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

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

%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%class.b2Joint = type { ptr, i32, ptr, ptr, %struct.b2JointEdge, %struct.b2JointEdge, ptr, ptr, i32, i8, i8, %struct.b2JointUserData }
%struct.b2JointEdge = type { ptr, ptr, ptr, ptr }
%struct.b2JointUserData = type { i64 }
%class.b2Body = type { i32, i16, i32, %struct.b2Transform, %struct.b2Transform, %struct.b2Sweep, %struct.b2Vec2, float, %struct.b2Vec2, float, ptr, ptr, ptr, ptr, i32, ptr, ptr, i32, i32, float, float, float, float, float, float, float, float, %struct.b2BodyUserData }
%struct.b2Transform = type { %struct.b2Vec2, %struct.b2Rot }
%struct.b2Sweep = type { %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float }
%struct.b2BodyUserData = type { i64 }
%class.b2RevoluteJoint = type { %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, i8, float, float, i8, float, float, float, i32, i32, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat22, float, float }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2SolverData = type { %struct.b2TimeStep, ptr, ptr }
%struct.b2TimeStep = type { float, float, float, i32, i32, i32, i8 }
%struct.b2Position = type { %struct.b2Vec2, float }
%struct.b2Velocity = type { %struct.b2Vec2, float }

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

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN15b2RevoluteJoint23InitVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(272) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #3 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca float, align 4
  %6 = alloca %struct.b2Vec2, align 4
  %7 = alloca float, align 4
  %8 = alloca float, align 4
  %9 = alloca %struct.b2Vec2, align 4
  %10 = alloca float, align 4
  %11 = alloca %struct.b2Rot, align 4
  %12 = alloca %struct.b2Rot, align 4
  %13 = alloca %struct.b2Vec2, align 4
  %14 = alloca %struct.b2Vec2, align 4
  %15 = alloca %struct.b2Vec2, align 4
  %16 = alloca %struct.b2Vec2, align 4
  %17 = alloca float, align 4
  %18 = alloca float, align 4
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca i8, align 1
  %22 = alloca float, align 4
  %23 = alloca %struct.b2Vec2, align 4
  %24 = alloca %struct.b2Vec2, align 4
  %25 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %26 = load ptr, ptr %3, align 8
  %27 = getelementptr inbounds %class.b2Joint, ptr %26, i32 0, i32 6
  %28 = load ptr, ptr %27, align 8, !tbaa !9
  %29 = getelementptr inbounds %class.b2Body, ptr %28, i32 0, i32 2
  %30 = load i32, ptr %29, align 8, !tbaa !17
  %31 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 14
  store i32 %30, ptr %31, align 8, !tbaa !27
  %32 = getelementptr inbounds %class.b2Joint, ptr %26, i32 0, i32 7
  %33 = load ptr, ptr %32, align 8, !tbaa !30
  %34 = getelementptr inbounds %class.b2Body, ptr %33, i32 0, i32 2
  %35 = load i32, ptr %34, align 8, !tbaa !17
  %36 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 15
  store i32 %35, ptr %36, align 4, !tbaa !31
  %37 = getelementptr inbounds %class.b2Joint, ptr %26, i32 0, i32 6
  %38 = load ptr, ptr %37, align 8, !tbaa !9
  %39 = getelementptr inbounds %class.b2Body, ptr %38, i32 0, i32 5
  %40 = getelementptr inbounds %struct.b2Sweep, ptr %39, i32 0, i32 0
  %41 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 18
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %41, ptr align 4 %40, i64 8, i1 false), !tbaa.struct !32
  %42 = getelementptr inbounds %class.b2Joint, ptr %26, i32 0, i32 7
  %43 = load ptr, ptr %42, align 8, !tbaa !30
  %44 = getelementptr inbounds %class.b2Body, ptr %43, i32 0, i32 5
  %45 = getelementptr inbounds %struct.b2Sweep, ptr %44, i32 0, i32 0
  %46 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 19
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %46, ptr align 4 %45, i64 8, i1 false), !tbaa.struct !32
  %47 = getelementptr inbounds %class.b2Joint, ptr %26, i32 0, i32 6
  %48 = load ptr, ptr %47, align 8, !tbaa !9
  %49 = getelementptr inbounds %class.b2Body, ptr %48, i32 0, i32 20
  %50 = load float, ptr %49, align 4, !tbaa !34
  %51 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 20
  store float %50, ptr %51, align 8, !tbaa !35
  %52 = getelementptr inbounds %class.b2Joint, ptr %26, i32 0, i32 7
  %53 = load ptr, ptr %52, align 8, !tbaa !30
  %54 = getelementptr inbounds %class.b2Body, ptr %53, i32 0, i32 20
  %55 = load float, ptr %54, align 4, !tbaa !34
  %56 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 21
  store float %55, ptr %56, align 4, !tbaa !36
  %57 = getelementptr inbounds %class.b2Joint, ptr %26, i32 0, i32 6
  %58 = load ptr, ptr %57, align 8, !tbaa !9
  %59 = getelementptr inbounds %class.b2Body, ptr %58, i32 0, i32 22
  %60 = load float, ptr %59, align 4, !tbaa !37
  %61 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 22
  store float %60, ptr %61, align 8, !tbaa !38
  %62 = getelementptr inbounds %class.b2Joint, ptr %26, i32 0, i32 7
  %63 = load ptr, ptr %62, align 8, !tbaa !30
  %64 = getelementptr inbounds %class.b2Body, ptr %63, i32 0, i32 22
  %65 = load float, ptr %64, align 4, !tbaa !37
  %66 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 23
  store float %65, ptr %66, align 4, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #7
  %67 = load ptr, ptr %4, align 8, !tbaa !5
  %68 = getelementptr inbounds %struct.b2SolverData, ptr %67, i32 0, i32 1
  %69 = load ptr, ptr %68, align 8, !tbaa !40
  %70 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 14
  %71 = load i32, ptr %70, align 8, !tbaa !27
  %72 = sext i32 %71 to i64
  %73 = getelementptr inbounds %struct.b2Position, ptr %69, i64 %72
  %74 = getelementptr inbounds %struct.b2Position, ptr %73, i32 0, i32 1
  %75 = load float, ptr %74, align 4, !tbaa !43
  store float %75, ptr %5, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #7
  %76 = load ptr, ptr %4, align 8, !tbaa !5
  %77 = getelementptr inbounds %struct.b2SolverData, ptr %76, i32 0, i32 2
  %78 = load ptr, ptr %77, align 8, !tbaa !45
  %79 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 14
  %80 = load i32, ptr %79, align 8, !tbaa !27
  %81 = sext i32 %80 to i64
  %82 = getelementptr inbounds %struct.b2Velocity, ptr %78, i64 %81
  %83 = getelementptr inbounds %struct.b2Velocity, ptr %82, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %6, ptr align 4 %83, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #7
  %84 = load ptr, ptr %4, align 8, !tbaa !5
  %85 = getelementptr inbounds %struct.b2SolverData, ptr %84, i32 0, i32 2
  %86 = load ptr, ptr %85, align 8, !tbaa !45
  %87 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 14
  %88 = load i32, ptr %87, align 8, !tbaa !27
  %89 = sext i32 %88 to i64
  %90 = getelementptr inbounds %struct.b2Velocity, ptr %86, i64 %89
  %91 = getelementptr inbounds %struct.b2Velocity, ptr %90, i32 0, i32 1
  %92 = load float, ptr %91, align 4, !tbaa !46
  store float %92, ptr %7, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #7
  %93 = load ptr, ptr %4, align 8, !tbaa !5
  %94 = getelementptr inbounds %struct.b2SolverData, ptr %93, i32 0, i32 1
  %95 = load ptr, ptr %94, align 8, !tbaa !40
  %96 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 15
  %97 = load i32, ptr %96, align 4, !tbaa !31
  %98 = sext i32 %97 to i64
  %99 = getelementptr inbounds %struct.b2Position, ptr %95, i64 %98
  %100 = getelementptr inbounds %struct.b2Position, ptr %99, i32 0, i32 1
  %101 = load float, ptr %100, align 4, !tbaa !43
  store float %101, ptr %8, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %102 = load ptr, ptr %4, align 8, !tbaa !5
  %103 = getelementptr inbounds %struct.b2SolverData, ptr %102, i32 0, i32 2
  %104 = load ptr, ptr %103, align 8, !tbaa !45
  %105 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 15
  %106 = load i32, ptr %105, align 4, !tbaa !31
  %107 = sext i32 %106 to i64
  %108 = getelementptr inbounds %struct.b2Velocity, ptr %104, i64 %107
  %109 = getelementptr inbounds %struct.b2Velocity, ptr %108, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %9, ptr align 4 %109, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #7
  %110 = load ptr, ptr %4, align 8, !tbaa !5
  %111 = getelementptr inbounds %struct.b2SolverData, ptr %110, i32 0, i32 2
  %112 = load ptr, ptr %111, align 8, !tbaa !45
  %113 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 15
  %114 = load i32, ptr %113, align 4, !tbaa !31
  %115 = sext i32 %114 to i64
  %116 = getelementptr inbounds %struct.b2Velocity, ptr %112, i64 %115
  %117 = getelementptr inbounds %struct.b2Velocity, ptr %116, i32 0, i32 1
  %118 = load float, ptr %117, align 4, !tbaa !46
  store float %118, ptr %10, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %119 = load float, ptr %5, align 4, !tbaa !33
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %11, float noundef %119)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %120 = load float, ptr %8, align 4, !tbaa !33
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %12, float noundef %120)
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %121 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 1
  %122 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 18
  %123 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %121, ptr noundef nonnull align 4 dereferenceable(8) %122)
  store <2 x float> %123, ptr %14, align 4
  %124 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %124, ptr %13, align 4
  %125 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 16
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %125, ptr align 4 %13, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  %126 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 2
  %127 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 19
  %128 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %126, ptr noundef nonnull align 4 dereferenceable(8) %127)
  store <2 x float> %128, ptr %16, align 4
  %129 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %12, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %129, ptr %15, align 4
  %130 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 17
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %130, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #7
  %131 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 20
  %132 = load float, ptr %131, align 8, !tbaa !35
  store float %132, ptr %17, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #7
  %133 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 21
  %134 = load float, ptr %133, align 4, !tbaa !36
  store float %134, ptr %18, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #7
  %135 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 22
  %136 = load float, ptr %135, align 8, !tbaa !38
  store float %136, ptr %19, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #7
  %137 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 23
  %138 = load float, ptr %137, align 4, !tbaa !39
  store float %138, ptr %20, align 4, !tbaa !33
  %139 = load float, ptr %17, align 4, !tbaa !33
  %140 = load float, ptr %18, align 4, !tbaa !33
  %141 = fadd float %139, %140
  %142 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 16
  %143 = getelementptr inbounds %struct.b2Vec2, ptr %142, i32 0, i32 1
  %144 = load float, ptr %143, align 4, !tbaa !48
  %145 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 16
  %146 = getelementptr inbounds %struct.b2Vec2, ptr %145, i32 0, i32 1
  %147 = load float, ptr %146, align 4, !tbaa !48
  %148 = fmul float %144, %147
  %149 = load float, ptr %19, align 4, !tbaa !33
  %150 = call float @llvm.fmuladd.f32(float %148, float %149, float %141)
  %151 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 17
  %152 = getelementptr inbounds %struct.b2Vec2, ptr %151, i32 0, i32 1
  %153 = load float, ptr %152, align 4, !tbaa !49
  %154 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 17
  %155 = getelementptr inbounds %struct.b2Vec2, ptr %154, i32 0, i32 1
  %156 = load float, ptr %155, align 4, !tbaa !49
  %157 = fmul float %153, %156
  %158 = load float, ptr %20, align 4, !tbaa !33
  %159 = call float @llvm.fmuladd.f32(float %157, float %158, float %150)
  %160 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 24
  %161 = getelementptr inbounds %struct.b2Mat22, ptr %160, i32 0, i32 0
  %162 = getelementptr inbounds %struct.b2Vec2, ptr %161, i32 0, i32 0
  store float %159, ptr %162, align 8, !tbaa !50
  %163 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 16
  %164 = getelementptr inbounds %struct.b2Vec2, ptr %163, i32 0, i32 1
  %165 = load float, ptr %164, align 4, !tbaa !48
  %166 = fneg float %165
  %167 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 16
  %168 = getelementptr inbounds %struct.b2Vec2, ptr %167, i32 0, i32 0
  %169 = load float, ptr %168, align 8, !tbaa !51
  %170 = fmul float %166, %169
  %171 = load float, ptr %19, align 4, !tbaa !33
  %172 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 17
  %173 = getelementptr inbounds %struct.b2Vec2, ptr %172, i32 0, i32 1
  %174 = load float, ptr %173, align 4, !tbaa !49
  %175 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 17
  %176 = getelementptr inbounds %struct.b2Vec2, ptr %175, i32 0, i32 0
  %177 = load float, ptr %176, align 8, !tbaa !52
  %178 = fmul float %174, %177
  %179 = load float, ptr %20, align 4, !tbaa !33
  %180 = fmul float %178, %179
  %181 = fneg float %180
  %182 = call float @llvm.fmuladd.f32(float %170, float %171, float %181)
  %183 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 24
  %184 = getelementptr inbounds %struct.b2Mat22, ptr %183, i32 0, i32 1
  %185 = getelementptr inbounds %struct.b2Vec2, ptr %184, i32 0, i32 0
  store float %182, ptr %185, align 8, !tbaa !53
  %186 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 24
  %187 = getelementptr inbounds %struct.b2Mat22, ptr %186, i32 0, i32 1
  %188 = getelementptr inbounds %struct.b2Vec2, ptr %187, i32 0, i32 0
  %189 = load float, ptr %188, align 8, !tbaa !53
  %190 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 24
  %191 = getelementptr inbounds %struct.b2Mat22, ptr %190, i32 0, i32 0
  %192 = getelementptr inbounds %struct.b2Vec2, ptr %191, i32 0, i32 1
  store float %189, ptr %192, align 4, !tbaa !54
  %193 = load float, ptr %17, align 4, !tbaa !33
  %194 = load float, ptr %18, align 4, !tbaa !33
  %195 = fadd float %193, %194
  %196 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 16
  %197 = getelementptr inbounds %struct.b2Vec2, ptr %196, i32 0, i32 0
  %198 = load float, ptr %197, align 8, !tbaa !51
  %199 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 16
  %200 = getelementptr inbounds %struct.b2Vec2, ptr %199, i32 0, i32 0
  %201 = load float, ptr %200, align 8, !tbaa !51
  %202 = fmul float %198, %201
  %203 = load float, ptr %19, align 4, !tbaa !33
  %204 = call float @llvm.fmuladd.f32(float %202, float %203, float %195)
  %205 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 17
  %206 = getelementptr inbounds %struct.b2Vec2, ptr %205, i32 0, i32 0
  %207 = load float, ptr %206, align 8, !tbaa !52
  %208 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 17
  %209 = getelementptr inbounds %struct.b2Vec2, ptr %208, i32 0, i32 0
  %210 = load float, ptr %209, align 8, !tbaa !52
  %211 = fmul float %207, %210
  %212 = load float, ptr %20, align 4, !tbaa !33
  %213 = call float @llvm.fmuladd.f32(float %211, float %212, float %204)
  %214 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 24
  %215 = getelementptr inbounds %struct.b2Mat22, ptr %214, i32 0, i32 1
  %216 = getelementptr inbounds %struct.b2Vec2, ptr %215, i32 0, i32 1
  store float %213, ptr %216, align 4, !tbaa !55
  %217 = load float, ptr %19, align 4, !tbaa !33
  %218 = load float, ptr %20, align 4, !tbaa !33
  %219 = fadd float %217, %218
  %220 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 26
  store float %219, ptr %220, align 4, !tbaa !56
  call void @llvm.lifetime.start.p0(i64 1, ptr %21) #7
  %221 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 26
  %222 = load float, ptr %221, align 4, !tbaa !56
  %223 = fcmp ogt float %222, 0.000000e+00
  br i1 %223, label %224, label %229

224:                                              ; preds = %2
  %225 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 26
  %226 = load float, ptr %225, align 4, !tbaa !56
  %227 = fdiv float 1.000000e+00, %226
  %228 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 26
  store float %227, ptr %228, align 4, !tbaa !56
  store i8 0, ptr %21, align 1, !tbaa !57
  br label %230

229:                                              ; preds = %2
  store i8 1, ptr %21, align 1, !tbaa !57
  br label %230

230:                                              ; preds = %229, %224
  %231 = load float, ptr %8, align 4, !tbaa !33
  %232 = load float, ptr %5, align 4, !tbaa !33
  %233 = fsub float %231, %232
  %234 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 11
  %235 = load float, ptr %234, align 4, !tbaa !58
  %236 = fsub float %233, %235
  %237 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 25
  store float %236, ptr %237, align 8, !tbaa !59
  %238 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 10
  %239 = load i8, ptr %238, align 8, !tbaa !60, !range !61, !noundef !62
  %240 = trunc i8 %239 to i1
  %241 = zext i1 %240 to i32
  %242 = icmp eq i32 %241, 0
  br i1 %242, label %246, label %243

243:                                              ; preds = %230
  %244 = load i8, ptr %21, align 1, !tbaa !57, !range !61, !noundef !62
  %245 = trunc i8 %244 to i1
  br i1 %245, label %246, label %249

246:                                              ; preds = %243, %230
  %247 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 5
  store float 0.000000e+00, ptr %247, align 4, !tbaa !63
  %248 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 6
  store float 0.000000e+00, ptr %248, align 8, !tbaa !64
  br label %249

249:                                              ; preds = %246, %243
  %250 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 7
  %251 = load i8, ptr %250, align 4, !tbaa !65, !range !61, !noundef !62
  %252 = trunc i8 %251 to i1
  %253 = zext i1 %252 to i32
  %254 = icmp eq i32 %253, 0
  br i1 %254, label %258, label %255

255:                                              ; preds = %249
  %256 = load i8, ptr %21, align 1, !tbaa !57, !range !61, !noundef !62
  %257 = trunc i8 %256 to i1
  br i1 %257, label %258, label %260

258:                                              ; preds = %255, %249
  %259 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 4
  store float 0.000000e+00, ptr %259, align 8, !tbaa !66
  br label %260

260:                                              ; preds = %258, %255
  %261 = load ptr, ptr %4, align 8, !tbaa !5
  %262 = getelementptr inbounds %struct.b2SolverData, ptr %261, i32 0, i32 0
  %263 = getelementptr inbounds %struct.b2TimeStep, ptr %262, i32 0, i32 6
  %264 = load i8, ptr %263, align 8, !tbaa !67, !range !61, !noundef !62
  %265 = trunc i8 %264 to i1
  br i1 %265, label %266, label %326

266:                                              ; preds = %260
  %267 = load ptr, ptr %4, align 8, !tbaa !5
  %268 = getelementptr inbounds %struct.b2SolverData, ptr %267, i32 0, i32 0
  %269 = getelementptr inbounds %struct.b2TimeStep, ptr %268, i32 0, i32 2
  %270 = load float, ptr %269, align 8, !tbaa !68
  %271 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 3
  call void @_ZN6b2Vec2mLEf(ptr noundef nonnull align 4 dereferenceable(8) %271, float noundef %270)
  %272 = load ptr, ptr %4, align 8, !tbaa !5
  %273 = getelementptr inbounds %struct.b2SolverData, ptr %272, i32 0, i32 0
  %274 = getelementptr inbounds %struct.b2TimeStep, ptr %273, i32 0, i32 2
  %275 = load float, ptr %274, align 8, !tbaa !68
  %276 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 4
  %277 = load float, ptr %276, align 8, !tbaa !66
  %278 = fmul float %277, %275
  store float %278, ptr %276, align 8, !tbaa !66
  %279 = load ptr, ptr %4, align 8, !tbaa !5
  %280 = getelementptr inbounds %struct.b2SolverData, ptr %279, i32 0, i32 0
  %281 = getelementptr inbounds %struct.b2TimeStep, ptr %280, i32 0, i32 2
  %282 = load float, ptr %281, align 8, !tbaa !68
  %283 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 5
  %284 = load float, ptr %283, align 4, !tbaa !63
  %285 = fmul float %284, %282
  store float %285, ptr %283, align 4, !tbaa !63
  %286 = load ptr, ptr %4, align 8, !tbaa !5
  %287 = getelementptr inbounds %struct.b2SolverData, ptr %286, i32 0, i32 0
  %288 = getelementptr inbounds %struct.b2TimeStep, ptr %287, i32 0, i32 2
  %289 = load float, ptr %288, align 8, !tbaa !68
  %290 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 6
  %291 = load float, ptr %290, align 8, !tbaa !64
  %292 = fmul float %291, %289
  store float %292, ptr %290, align 8, !tbaa !64
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #7
  %293 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 4
  %294 = load float, ptr %293, align 8, !tbaa !66
  %295 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 5
  %296 = load float, ptr %295, align 4, !tbaa !63
  %297 = fadd float %294, %296
  %298 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 6
  %299 = load float, ptr %298, align 8, !tbaa !64
  %300 = fsub float %297, %299
  store float %300, ptr %22, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #7
  %301 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 3
  %302 = getelementptr inbounds %struct.b2Vec2, ptr %301, i32 0, i32 0
  %303 = load float, ptr %302, align 8, !tbaa !69
  %304 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 3
  %305 = getelementptr inbounds %struct.b2Vec2, ptr %304, i32 0, i32 1
  %306 = load float, ptr %305, align 4, !tbaa !70
  call void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8) %23, float noundef %303, float noundef %306)
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #7
  %307 = load float, ptr %17, align 4, !tbaa !33
  %308 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %307, ptr noundef nonnull align 4 dereferenceable(8) %23)
  store <2 x float> %308, ptr %24, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %24)
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #7
  %309 = load float, ptr %19, align 4, !tbaa !33
  %310 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 16
  %311 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %310, ptr noundef nonnull align 4 dereferenceable(8) %23)
  %312 = load float, ptr %22, align 4, !tbaa !33
  %313 = fadd float %311, %312
  %314 = load float, ptr %7, align 4, !tbaa !33
  %315 = fneg float %309
  %316 = call float @llvm.fmuladd.f32(float %315, float %313, float %314)
  store float %316, ptr %7, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #7
  %317 = load float, ptr %18, align 4, !tbaa !33
  %318 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %317, ptr noundef nonnull align 4 dereferenceable(8) %23)
  store <2 x float> %318, ptr %25, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %25)
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #7
  %319 = load float, ptr %20, align 4, !tbaa !33
  %320 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 17
  %321 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %320, ptr noundef nonnull align 4 dereferenceable(8) %23)
  %322 = load float, ptr %22, align 4, !tbaa !33
  %323 = fadd float %321, %322
  %324 = load float, ptr %10, align 4, !tbaa !33
  %325 = call float @llvm.fmuladd.f32(float %319, float %323, float %324)
  store float %325, ptr %10, align 4, !tbaa !33
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #7
  br label %331

326:                                              ; preds = %260
  %327 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 3
  call void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %327)
  %328 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 4
  store float 0.000000e+00, ptr %328, align 8, !tbaa !66
  %329 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 5
  store float 0.000000e+00, ptr %329, align 4, !tbaa !63
  %330 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 6
  store float 0.000000e+00, ptr %330, align 8, !tbaa !64
  br label %331

331:                                              ; preds = %326, %266
  %332 = load ptr, ptr %4, align 8, !tbaa !5
  %333 = getelementptr inbounds %struct.b2SolverData, ptr %332, i32 0, i32 2
  %334 = load ptr, ptr %333, align 8, !tbaa !45
  %335 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 14
  %336 = load i32, ptr %335, align 8, !tbaa !27
  %337 = sext i32 %336 to i64
  %338 = getelementptr inbounds %struct.b2Velocity, ptr %334, i64 %337
  %339 = getelementptr inbounds %struct.b2Velocity, ptr %338, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %339, ptr align 4 %6, i64 8, i1 false), !tbaa.struct !32
  %340 = load float, ptr %7, align 4, !tbaa !33
  %341 = load ptr, ptr %4, align 8, !tbaa !5
  %342 = getelementptr inbounds %struct.b2SolverData, ptr %341, i32 0, i32 2
  %343 = load ptr, ptr %342, align 8, !tbaa !45
  %344 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 14
  %345 = load i32, ptr %344, align 8, !tbaa !27
  %346 = sext i32 %345 to i64
  %347 = getelementptr inbounds %struct.b2Velocity, ptr %343, i64 %346
  %348 = getelementptr inbounds %struct.b2Velocity, ptr %347, i32 0, i32 1
  store float %340, ptr %348, align 4, !tbaa !46
  %349 = load ptr, ptr %4, align 8, !tbaa !5
  %350 = getelementptr inbounds %struct.b2SolverData, ptr %349, i32 0, i32 2
  %351 = load ptr, ptr %350, align 8, !tbaa !45
  %352 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 15
  %353 = load i32, ptr %352, align 4, !tbaa !31
  %354 = sext i32 %353 to i64
  %355 = getelementptr inbounds %struct.b2Velocity, ptr %351, i64 %354
  %356 = getelementptr inbounds %struct.b2Velocity, ptr %355, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %356, ptr align 4 %9, i64 8, i1 false), !tbaa.struct !32
  %357 = load float, ptr %10, align 4, !tbaa !33
  %358 = load ptr, ptr %4, align 8, !tbaa !5
  %359 = getelementptr inbounds %struct.b2SolverData, ptr %358, i32 0, i32 2
  %360 = load ptr, ptr %359, align 8, !tbaa !45
  %361 = getelementptr inbounds %class.b2RevoluteJoint, ptr %26, i32 0, i32 15
  %362 = load i32, ptr %361, align 4, !tbaa !31
  %363 = sext i32 %362 to i64
  %364 = getelementptr inbounds %struct.b2Velocity, ptr %360, i64 %363
  %365 = getelementptr inbounds %struct.b2Velocity, ptr %364, i32 0, i32 1
  store float %357, ptr %365, align 4, !tbaa !46
  call void @llvm.lifetime.end.p0(i64 1, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #7
  ret void
}

; 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: 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 @_ZN6b2Vec2mLEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) #2 align 2

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

; 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: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #6

; 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

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"="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 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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #6 = { 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 #7 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 96}
!10 = !{!"_ZTS7b2Joint", !11, i64 8, !6, i64 16, !6, i64 24, !12, i64 32, !12, i64 64, !6, i64 96, !6, i64 104, !13, i64 112, !14, i64 116, !14, i64 117, !15, i64 120}
!11 = !{!"_ZTS11b2JointType", !7, i64 0}
!12 = !{!"_ZTS11b2JointEdge", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!13 = !{!"int", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!"_ZTS15b2JointUserData", !16, i64 0}
!16 = !{!"long", !7, i64 0}
!17 = !{!18, !13, i64 8}
!18 = !{!"_ZTS6b2Body", !19, i64 0, !20, i64 4, !13, i64 8, !21, i64 12, !21, i64 28, !25, i64 44, !22, i64 80, !23, i64 88, !22, i64 92, !23, i64 100, !6, i64 104, !6, i64 112, !6, i64 120, !6, i64 128, !13, i64 136, !6, i64 144, !6, i64 152, !13, i64 160, !13, i64 164, !23, i64 168, !23, i64 172, !23, i64 176, !23, i64 180, !23, i64 184, !23, i64 188, !23, i64 192, !23, i64 196, !26, i64 200}
!19 = !{!"_ZTS10b2BodyType", !7, i64 0}
!20 = !{!"short", !7, i64 0}
!21 = !{!"_ZTS11b2Transform", !22, i64 0, !24, i64 8}
!22 = !{!"_ZTS6b2Vec2", !23, i64 0, !23, i64 4}
!23 = !{!"float", !7, i64 0}
!24 = !{!"_ZTS5b2Rot", !23, i64 0, !23, i64 4}
!25 = !{!"_ZTS7b2Sweep", !22, i64 0, !22, i64 8, !22, i64 16, !23, i64 24, !23, i64 28, !23, i64 32}
!26 = !{!"_ZTS14b2BodyUserData", !16, i64 0}
!27 = !{!28, !13, i64 192}
!28 = !{!"_ZTS15b2RevoluteJoint", !10, i64 0, !22, i64 128, !22, i64 136, !22, i64 144, !23, i64 152, !23, i64 156, !23, i64 160, !14, i64 164, !23, i64 168, !23, i64 172, !14, i64 176, !23, i64 180, !23, i64 184, !23, i64 188, !13, i64 192, !13, i64 196, !22, i64 200, !22, i64 208, !22, i64 216, !22, i64 224, !23, i64 232, !23, i64 236, !23, i64 240, !23, i64 244, !29, i64 248, !23, i64 264, !23, i64 268}
!29 = !{!"_ZTS7b2Mat22", !22, i64 0, !22, i64 8}
!30 = !{!10, !6, i64 104}
!31 = !{!28, !13, i64 196}
!32 = !{i64 0, i64 4, !33, i64 4, i64 4, !33}
!33 = !{!23, !23, i64 0}
!34 = !{!18, !23, i64 172}
!35 = !{!28, !23, i64 232}
!36 = !{!28, !23, i64 236}
!37 = !{!18, !23, i64 180}
!38 = !{!28, !23, i64 240}
!39 = !{!28, !23, i64 244}
!40 = !{!41, !6, i64 32}
!41 = !{!"_ZTS12b2SolverData", !42, i64 0, !6, i64 32, !6, i64 40}
!42 = !{!"_ZTS10b2TimeStep", !23, i64 0, !23, i64 4, !23, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !14, i64 24}
!43 = !{!44, !23, i64 8}
!44 = !{!"_ZTS10b2Position", !22, i64 0, !23, i64 8}
!45 = !{!41, !6, i64 40}
!46 = !{!47, !23, i64 8}
!47 = !{!"_ZTS10b2Velocity", !22, i64 0, !23, i64 8}
!48 = !{!28, !23, i64 204}
!49 = !{!28, !23, i64 212}
!50 = !{!28, !23, i64 248}
!51 = !{!28, !23, i64 200}
!52 = !{!28, !23, i64 208}
!53 = !{!28, !23, i64 256}
!54 = !{!28, !23, i64 252}
!55 = !{!28, !23, i64 260}
!56 = !{!28, !23, i64 268}
!57 = !{!14, !14, i64 0}
!58 = !{!28, !23, i64 180}
!59 = !{!28, !23, i64 264}
!60 = !{!28, !14, i64 176}
!61 = !{i8 0, i8 2}
!62 = !{}
!63 = !{!28, !23, i64 156}
!64 = !{!28, !23, i64 160}
!65 = !{!28, !14, i64 164}
!66 = !{!28, !23, i64 152}
!67 = !{!41, !14, i64 24}
!68 = !{!41, !23, i64 8}
!69 = !{!28, !23, i64 144}
!70 = !{!28, !23, i64 148}


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

%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%struct.b2Position = type { %struct.b2Vec2, float }
%struct.b2Velocity = type { %struct.b2Vec2, float }

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN15b2RevoluteJoint23InitVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(272) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(48) %1) unnamed_addr #2 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 4
  %10 = alloca %struct.b2Vec2, align 8
  %11 = alloca %struct.b2Vec2, align 8
  %12 = getelementptr inbounds i8, ptr %0, i64 96
  %13 = load ptr, ptr %12, align 8, !tbaa !5
  %14 = getelementptr inbounds i8, ptr %13, i64 8
  %15 = load i32, ptr %14, align 8, !tbaa !16
  %16 = getelementptr inbounds i8, ptr %0, i64 192
  store i32 %15, ptr %16, align 8, !tbaa !26
  %17 = getelementptr inbounds i8, ptr %0, i64 104
  %18 = load ptr, ptr %17, align 8, !tbaa !29
  %19 = getelementptr inbounds i8, ptr %18, i64 8
  %20 = load i32, ptr %19, align 8, !tbaa !16
  %21 = getelementptr inbounds i8, ptr %0, i64 196
  store i32 %20, ptr %21, align 4, !tbaa !30
  %22 = getelementptr inbounds i8, ptr %13, i64 44
  %23 = getelementptr inbounds i8, ptr %0, i64 216
  %24 = load i64, ptr %22, align 4
  store i64 %24, ptr %23, align 8
  %25 = getelementptr inbounds i8, ptr %18, i64 44
  %26 = getelementptr inbounds i8, ptr %0, i64 224
  %27 = load i64, ptr %25, align 4
  store i64 %27, ptr %26, align 8
  %28 = getelementptr inbounds i8, ptr %13, i64 172
  %29 = load float, ptr %28, align 4, !tbaa !31
  %30 = getelementptr inbounds i8, ptr %0, i64 232
  store float %29, ptr %30, align 8, !tbaa !32
  %31 = getelementptr inbounds i8, ptr %18, i64 172
  %32 = load float, ptr %31, align 4, !tbaa !31
  %33 = getelementptr inbounds i8, ptr %0, i64 236
  store float %32, ptr %33, align 4, !tbaa !33
  %34 = getelementptr inbounds i8, ptr %13, i64 180
  %35 = load float, ptr %34, align 4, !tbaa !34
  %36 = getelementptr inbounds i8, ptr %0, i64 240
  store float %35, ptr %36, align 8, !tbaa !35
  %37 = getelementptr inbounds i8, ptr %18, i64 180
  %38 = load float, ptr %37, align 4, !tbaa !34
  %39 = getelementptr inbounds i8, ptr %0, i64 244
  store float %38, ptr %39, align 4, !tbaa !36
  %40 = getelementptr inbounds i8, ptr %1, i64 32
  %41 = load ptr, ptr %40, align 8, !tbaa !37
  %42 = sext i32 %15 to i64
  %43 = getelementptr inbounds %struct.b2Position, ptr %41, i64 %42, i32 1
  %44 = load float, ptr %43, align 4, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  %45 = getelementptr inbounds i8, ptr %1, i64 40
  %46 = load ptr, ptr %45, align 8, !tbaa !42
  %47 = getelementptr inbounds %struct.b2Velocity, ptr %46, i64 %42
  %48 = load i64, ptr %47, align 4
  store i64 %48, ptr %3, align 8
  %49 = getelementptr inbounds %struct.b2Velocity, ptr %46, i64 %42, i32 1
  %50 = load float, ptr %49, align 4, !tbaa !43
  %51 = sext i32 %20 to i64
  %52 = getelementptr inbounds %struct.b2Position, ptr %41, i64 %51, i32 1
  %53 = load float, ptr %52, align 4, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %54 = getelementptr inbounds %struct.b2Velocity, ptr %46, i64 %51
  %55 = load i64, ptr %54, align 4
  store i64 %55, ptr %4, align 8
  %56 = getelementptr inbounds %struct.b2Velocity, ptr %46, i64 %51, i32 1
  %57 = load float, ptr %56, align 4, !tbaa !43
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %5, float noundef %44)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #7
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %6, float noundef %53)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #7
  %58 = getelementptr inbounds i8, ptr %0, i64 128
  %59 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %58, ptr noundef nonnull align 4 dereferenceable(8) %23)
  store <2 x float> %59, ptr %7, align 8
  %60 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %7)
  %61 = getelementptr inbounds i8, ptr %0, i64 200
  store <2 x float> %60, ptr %61, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #7
  %62 = getelementptr inbounds i8, ptr %0, i64 136
  %63 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %62, ptr noundef nonnull align 4 dereferenceable(8) %26)
  store <2 x float> %63, ptr %8, align 8
  %64 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %8)
  %65 = getelementptr inbounds i8, ptr %0, i64 208
  store <2 x float> %64, ptr %65, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #7
  %66 = load float, ptr %30, align 8, !tbaa !32
  %67 = load float, ptr %33, align 4, !tbaa !33
  %68 = fadd float %66, %67
  %69 = getelementptr inbounds i8, ptr %0, i64 204
  %70 = load float, ptr %69, align 4, !tbaa !45
  %71 = fmul float %70, %70
  %72 = extractelement <2 x float> %64, i64 1
  %73 = getelementptr inbounds i8, ptr %0, i64 248
  %74 = fneg float %70
  %75 = load float, ptr %61, align 8, !tbaa !46
  %76 = extractelement <2 x float> %64, i64 0
  %77 = fneg float %72
  %78 = fmul float %76, %77
  %79 = fmul float %75, %75
  %80 = load <2 x float>, ptr %36, align 8, !tbaa !47
  %81 = shufflevector <2 x float> %80, <2 x float> poison, <4 x i32> <i32 1, i32 0, i32 0, i32 1>
  %82 = extractelement <2 x float> %80, i64 0
  %83 = call float @llvm.fmuladd.f32(float %71, float %82, float %68)
  %84 = extractelement <2 x float> %80, i64 1
  %85 = fmul float %84, %78
  %86 = call float @llvm.fmuladd.f32(float %79, float %82, float %68)
  %87 = shufflevector <2 x float> %64, <2 x float> poison, <4 x i32> <i32 1, i32 poison, i32 poison, i32 0>
  %88 = insertelement <4 x float> %87, float %75, i64 1
  %89 = insertelement <4 x float> %87, float %74, i64 1
  %90 = fmul <4 x float> %88, %89
  %91 = shufflevector <4 x float> %90, <4 x float> poison, <4 x i32> <i32 0, i32 1, i32 1, i32 3>
  %92 = insertelement <4 x float> poison, float %83, i64 0
  %93 = insertelement <4 x float> %92, float %85, i64 1
  %94 = insertelement <4 x float> %93, float %86, i64 3
  %95 = shufflevector <4 x float> %94, <4 x float> poison, <4 x i32> <i32 0, i32 1, i32 1, i32 3>
  %96 = call <4 x float> @llvm.fmuladd.v4f32(<4 x float> %91, <4 x float> %81, <4 x float> %95)
  store <4 x float> %96, ptr %73, align 8, !tbaa !47
  %97 = fadd float %82, %84
  %98 = getelementptr inbounds i8, ptr %0, i64 268
  %99 = fcmp ule float %97, 0.000000e+00
  %100 = fdiv float 1.000000e+00, %97
  %storemerge = select i1 %99, float %97, float %100
  store float %storemerge, ptr %98, align 4, !tbaa !48
  %101 = fsub float %53, %44
  %102 = getelementptr inbounds i8, ptr %0, i64 180
  %103 = load float, ptr %102, align 4, !tbaa !49
  %104 = fsub float %101, %103
  %105 = getelementptr inbounds i8, ptr %0, i64 264
  store float %104, ptr %105, align 8, !tbaa !50
  %106 = getelementptr inbounds i8, ptr %0, i64 176
  %107 = load i8, ptr %106, align 8, !tbaa !51, !range !52, !noundef !53
  %108 = icmp eq i8 %107, 0
  %brmerge = or i1 %99, %108
  br i1 %brmerge, label %109, label %111

109:                                              ; preds = %2
  %110 = getelementptr inbounds i8, ptr %0, i64 156
  store <2 x float> zeroinitializer, ptr %110, align 4, !tbaa !47
  br label %111

111:                                              ; preds = %2, %109
  %112 = getelementptr inbounds i8, ptr %0, i64 164
  %113 = load i8, ptr %112, align 4, !tbaa !54, !range !52, !noundef !53
  %114 = icmp eq i8 %113, 0
  %brmerge47 = or i1 %99, %114
  br i1 %brmerge47, label %115, label %117

115:                                              ; preds = %111
  %116 = getelementptr inbounds i8, ptr %0, i64 152
  store float 0.000000e+00, ptr %116, align 8, !tbaa !55
  br label %117

117:                                              ; preds = %111, %115
  %118 = getelementptr inbounds i8, ptr %1, i64 24
  %119 = load i8, ptr %118, align 8, !tbaa !56, !range !52, !noundef !53
  %120 = trunc nuw i8 %119 to i1
  br i1 %120, label %121, label %150

121:                                              ; preds = %117
  %122 = getelementptr inbounds i8, ptr %1, i64 8
  %123 = load float, ptr %122, align 8, !tbaa !57
  %124 = getelementptr inbounds i8, ptr %0, i64 144
  call void @_ZN6b2Vec2mLEf(ptr noundef nonnull align 4 dereferenceable(8) %124, float noundef %123)
  %125 = load float, ptr %122, align 8, !tbaa !57
  %126 = getelementptr inbounds i8, ptr %0, i64 152
  %127 = load float, ptr %126, align 8, !tbaa !55
  %128 = fmul float %125, %127
  store float %128, ptr %126, align 8, !tbaa !55
  %129 = getelementptr inbounds i8, ptr %0, i64 156
  %130 = load <2 x float>, ptr %129, align 4, !tbaa !47
  %131 = insertelement <2 x float> poison, float %125, i64 0
  %132 = shufflevector <2 x float> %131, <2 x float> poison, <2 x i32> zeroinitializer
  %133 = fmul <2 x float> %132, %130
  store <2 x float> %133, ptr %129, align 4, !tbaa !47
  %134 = extractelement <2 x float> %133, i64 0
  %135 = fadd float %128, %134
  %136 = extractelement <2 x float> %133, i64 1
  %137 = fsub float %135, %136
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #7
  %138 = load float, ptr %124, align 8, !tbaa !58
  %139 = getelementptr inbounds i8, ptr %0, i64 148
  %140 = load float, ptr %139, align 4, !tbaa !59
  call void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8) %9, float noundef %138, float noundef %140)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #7
  %141 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %66, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %141, ptr %10, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #7
  %142 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %61, ptr noundef nonnull align 4 dereferenceable(8) %9)
  %143 = fadd float %137, %142
  %144 = fneg float %82
  %145 = call float @llvm.fmuladd.f32(float %144, float %143, float %50)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #7
  %146 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %67, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %146, ptr %11, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %11)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #7
  %147 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %65, ptr noundef nonnull align 4 dereferenceable(8) %9)
  %148 = fadd float %137, %147
  %149 = call float @llvm.fmuladd.f32(float %84, float %148, float %57)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #7
  %.pre = load i64, ptr %3, align 8
  br label %154

150:                                              ; preds = %117
  %151 = getelementptr inbounds i8, ptr %0, i64 144
  call void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %151)
  %152 = getelementptr inbounds i8, ptr %0, i64 152
  store <2 x float> zeroinitializer, ptr %152, align 8, !tbaa !47
  %153 = getelementptr inbounds i8, ptr %0, i64 160
  store float 0.000000e+00, ptr %153, align 8, !tbaa !60
  br label %154

154:                                              ; preds = %150, %121
  %155 = phi i64 [ %.pre, %121 ], [ %48, %150 ]
  %.045 = phi float [ %149, %121 ], [ %57, %150 ]
  %.0 = phi float [ %145, %121 ], [ %50, %150 ]
  %156 = load ptr, ptr %45, align 8, !tbaa !42
  %157 = load i32, ptr %16, align 8, !tbaa !26
  %158 = sext i32 %157 to i64
  %159 = getelementptr inbounds %struct.b2Velocity, ptr %156, i64 %158
  store i64 %155, ptr %159, align 4
  %160 = load ptr, ptr %45, align 8, !tbaa !42
  %161 = load i32, ptr %16, align 8, !tbaa !26
  %162 = sext i32 %161 to i64
  %163 = getelementptr inbounds %struct.b2Velocity, ptr %160, i64 %162, i32 1
  store float %.0, ptr %163, align 4, !tbaa !43
  %164 = load i32, ptr %21, align 4, !tbaa !30
  %165 = sext i32 %164 to i64
  %166 = getelementptr inbounds %struct.b2Velocity, ptr %160, i64 %165
  %167 = load i64, ptr %4, align 8
  store i64 %167, ptr %166, align 4
  %168 = load ptr, ptr %45, align 8, !tbaa !42
  %169 = load i32, ptr %21, align 4, !tbaa !30
  %170 = sext i32 %169 to i64
  %171 = getelementptr inbounds %struct.b2Velocity, ptr %168, i64 %170, i32 1
  store float %.045, ptr %171, align 4, !tbaa !43
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  ret void
}

; Function Attrs: 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: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2mLEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

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

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <4 x float> @llvm.fmuladd.v4f32(<4 x float>, <4 x float>, <4 x float>) #6

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"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress 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 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !10, i64 96}
!6 = !{!"_ZTS7b2Joint", !7, i64 8, !10, i64 16, !10, i64 24, !11, i64 32, !11, i64 64, !10, i64 96, !10, i64 104, !12, i64 112, !13, i64 116, !13, i64 117, !14, i64 120}
!7 = !{!"_ZTS11b2JointType", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"any pointer", !8, i64 0}
!11 = !{!"_ZTS11b2JointEdge", !10, i64 0, !10, i64 8, !10, i64 16, !10, i64 24}
!12 = !{!"int", !8, i64 0}
!13 = !{!"bool", !8, i64 0}
!14 = !{!"_ZTS15b2JointUserData", !15, i64 0}
!15 = !{!"long", !8, i64 0}
!16 = !{!17, !12, i64 8}
!17 = !{!"_ZTS6b2Body", !18, i64 0, !19, i64 4, !12, i64 8, !20, i64 12, !20, i64 28, !24, i64 44, !21, i64 80, !22, i64 88, !21, i64 92, !22, i64 100, !10, i64 104, !10, i64 112, !10, i64 120, !10, i64 128, !12, i64 136, !10, i64 144, !10, i64 152, !12, i64 160, !12, i64 164, !22, i64 168, !22, i64 172, !22, i64 176, !22, i64 180, !22, i64 184, !22, i64 188, !22, i64 192, !22, i64 196, !25, i64 200}
!18 = !{!"_ZTS10b2BodyType", !8, i64 0}
!19 = !{!"short", !8, i64 0}
!20 = !{!"_ZTS11b2Transform", !21, i64 0, !23, i64 8}
!21 = !{!"_ZTS6b2Vec2", !22, i64 0, !22, i64 4}
!22 = !{!"float", !8, i64 0}
!23 = !{!"_ZTS5b2Rot", !22, i64 0, !22, i64 4}
!24 = !{!"_ZTS7b2Sweep", !21, i64 0, !21, i64 8, !21, i64 16, !22, i64 24, !22, i64 28, !22, i64 32}
!25 = !{!"_ZTS14b2BodyUserData", !15, i64 0}
!26 = !{!27, !12, i64 192}
!27 = !{!"_ZTS15b2RevoluteJoint", !6, i64 0, !21, i64 128, !21, i64 136, !21, i64 144, !22, i64 152, !22, i64 156, !22, i64 160, !13, i64 164, !22, i64 168, !22, i64 172, !13, i64 176, !22, i64 180, !22, i64 184, !22, i64 188, !12, i64 192, !12, i64 196, !21, i64 200, !21, i64 208, !21, i64 216, !21, i64 224, !22, i64 232, !22, i64 236, !22, i64 240, !22, i64 244, !28, i64 248, !22, i64 264, !22, i64 268}
!28 = !{!"_ZTS7b2Mat22", !21, i64 0, !21, i64 8}
!29 = !{!6, !10, i64 104}
!30 = !{!27, !12, i64 196}
!31 = !{!17, !22, i64 172}
!32 = !{!27, !22, i64 232}
!33 = !{!27, !22, i64 236}
!34 = !{!17, !22, i64 180}
!35 = !{!27, !22, i64 240}
!36 = !{!27, !22, i64 244}
!37 = !{!38, !10, i64 32}
!38 = !{!"_ZTS12b2SolverData", !39, i64 0, !10, i64 32, !10, i64 40}
!39 = !{!"_ZTS10b2TimeStep", !22, i64 0, !22, i64 4, !22, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !13, i64 24}
!40 = !{!41, !22, i64 8}
!41 = !{!"_ZTS10b2Position", !21, i64 0, !22, i64 8}
!42 = !{!38, !10, i64 40}
!43 = !{!44, !22, i64 8}
!44 = !{!"_ZTS10b2Velocity", !21, i64 0, !22, i64 8}
!45 = !{!27, !22, i64 204}
!46 = !{!27, !22, i64 200}
!47 = !{!22, !22, i64 0}
!48 = !{!27, !22, i64 268}
!49 = !{!27, !22, i64 180}
!50 = !{!27, !22, i64 264}
!51 = !{!27, !13, i64 176}
!52 = !{i8 0, i8 2}
!53 = !{}
!54 = !{!27, !13, i64 164}
!55 = !{!27, !22, i64 152}
!56 = !{!38, !13, i64 24}
!57 = !{!38, !22, i64 8}
!58 = !{!27, !22, i64 144}
!59 = !{!27, !22, i64 148}
!60 = !{!27, !22, i64 160}


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