %36, align 4, !tbaa !25
  store float %156, ptr %35, align 4, !tbaa !25
  %157 = load float, ptr %32, align 4, !tbaa !25
  %158 = load float, ptr %36, align 4, !tbaa !25
  %159 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %158)
  %160 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %157, float noundef %159)
  store float %160, ptr %32, align 4, !tbaa !25
  store i8 1, ptr %34, align 1, !tbaa !36
  br label %197

161:                                              ; preds = %146
  %162 = load float, ptr %36, align 4, !tbaa !25
  %163 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 10
  %164 = load float, ptr %163, align 8, !tbaa !41
  %165 = fcmp ole float %162, %164
  br i1 %165, label %166, label %178

166:                                              ; preds = %161
  %167 = load float, ptr %36, align 4, !tbaa !25
  %168 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 10
  %169 = load float, ptr %168, align 8, !tbaa !41
  %170 = fsub float %167, %169
  %171 = call noundef float @_Z5b2MinIfET_S0_S0_(float noundef %170, float noundef 0.000000e+00)
  store float %171, ptr %35, align 4, !tbaa !25
  %172 = load float, ptr %32, align 4, !tbaa !25
  %173 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 10
  %174 = load float, ptr %173, align 8, !tbaa !41
  %175 = load float, ptr %36, align 4, !tbaa !25
  %176 = fsub float %174, %175
  %177 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %172, float noundef %176)
  store float %177, ptr %32, align 4, !tbaa !25
  store i8 1, ptr %34, align 1, !tbaa !36
  br label %196

178:                                              ; preds = %161
  %179 = load float, ptr %36, align 4, !tbaa !25
  %180 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 11
  %181 = load float, ptr %180, align 4, !tbaa !40
  %182 = fcmp oge float %179, %181
  br i1 %182, label %183, label %195

183:                                              ; preds = %178
  %184 = load float, ptr %36, align 4, !tbaa !25
  %185 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 11
  %186 = load float, ptr %185, align 4, !tbaa !40
  %187 = fsub float %184, %186
  %188 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %187, float noundef 0.000000e+00)
  store float %188, ptr %35, align 4, !tbaa !25
  %189 = load float, ptr %32, align 4, !tbaa !25
  %190 = load float, ptr %36, align 4, !tbaa !25
  %191 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 11
  %192 = load float, ptr %191, align 4, !tbaa !40
  %193 = fsub float %190, %192
  %194 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %189, float noundef %193)
  store float %194, ptr %32, align 4, !tbaa !25
  store i8 1, ptr %34, align 1, !tbaa !36
  br label %195

195:                                              ; preds = %183, %178
  br label %196

196:                                              ; preds = %195, %166
  br label %197

197:                                              ; preds = %196, %155
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #9
  br label %198

198:                                              ; preds = %197, %2
  %199 = load i8, ptr %34, align 1, !tbaa !36, !range !38, !noundef !39
  %200 = trunc i8 %199 to i1
  br i1 %200, label %201, label %279

201:                                              ; preds = %198
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #9
  %202 = load float, ptr %11, align 4, !tbaa !25
  %203 = load float, ptr %12, align 4, !tbaa !25
  %204 = fadd float %202, %203
  %205 = load float, ptr %13, align 4, !tbaa !25
  %206 = load float, ptr %27, align 4, !tbaa !25
  %207 = fmul float %205, %206
  %208 = load float, ptr %27, align 4, !tbaa !25
  %209 = call float @llvm.fmuladd.f32(float %207, float %208, float %204)
  %210 = load float, ptr %14, align 4, !tbaa !25
  %211 = load float, ptr %29, align 4, !tbaa !25
  %212 = fmul float %210, %211
  %213 = load float, ptr %29, align 4, !tbaa !25
  %214 = call float @llvm.fmuladd.f32(float %212, float %213, float %209)
  store float %214, ptr %37, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #9
  %215 = load float, ptr %13, align 4, !tbaa !25
  %216 = load float, ptr %27, align 4, !tbaa !25
  %217 = load float, ptr %14, align 4, !tbaa !25
  %218 = load float, ptr %29, align 4, !tbaa !25
  %219 = fmul float %217, %218
  %220 = call float @llvm.fmuladd.f32(float %215, float %216, float %219)
  store float %220, ptr %38, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #9
  %221 = load float, ptr %13, align 4, !tbaa !25
  %222 = load float, ptr %27, align 4, !tbaa !25
  %223 = fmul float %221, %222
  %224 = load float, ptr %23, align 4, !tbaa !25
  %225 = load float, ptr %14, align 4, !tbaa !25
  %226 = load float, ptr %29, align 4, !tbaa !25
  %227 = fmul float %225, %226
  %228 = load float, ptr %25, align 4, !tbaa !25
  %229 = fmul float %227, %228
  %230 = call float @llvm.fmuladd.f32(float %223, float %224, float %229)
  store float %230, ptr %39, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #9
  %231 = load float, ptr %13, align 4, !tbaa !25
  %232 = load float, ptr %14, align 4, !tbaa !25
  %233 = fadd float %231, %232
  store float %233, ptr %40, align 4, !tbaa !25
  %234 = load float, ptr %40, align 4, !tbaa !25
  %235 = fcmp oeq float %234, 0.000000e+00
  br i1 %235, label %236, label %237

236:                                              ; preds = %201
  store float 1.000000e+00, ptr %40, align 4, !tbaa !25
  br label %237

237:                                              ; preds = %236, %201
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #9
  %238 = load float, ptr %13, align 4, !tbaa !25
  %239 = load float, ptr %23, align 4, !tbaa !25
  %240 = load float, ptr %14, align 4, !tbaa !25
  %241 = load float, ptr %25, align 4, !tbaa !25
  %242 = fmul float %240, %241
  %243 = call float @llvm.fmuladd.f32(float %238, float %239, float %242)
  store float %243, ptr %41, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #9
  %244 = load float, ptr %11, align 4, !tbaa !25
  %245 = load float, ptr %12, align 4, !tbaa !25
  %246 = fadd float %244, %245
  %247 = load float, ptr %13, align 4, !tbaa !25
  %248 = load float, ptr %23, align 4, !tbaa !25
  %249 = fmul float %247, %248
  %250 = load float, ptr %23, align 4, !tbaa !25
  %251 = call float @llvm.fmuladd.f32(float %249, float %250, float %246)
  %252 = load float, ptr %14, align 4, !tbaa !25
  %253 = load float, ptr %25, align 4, !tbaa !25
  %254 = fmul float %252, %253
  %255 = load float, ptr %25, align 4, !tbaa !25
  %256 = call float @llvm.fmuladd.f32(float %254, float %255, float %251)
  store float %256, ptr %42, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 36, ptr %43) #9
  call void @_ZN7b2Mat33C2Ev(ptr noundef nonnull align 4 dereferenceable(36) %43)
  %257 = getelementptr inbounds %struct.b2Mat33, ptr %43, i32 0, i32 0
  %258 = load float, ptr %37, align 4, !tbaa !25
  %259 = load float, ptr %38, align 4, !tbaa !25
  %260 = load float, ptr %39, align 4, !tbaa !25
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %257, float noundef %258, float noundef %259, float noundef %260)
  %261 = getelementptr inbounds %struct.b2Mat33, ptr %43, i32 0, i32 1
  %262 = load float, ptr %38, align 4, !tbaa !25
  %263 = load float, ptr %40, align 4, !tbaa !25
  %264 = load float, ptr %41, align 4, !tbaa !25
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %261, float noundef %262, float noundef %263, float noundef %264)
  %265 = getelementptr inbounds %struct.b2Mat33, ptr %43, i32 0, i32 2
  %266 = load float, ptr %39, align 4, !tbaa !25
  %267 = load float, ptr %41, align 4, !tbaa !25
  %268 = load float, ptr %42, align 4, !tbaa !25
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %265, float noundef %266, float noundef %267, float noundef %268)
  call void @llvm.lifetime.start.p0(i64 12, ptr %44) #9
  call void @_ZN6b2Vec3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %44)
  %269 = getelementptr inbounds %struct.b2Vec2, ptr %31, i32 0, i32 0
  %270 = load float, ptr %269, align 4, !tbaa !33
  %271 = getelementptr inbounds %struct.b2Vec3, ptr %44, i32 0, i32 0
  store float %270, ptr %271, align 4, !tbaa !42
  %272 = getelementptr inbounds %struct.b2Vec2, ptr %31, i32 0, i32 1
  %273 = load float, ptr %272, align 4, !tbaa !35
  %274 = getelementptr inbounds %struct.b2Vec3, ptr %44, i32 0, i32 1
  store float %273, ptr %274, align 4, !tbaa !44
  %275 = load float, ptr %35, align 4, !tbaa !25
  %276 = getelementptr inbounds %struct.b2Vec3, ptr %44, i32 0, i32 2
  store float %275, ptr %276, align 4, !tbaa !45
  call void @llvm.lifetime.start.p0(i64 12, ptr %45) #9
  call void @llvm.lifetime.start.p0(i64 12, ptr %46) #9
  %277 = call { <2 x float>, float } @_ZNK6b2Vec3ngEv(ptr noundef nonnull align 4 dereferenceable(12) %44)
  store { <2 x float>, float } %277, ptr %47, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %46, ptr align 8 %47, i64 12, i1 false)
  %278 = call { <2 x float>, float } @_ZNK7b2Mat337Solve33ERK6b2Vec3(ptr noundef nonnull align 4 dereferenceable(36) %43, ptr noundef nonnull align 4 dereferenceable(12) %46)
  store { <2 x float>, float } %278, ptr %48, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %45, ptr align 8 %48, i64 12, i1 false)
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %30, ptr align 4 %45, i64 12, i1 false), !tbaa.struct !46
  call void @llvm.lifetime.end.p0(i64 12, ptr %46) #9
  call void @llvm.lifetime.end.p0(i64 12, ptr %45) #9
  call void @llvm.lifetime.end.p0(i64 12, ptr %44) #9
  call void @llvm.lifetime.end.p0(i64 36, ptr %43) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #9
  br label %321

279:                                              ; preds = %198
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #9
  %280 = load float, ptr %11, align 4, !tbaa !25
  %281 = load float, ptr %12, align 4, !tbaa !25
  %282 = fadd float %280, %281
  %283 = load float, ptr %13, align 4, !tbaa !25
  %284 = load float, ptr %27, align 4, !tbaa !25
  %285 = fmul float %283, %284
  %286 = load float, ptr %27, align 4, !tbaa !25
  %287 = call float @llvm.fmuladd.f32(float %285, float %286, float %282)
  %288 = load float, ptr %14, align 4, !tbaa !25
  %289 = load float, ptr %29, align 4, !tbaa !25
  %290 = fmul float %288, %289
  %291 = load float, ptr %29, align 4, !tbaa !25
  %292 = call float @llvm.fmuladd.f32(float %290, float %291, float %287)
  store float %292, ptr %49, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #9
  %293 = load float, ptr %13, align 4, !tbaa !25
  %294 = load float, ptr %27, align 4, !tbaa !25
  %295 = load float, ptr %14, align 4, !tbaa !25
  %296 = load float, ptr %29, align 4, !tbaa !25
  %297 = fmul float %295, %296
  %298 = call float @llvm.fmuladd.f32(float %293, float %294, float %297)
  store float %298, ptr %50, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %51) #9
  %299 = load float, ptr %13, align 4, !tbaa !25
  %300 = load float, ptr %14, align 4, !tbaa !25
  %301 = fadd float %299, %300
  store float %301, ptr %51, align 4, !tbaa !25
  %302 = load float, ptr %51, align 4, !tbaa !25
  %303 = fcmp oeq float %302, 0.000000e+00
  br i1 %303, label %304, label %305

304:                                              ; preds = %279
  store float 1.000000e+00, ptr %51, align 4, !tbaa !25
  br label %305

305:                                              ; preds = %304, %279
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #9
  call void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16) %52)
  %306 = getelementptr inbounds %struct.b2Mat22, ptr %52, i32 0, i32 0
  %307 = load float, ptr %49, align 4, !tbaa !25
  %308 = load float, ptr %50, align 4, !tbaa !25
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %306, float noundef %307, float noundef %308)
  %309 = getelementptr inbounds %struct.b2Mat22, ptr %52, i32 0, i32 1
  %310 = load float, ptr %50, align 4, !tbaa !25
  %311 = load float, ptr %51, align 4, !tbaa !25
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %309, float noundef %310, float noundef %311)
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #9
  %312 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %31)
  store <2 x float> %312, ptr %54, align 4
  %313 = call <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %52, ptr noundef nonnull align 4 dereferenceable(8) %54)
  store <2 x float> %313, ptr %53, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #9
  %314 = getelementptr inbounds %struct.b2Vec2, ptr %53, i32 0, i32 0
  %315 = load float, ptr %314, align 4, !tbaa !33
  %316 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 0
  store float %315, ptr %316, align 4, !tbaa !42
  %317 = getelementptr inbounds %struct.b2Vec2, ptr %53, i32 0, i32 1
  %318 = load float, ptr %317, align 4, !tbaa !35
  %319 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 1
  store float %318, ptr %319, align 4, !tbaa !44
  %320 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 2
  store float 0.000000e+00, ptr %320, align 4, !tbaa !45
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %51) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #9
  br label %321

321:                                              ; preds = %305, %237
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #9
  %322 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 0
  %323 = load float, ptr %322, align 4, !tbaa !42
  %324 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %323, ptr noundef nonnull align 4 dereferenceable(8) %26)
  store <2 x float> %324, ptr %56, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #9
  %325 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 2
  %326 = load float, ptr %325, align 4, !tbaa !45
  %327 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %326, ptr noundef nonnull align 4 dereferenceable(8) %22)
  store <2 x float> %327, ptr %57, align 4
  %328 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %56, ptr noundef nonnull align 4 dereferenceable(8) %57)
  store <2 x float> %328, ptr %55, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %58) #9
  %329 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 0
  %330 = load float, ptr %329, align 4, !tbaa !42
  %331 = load float, ptr %27, align 4, !tbaa !25
  %332 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 1
  %333 = load float, ptr %332, align 4, !tbaa !44
  %334 = call float @llvm.fmuladd.f32(float %330, float %331, float %333)
  %335 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 2
  %336 = load float, ptr %335, align 4, !tbaa !45
  %337 = load float, ptr %23, align 4, !tbaa !25
  %338 = call float @llvm.fmuladd.f32(float %336, float %337, float %334)
  store float %338, ptr %58, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr %59) #9
  %339 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 0
  %340 = load float, ptr %339, align 4, !tbaa !42
  %341 = load float, ptr %29, align 4, !tbaa !25
  %342 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 1
  %343 = load float, ptr %342, align 4, !tbaa !44
  %344 = call float @llvm.fmuladd.f32(float %340, float %341, float %343)
  %345 = getelementptr inbounds %struct.b2Vec3, ptr %30, i32 0, i32 2
  %346 = load float, ptr %345, align 4, !tbaa !45
  %347 = load float, ptr %25, align 4, !tbaa !25
  %348 = call float @llvm.fmuladd.f32(float %346, float %347, float %344)
  store float %348, ptr %59, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %60) #9
  %349 = load float, ptr %11, align 4, !tbaa !25
  %350 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %349, ptr noundef nonnull align 4 dereferenceable(8) %55)
  store <2 x float> %350, ptr %60, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %60)
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #9
  %351 = load float, ptr %13, align 4, !tbaa !25
  %352 = load float, ptr %58, align 4, !tbaa !25
  %353 = load float, ptr %6, align 4, !tbaa !25
  %354 = fneg float %351
  %355 = call float @llvm.fmuladd.f32(float %354, float %352, float %353)
  store float %355, ptr %6, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 8, ptr %61) #9
  %356 = load float, ptr %12, align 4, !tbaa !25
  %357 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %356, ptr noundef nonnull align 4 dereferenceable(8) %55)
  store <2 x float> %357, ptr %61, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %61)
  call void @llvm.lifetime.end.p0(i64 8, ptr %61) #9
  %358 = load float, ptr %14, align 4, !tbaa !25
  %359 = load float, ptr %59, align 4, !tbaa !25
  %360 = load float, ptr %8, align 4, !tbaa !25
  %361 = call float @llvm.fmuladd.f32(float %358, float %359, float %360)
  store float %361, ptr %8, align 4, !tbaa !25
  %362 = load ptr, ptr %4, align 8, !tbaa !5
  %363 = getelementptr inbounds %struct.b2SolverData, ptr %362, i32 0, i32 1
  %364 = load ptr, ptr %363, align 8, !tbaa !9
  %365 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 17
  %366 = load i32, ptr %365, align 4, !tbaa !15
  %367 = sext i32 %366 to i64
  %368 = getelementptr inbounds %struct.b2Position, ptr %364, i64 %367
  %369 = getelementptr inbounds %struct.b2Position, ptr %368, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %369, ptr align 4 %5, i64 8, i1 false), !tbaa.struct !24
  %370 = load float, ptr %6, align 4, !tbaa !25
  %371 = load ptr, ptr %4, align 8, !tbaa !5
  %372 = getelementptr inbounds %struct.b2SolverData, ptr %371, i32 0, i32 1
  %373 = load ptr, ptr %372, align 8, !tbaa !9
  %374 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 17
  %375 = load i32, ptr %374, align 4, !tbaa !15
  %376 = sext i32 %375 to i64
  %377 = getelementptr inbounds %struct.b2Position, ptr %373, i64 %376
  %378 = getelementptr inbounds %struct.b2Position, ptr %377, i32 0, i32 1
  store float %370, ptr %378, align 4, !tbaa !26
  %379 = load ptr, ptr %4, align 8, !tbaa !5
  %380 = getelementptr inbounds %struct.b2SolverData, ptr %379, i32 0, i32 1
  %381 = load ptr, ptr %380, align 8, !tbaa !9
  %382 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 18
  %383 = load i32, ptr %382, align 8, !tbaa !28
  %384 = sext i32 %383 to i64
  %385 = getelementptr inbounds %struct.b2Position, ptr %381, i64 %384
  %386 = getelementptr inbounds %struct.b2Position, ptr %385, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %386, ptr align 4 %7, i64 8, i1 false), !tbaa.struct !24
  %387 = load float, ptr %8, align 4, !tbaa !25
  %388 = load ptr, ptr %4, align 8, !tbaa !5
  %389 = getelementptr inbounds %struct.b2SolverData, ptr %388, i32 0, i32 1
  %390 = load ptr, ptr %389, align 8, !tbaa !9
  %391 = getelementptr inbounds %class.b2PrismaticJoint, ptr %62, i32 0, i32 18
  %392 = load i32, ptr %391, align 8, !tbaa !28
  %393 = sext i32 %392 to i64
  %394 = getelementptr inbounds %struct.b2Position, ptr %390, i64 %393
  %395 = getelementptr inbounds %struct.b2Position, ptr %394, i32 0, i32 1
  store float %387, ptr %395, align 4, !tbaa !26
  %396 = load float, ptr %32, align 4, !tbaa !25
  %397 = fcmp ole float %396, 0x3F747AE140000000
  br i1 %397, label %398, label %401

398:                                              ; preds = %321
  %399 = load float, ptr %33, align 4, !tbaa !25
  %400 = fcmp ole float %399, 0x3FA1DF46C0000000
  br label %401

401:                                              ; preds = %398, %321
  %402 = phi i1 [ false, %321 ], [ %400, %398 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr %59) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %58) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #9
  call void @llvm.lifetime.end.p0(i64 1, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #9
  call void @llvm.lifetime.end.p0(i64 12, ptr %30) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #9
  ret i1 %402
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec3C2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2AbsIfET_S0_(float noundef) #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2MinIfET_S0_S0_(float noundef, float noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7b2Mat33C2Ev(ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12), float noundef, float noundef, float noundef) #2 align 2

declare { <2 x float>, float } @_ZNK7b2Mat337Solve33ERK6b2Vec3(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(12)) #8

; Function Attrs: mustprogress uwtable
declare dso_local { <2 x float>, float } @_ZNK6b2Vec3ngEv(ptr noundef nonnull align 4 dereferenceable(12)) #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 = { 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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { "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 #9 = { 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 32}
!10 = !{!"_ZTS12b2SolverData", !11, i64 0, !6, i64 32, !6, i64 40}
!11 = !{!"_ZTS10b2TimeStep", !12, i64 0, !12, i64 4, !12, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !14, i64 24}
!12 = !{!"float", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!16, !13, i64 204}
!16 = !{!"_ZTS16b2PrismaticJoint", !17, i64 0, !22, i64 128, !22, i64 136, !22, i64 144, !22, i64 152, !12, i64 160, !22, i64 164, !12, i64 172, !12, i64 176, !12, i64 180, !12, i64 184, !12, i64 188, !12, i64 192, !12, i64 196, !14, i64 200, !14, i64 201, !13, i64 204, !13, i64 208, !22, i64 212, !22, i64 220, !12, i64 228, !12, i64 232, !12, i64 236, !12, i64 240, !22, i64 244, !22, i64 252, !12, i64 260, !12, i64 264, !12, i64 268, !12, i64 272, !23, i64 276, !12, i64 292, !12, i64 296}
!17 = !{!"_ZTS7b2Joint", !18, i64 8, !6, i64 16, !6, i64 24, !19, i64 32, !19, i64 64, !6, i64 96, !6, i64 104, !13, i64 112, !14, i64 116, !14, i64 117, !20, i64 120}
!18 = !{!"_ZTS11b2JointType", !7, i64 0}
!19 = !{!"_ZTS11b2JointEdge", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!20 = !{!"_ZTS15b2JointUserData", !21, i64 0}
!21 = !{!"long", !7, i64 0}
!22 = !{!"_ZTS6b2Vec2", !12, i64 0, !12, i64 4}
!23 = !{!"_ZTS7b2Mat22", !22, i64 0, !22, i64 8}
!24 = !{i64 0, i64 4, !25, i64 4, i64 4, !25}
!25 = !{!12, !12, i64 0}
!26 = !{!27, !12, i64 8}
!27 = !{!"_ZTS10b2Position", !22, i64 0, !12, i64 8}
!28 = !{!16, !13, i64 208}
!29 = !{!16, !12, i64 228}
!30 = !{!16, !12, i64 232}
!31 = !{!16, !12, i64 236}
!32 = !{!16, !12, i64 240}
!33 = !{!22, !12, i64 0}
!34 = !{!16, !12, i64 160}
!35 = !{!22, !12, i64 4}
!36 = !{!14, !14, i64 0}
!37 = !{!16, !14, i64 200}
!38 = !{i8 0, i8 2}
!39 = !{}
!40 = !{!16, !12, i64 188}
!41 = !{!16, !12, i64 184}
!42 = !{!43, !12, i64 0}
!43 = !{!"_ZTS6b2Vec3", !12, i64 0, !12, i64 4, !12, i64 8}
!44 = !{!43, !12, i64 4}
!45 = !{!43, !12, i64 8}
!46 = !{i64 0, i64 4, !25, i64 4, i64 4, !25, i64 8, i64 4, !25}


; 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.b2Rot = type { float, float }
%struct.b2Vec3 = type { float, float, float }
%struct.b2Mat33 = type { %struct.b2Vec3, %struct.b2Vec3, %struct.b2Vec3 }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2Position = type { %struct.b2Vec2, float }

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8)) unnamed_addr #1 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8), float noundef) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(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> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) local_unnamed_addr #1 align 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 #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZmlfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1 align 2

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN16b2PrismaticJoint24SolvePositionConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(300) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(48) %1) unnamed_addr #6 align 2 {
  %3 = alloca %struct.b2Vec2, align 8
  %4 = alloca %struct.b2Vec2, align 8
  %5 = alloca %struct.b2Rot, align 4
  %6 = alloca %struct.b2Rot, align 4
  %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.b2Vec3, align 8
  %19 = alloca %struct.b2Vec2, align 8
  %20 = alloca %struct.b2Mat33, align 4
  %21 = alloca %struct.b2Vec3, align 8
  %22 = alloca %struct.b2Vec3, align 8
  %23 = alloca %struct.b2Mat22, align 4
  %24 = alloca %struct.b2Vec2, align 8
  %25 = alloca %struct.b2Vec2, align 8
  %26 = alloca %struct.b2Vec2, align 8
  %27 = alloca %struct.b2Vec2, align 8
  %28 = alloca %struct.b2Vec2, align 8
  %29 = alloca %struct.b2Vec2, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #8
  %30 = getelementptr inbounds i8, ptr %1, i64 32
  %31 = load ptr, ptr %30, align 8, !tbaa !5
  %32 = getelementptr inbounds i8, ptr %0, i64 204
  %33 = load i32, ptr %32, align 4, !tbaa !14
  %34 = sext i32 %33 to i64
  %35 = getelementptr inbounds %struct.b2Position, ptr %31, i64 %34
  %36 = load i64, ptr %35, align 4
  store i64 %36, ptr %3, align 8
  %37 = getelementptr inbounds %struct.b2Position, ptr %31, i64 %34, i32 1
  %38 = load float, ptr %37, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #8
  %39 = getelementptr inbounds i8, ptr %0, i64 208
  %40 = load i32, ptr %39, align 8, !tbaa !25
  %41 = sext i32 %40 to i64
  %42 = getelementptr inbounds %struct.b2Position, ptr %31, i64 %41
  %43 = load i64, ptr %42, align 4
  store i64 %43, ptr %4, align 8
  %44 = getelementptr inbounds %struct.b2Position, ptr %31, i64 %41, i32 1
  %45 = load float, ptr %44, align 4, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #8
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %5, float noundef %38)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #8
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %6, float noundef %45)
  %46 = getelementptr inbounds i8, ptr %0, i64 228
  %47 = load float, ptr %46, align 4, !tbaa !26
  %48 = getelementptr inbounds i8, ptr %0, i64 232
  %49 = load float, ptr %48, align 8, !tbaa !27
  %50 = getelementptr inbounds i8, ptr %0, i64 236
  %51 = load float, ptr %50, align 4, !tbaa !28
  %52 = getelementptr inbounds i8, ptr %0, i64 240
  %53 = load float, ptr %52, align 8, !tbaa !29
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #8
  %54 = getelementptr inbounds i8, ptr %0, i64 128
  %55 = getelementptr inbounds i8, ptr %0, i64 212
  %56 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %54, ptr noundef nonnull align 4 dereferenceable(8) %55)
  store <2 x float> %56, ptr %8, align 8
  %57 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %8)
  store <2 x float> %57, ptr %7, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #8
  %58 = getelementptr inbounds i8, ptr %0, i64 136
  %59 = getelementptr inbounds i8, ptr %0, i64 220
  %60 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %58, ptr noundef nonnull align 4 dereferenceable(8) %59)
  store <2 x float> %60, ptr %10, align 8
  %61 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %61, ptr %9, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #8
  %62 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %62, ptr %13, align 8
  %63 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %63, ptr %12, align 8
  %64 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %12, ptr noundef nonnull align 4 dereferenceable(8) %7)
  store <2 x float> %64, ptr %11, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #8
  %65 = getelementptr inbounds i8, ptr %0, i64 144
  %66 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %65)
  store <2 x float> %66, ptr %14, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #8
  %67 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %7)
  store <2 x float> %67, ptr %15, align 8
  %68 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %14)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #8
  %69 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %14)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #8
  %70 = getelementptr inbounds i8, ptr %0, i64 152
  %71 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %70)
  store <2 x float> %71, ptr %16, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #8
  %72 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %7)
  store <2 x float> %72, ptr %17, align 8
  %73 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %16)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #8
  %74 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %16)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %18) #8
  call void @_ZN6b2Vec3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %18)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #8
  call void @_ZN6b2Vec2C2Ev(ptr noundef nonnull align 4 dereferenceable(8) %19)
  %75 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %16, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store float %75, ptr %19, align 8, !tbaa !30
  %76 = fsub float %45, %38
  %77 = getelementptr inbounds i8, ptr %0, i64 160
  %78 = load float, ptr %77, align 8, !tbaa !31
  %79 = fsub float %76, %78
  %80 = getelementptr inbounds i8, ptr %19, i64 4
  store float %79, ptr %80, align 4, !tbaa !32
  %81 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %75)
  %82 = load float, ptr %80, align 4, !tbaa !32
  %83 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %82)
  %84 = getelementptr inbounds i8, ptr %0, i64 200
  %85 = load i8, ptr %84, align 8, !tbaa !33, !range !34, !noundef !35
  %86 = trunc nuw i8 %85 to i1
  br i1 %86, label %87, label %138

87:                                               ; preds = %2
  %88 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %14, ptr noundef nonnull align 4 dereferenceable(8) %11)
  %89 = getelementptr inbounds i8, ptr %0, i64 188
  %90 = load float, ptr %89, align 4, !tbaa !36
  %91 = getelementptr inbounds i8, ptr %0, i64 184
  %92 = load float, ptr %91, align 8, !tbaa !37
  %93 = fsub float %90, %92
  %94 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %93)
  %95 = fcmp olt float %94, 0x3F847AE140000000
  br i1 %95, label %96, label %98

96:                                               ; preds = %87
  %97 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %88)
  br label %114

98:                                               ; preds = %87
  %99 = load float, ptr %91, align 8, !tbaa !37
  %100 = fcmp ugt float %88, %99
  br i1 %100, label %106, label %101

101:                                              ; preds = %98
  %102 = fsub float %88, %99
  %103 = call noundef float @_Z5b2MinIfET_S0_S0_(float noundef %102, float noundef 0.000000e+00)
  %104 = load float, ptr %91, align 8, !tbaa !37
  %105 = fsub float %104, %88
  br label %114

106:                                              ; preds = %98
  %107 = load float, ptr %89, align 4, !tbaa !36
  %108 = fcmp ult float %88, %107
  br i1 %108, label %138, label %109

109:                                              ; preds = %106
  %110 = fsub float %88, %107
  %111 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %110, float noundef 0.000000e+00)
  %112 = load float, ptr %89, align 4, !tbaa !36
  %113 = fsub float %88, %112
  br label %114

114:                                              ; preds = %96, %101, %109
  %.sink = phi float [ %97, %96 ], [ %105, %101 ], [ %113, %109 ]
  %.1112.ph = phi float [ %88, %96 ], [ %103, %101 ], [ %111, %109 ]
  %115 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %81, float noundef %.sink)
  %116 = fadd float %47, %49
  %117 = fmul float %51, %73
  %118 = call float @llvm.fmuladd.f32(float %117, float %73, float %116)
  %119 = fmul float %53, %74
  %120 = call float @llvm.fmuladd.f32(float %119, float %74, float %118)
  %121 = call float @llvm.fmuladd.f32(float %51, float %73, float %119)
  %122 = fmul float %69, %119
  %123 = call float @llvm.fmuladd.f32(float %117, float %68, float %122)
  %124 = fadd float %51, %53
  %125 = fcmp oeq float %124, 0.000000e+00
  %.0113 = select i1 %125, float 1.000000e+00, float %124
  %126 = fmul float %53, %69
  %127 = call float @llvm.fmuladd.f32(float %51, float %68, float %126)
  %128 = fmul float %51, %68
  %129 = call float @llvm.fmuladd.f32(float %128, float %68, float %116)
  %130 = call float @llvm.fmuladd.f32(float %126, float %69, float %129)
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %20) #8
  call void @_ZN7b2Mat33C2Ev(ptr noundef nonnull align 4 dereferenceable(36) %20)
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %20, float noundef %120, float noundef %121, float noundef %123)
  %131 = getelementptr inbounds i8, ptr %20, i64 12
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %131, float noundef %121, float noundef %.0113, float noundef %127)
  %132 = getelementptr inbounds i8, ptr %20, i64 24
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %132, float noundef %123, float noundef %127, float noundef %130)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %21) #8
  call void @_ZN6b2Vec3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %21)
  %133 = load <2 x float>, ptr %19, align 8, !tbaa !38
  store <2 x float> %133, ptr %21, align 8, !tbaa !38
  %134 = getelementptr inbounds i8, ptr %21, i64 8
  store float %.1112.ph, ptr %134, align 8, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %22) #8
  %135 = call { <2 x float>, float } @_ZNK6b2Vec3ngEv(ptr noundef nonnull align 4 dereferenceable(12) %21)
  %.fca.0.extract8 = extractvalue { <2 x float>, float } %135, 0
  %.fca.1.extract9 = extractvalue { <2 x float>, float } %135, 1
  store <2 x float> %.fca.0.extract8, ptr %22, align 8
  %.sroa.211.0..sroa_idx = getelementptr inbounds i8, ptr %22, i64 8
  store float %.fca.1.extract9, ptr %.sroa.211.0..sroa_idx, align 8
  %136 = call { <2 x float>, float } @_ZNK7b2Mat337Solve33ERK6b2Vec3(ptr noundef nonnull align 4 dereferenceable(36) %20, ptr noundef nonnull align 4 dereferenceable(12) %22)
  %.fca.0.extract = extractvalue { <2 x float>, float } %136, 0
  %.fca.1.extract = extractvalue { <2 x float>, float } %136, 1
  store <2 x float> %.fca.0.extract, ptr %18, align 8
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %18, i64 8
  store float %.fca.1.extract, ptr %.sroa.4.0..sroa_idx, align 8, !tbaa !38
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %22) #8
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %21) #8
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %20) #8
  %137 = extractelement <2 x float> %.fca.0.extract, i64 0
  br label %152

138:                                              ; preds = %2, %106
  %139 = fadd float %47, %49
  %140 = fmul float %51, %73
  %141 = call float @llvm.fmuladd.f32(float %140, float %73, float %139)
  %142 = fmul float %53, %74
  %143 = call float @llvm.fmuladd.f32(float %142, float %74, float %141)
  %144 = call float @llvm.fmuladd.f32(float %51, float %73, float %142)
  %145 = fadd float %51, %53
  %146 = fcmp oeq float %145, 0.000000e+00
  %.0108 = select i1 %146, float 1.000000e+00, float %145
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #8
  call void @_ZN7b2Mat22C2Ev(ptr noundef nonnull align 4 dereferenceable(16) %23)
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %23, float noundef %143, float noundef %144)
  %147 = getelementptr inbounds i8, ptr %23, i64 8
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %147, float noundef %144, float noundef %.0108)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #8
  %148 = call <2 x float> @_ZNK6b2Vec2ngEv(ptr noundef nonnull align 4 dereferenceable(8) %19)
  store <2 x float> %148, ptr %24, align 8
  %149 = call <2 x float> @_ZNK7b2Mat225SolveERK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(16) %23, ptr noundef nonnull align 4 dereferenceable(8) %24)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #8
  store <2 x float> %149, ptr %18, align 8, !tbaa !38
  %150 = getelementptr inbounds i8, ptr %18, i64 8
  store float 0.000000e+00, ptr %150, align 8, !tbaa !39
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %23) #8
  %151 = extractelement <2 x float> %149, i64 0
  br label %152

152:                                              ; preds = %138, %114
  %153 = phi float [ %151, %138 ], [ %137, %114 ]
  %.1124 = phi float [ %81, %138 ], [ %115, %114 ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #8
  %154 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %153, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %154, ptr %26, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #8
  %155 = getelementptr inbounds i8, ptr %18, i64 8
  %156 = load float, ptr %155, align 8, !tbaa !39
  %157 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %156, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %157, ptr %27, align 8
  %158 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %26, ptr noundef nonnull align 4 dereferenceable(8) %27)
  store <2 x float> %158, ptr %25, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #8
  %159 = load float, ptr %18, align 8, !tbaa !41
  %160 = getelementptr inbounds i8, ptr %18, i64 4
  %161 = load float, ptr %160, align 4, !tbaa !42
  %162 = call float @llvm.fmuladd.f32(float %159, float %73, float %161)
  %163 = load float, ptr %155, align 8, !tbaa !39
  %164 = call float @llvm.fmuladd.f32(float %163, float %68, float %162)
  %165 = call float @llvm.fmuladd.f32(float %159, float %74, float %161)
  %166 = call float @llvm.fmuladd.f32(float %163, float %69, float %165)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #8
  %167 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %47, ptr noundef nonnull align 4 dereferenceable(8) %25)
  store <2 x float> %167, ptr %28, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %28)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #8
  %168 = fneg float %51
  %169 = call float @llvm.fmuladd.f32(float %168, float %164, float %38)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #8
  %170 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %49, ptr noundef nonnull align 4 dereferenceable(8) %25)
  store <2 x float> %170, ptr %29, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %29)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #8
  %171 = call float @llvm.fmuladd.f32(float %53, float %166, float %45)
  %172 = load ptr, ptr %30, align 8, !tbaa !5
  %173 = load i32, ptr %32, align 4, !tbaa !14
  %174 = sext i32 %173 to i64
  %175 = getelementptr inbounds %struct.b2Position, ptr %172, i64 %174
  %176 = load i64, ptr %3, align 8
  store i64 %176, ptr %175, align 4
  %177 = load ptr, ptr %30, align 8, !tbaa !5
  %178 = load i32, ptr %32, align 4, !tbaa !14
  %179 = sext i32 %178 to i64
  %180 = getelementptr inbounds %struct.b2Position, ptr %177, i64 %179, i32 1
  store float %169, ptr %180, align 4, !tbaa !23
  %181 = load i32, ptr %39, align 8, !tbaa !25
  %182 = sext i32 %181 to i64
  %183 = getelementptr inbounds %struct.b2Position, ptr %177, i64 %182
  %184 = load i64, ptr %4, align 8
  store i64 %184, ptr %183, align 4
  %185 = load ptr, ptr %30, align 8, !tbaa !5
  %186 = load i32, ptr %39, align 8, !tbaa !25
  %187 = sext i32 %186 to i64
  %188 = getelementptr inbounds %struct.b2Position, ptr %185, i64 %187, i32 1
  store float %171, ptr %188, align 4, !tbaa !23
  %189 = fcmp ole float %.1124, 0x3F747AE140000000
  %190 = fcmp ole float %83, 0x3FA1DF46C0000000
  %191 = and i1 %190, %189
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #8
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #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.end.p0(i64 8, ptr nonnull %5) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #8
  ret i1 %191
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec3C2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2AbsIfET_S0_(float noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2MinIfET_S0_S0_(float noundef, float noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7b2Mat33C2Ev(ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12), float noundef, float noundef, float noundef) local_unnamed_addr #1 align 2

declare { <2 x float>, float } @_ZNK7b2Mat337Solve33ERK6b2Vec3(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #7

; Function Attrs: mustprogress uwtable
declare dso_local { <2 x float>, float } @_ZNK6b2Vec3ngEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = { "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, !13, i64 32}
!6 = !{!"_ZTS12b2SolverData", !7, i64 0, !13, i64 32, !13, i64 40}
!7 = !{!"_ZTS10b2TimeStep", !8, i64 0, !8, i64 4, !8, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !12, i64 24}
!8 = !{!"float", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"int", !9, i64 0}
!12 = !{!"bool", !9, i64 0}
!13 = !{!"any pointer", !9, i64 0}
!14 = !{!15, !11, i64 204}
!15 = !{!"_ZTS16b2PrismaticJoint", !16, i64 0, !21, i64 128, !21, i64 136, !21, i64 144, !21, i64 152, !8, i64 160, !21, i64 164, !8, i64 172, !8, i64 176, !8, i64 180, !8, i64 184, !8, i64 188, !8, i64 192, !8, i64 196, !12, i64 200, !12, i64 201, !11, i64 204, !11, i64 208, !21, i64 212, !21, i64 220, !8, i64 228, !8, i64 232, !8, i64 236, !8, i64 240, !21, i64 244, !21, i64 252, !8, i64 260, !8, i64 264, !8, i64 268, !8, i64 272, !22, i64 276, !8, i64 292, !8, i64 296}
!16 = !{!"_ZTS7b2Joint", !17, i64 8, !13, i64 16, !13, i64 24, !18, i64 32, !18, i64 64, !13, i64 96, !13, i64 104, !11, i64 112, !12, i64 116, !12, i64 117, !19, i64 120}
!17 = !{!"_ZTS11b2JointType", !9, i64 0}
!18 = !{!"_ZTS11b2JointEdge", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24}
!19 = !{!"_ZTS15b2JointUserData", !20, i64 0}
!20 = !{!"long", !9, i64 0}
!21 = !{!"_ZTS6b2Vec2", !8, i64 0, !8, i64 4}
!22 = !{!"_ZTS7b2Mat22", !21, i64 0, !21, i64 8}
!23 = !{!24, !8, i64 8}
!24 = !{!"_ZTS10b2Position", !21, i64 0, !8, i64 8}
!25 = !{!15, !11, i64 208}
!26 = !{!15, !8, i64 228}
!27 = !{!15, !8, i64 232}
!28 = !{!15, !8, i64 236}
!29 = !{!15, !8, i64 240}
!30 = !{!21, !8, i64 0}
!31 = !{!15, !8, i64 160}
!32 = !{!21, !8, i64 4}
!33 = !{!15, !12, i64 200}
!34 = !{i8 0, i8 2}
!35 = !{}
!36 = !{!15, !8, i64 188}
!37 = !{!15, !8, i64 184}
!38 = !{!8, !8, i64 0}
!39 = !{!40, !8, i64 8}
!40 = !{!"_ZTS6b2Vec3", !8, i64 0, !8, i64 4, !8, i64 8}
!41 = !{!40, !8, i64 0}
!42 = !{!40, !8, i64 4}


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