; LLVM IR from mtsamis/box2d-optimized :: src/dynamics/b2_wheel_joint.ll (ZN12b2WheelJoint24SolvePositionConstraintsERK12b2SolverData)

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

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN12b2WheelJoint24SolvePositionConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(308) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #6 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %struct.b2Vec2, align 4
  %6 = alloca float, align 4
  %7 = alloca %struct.b2Vec2, align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca %struct.b2Rot, align 4
  %11 = alloca %struct.b2Rot, align 4
  %12 = alloca %struct.b2Vec2, 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 %struct.b2Vec2, align 4
  %18 = alloca %struct.b2Vec2, align 4
  %19 = alloca %struct.b2Vec2, align 4
  %20 = alloca float, align 4
  %21 = alloca %struct.b2Vec2, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca float, align 4
  %27 = alloca %struct.b2Vec2, align 4
  %28 = alloca float, align 4
  %29 = alloca float, align 4
  %30 = alloca %struct.b2Vec2, align 4
  %31 = alloca %struct.b2Vec2, align 4
  %32 = alloca %struct.b2Rot, align 4
  %33 = alloca %struct.b2Rot, align 4
  %34 = alloca %struct.b2Vec2, align 4
  %35 = alloca %struct.b2Vec2, align 4
  %36 = alloca %struct.b2Vec2, align 4
  %37 = alloca %struct.b2Vec2, align 4
  %38 = alloca %struct.b2Vec2, align 4
  %39 = alloca %struct.b2Vec2, align 4
  %40 = alloca %struct.b2Vec2, align 4
  %41 = alloca %struct.b2Vec2, align 4
  %42 = alloca float, align 4
  %43 = alloca %struct.b2Vec2, align 4
  %44 = alloca float, align 4
  %45 = alloca float, align 4
  %46 = alloca float, align 4
  %47 = alloca float, align 4
  %48 = alloca %struct.b2Vec2, align 4
  %49 = alloca float, align 4
  %50 = alloca float, align 4
  %51 = alloca %struct.b2Vec2, align 4
  %52 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %53 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #7
  %54 = load ptr, ptr %4, align 8, !tbaa !5
  %55 = getelementptr inbounds %struct.b2SolverData, ptr %54, i32 0, i32 1
  %56 = load ptr, ptr %55, align 8, !tbaa !9
  %57 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 20
  %58 = load i32, ptr %57, align 4, !tbaa !15
  %59 = sext i32 %58 to i64
  %60 = getelementptr inbounds %struct.b2Position, ptr %56, i64 %59
  %61 = getelementptr inbounds %struct.b2Position, ptr %60, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %5, ptr align 4 %61, i64 8, i1 false), !tbaa.struct !23
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #7
  %62 = load ptr, ptr %4, align 8, !tbaa !5
  %63 = getelementptr inbounds %struct.b2SolverData, ptr %62, i32 0, i32 1
  %64 = load ptr, ptr %63, align 8, !tbaa !9
  %65 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 20
  %66 = load i32, ptr %65, align 4, !tbaa !15
  %67 = sext i32 %66 to i64
  %68 = getelementptr inbounds %struct.b2Position, ptr %64, i64 %67
  %69 = getelementptr inbounds %struct.b2Position, ptr %68, i32 0, i32 1
  %70 = load float, ptr %69, align 4, !tbaa !25
  store float %70, ptr %6, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  %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.b2WheelJoint, ptr %53, i32 0, i32 21
  %75 = load i32, ptr %74, align 8, !tbaa !27
  %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 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %7, ptr align 4 %78, i64 8, i1 false), !tbaa.struct !23
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #7
  %79 = load ptr, ptr %4, align 8, !tbaa !5
  %80 = getelementptr inbounds %struct.b2SolverData, ptr %79, i32 0, i32 1
  %81 = load ptr, ptr %80, align 8, !tbaa !9
  %82 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 21
  %83 = load i32, ptr %82, align 8, !tbaa !27
  %84 = sext i32 %83 to i64
  %85 = getelementptr inbounds %struct.b2Position, ptr %81, i64 %84
  %86 = getelementptr inbounds %struct.b2Position, ptr %85, i32 0, i32 1
  %87 = load float, ptr %86, align 4, !tbaa !25
  store float %87, ptr %8, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #7
  store float 0.000000e+00, ptr %9, align 4, !tbaa !24
  %88 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 15
  %89 = load i8, ptr %88, align 8, !tbaa !28, !range !29, !noundef !30
  %90 = trunc i8 %89 to i1
  br i1 %90, label %91, label %203

91:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %92 = load float, ptr %6, align 4, !tbaa !24
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %10, float noundef %92)
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %93 = load float, ptr %8, align 4, !tbaa !24
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %11, float noundef %93)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %94 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 1
  %95 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 22
  %96 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %94, ptr noundef nonnull align 4 dereferenceable(8) %95)
  store <2 x float> %96, ptr %13, align 4
  %97 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %10, ptr noundef nonnull align 4 dereferenceable(8) %13)
  store <2 x float> %97, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  %98 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 2
  %99 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 23
  %100 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %98, ptr noundef nonnull align 4 dereferenceable(8) %99)
  store <2 x float> %100, ptr %15, align 4
  %101 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %101, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #7
  %102 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %102, ptr %18, align 4
  %103 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %18, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %103, ptr %17, align 4
  %104 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %12)
  store <2 x float> %104, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #7
  %105 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 3
  %106 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %10, ptr noundef nonnull align 4 dereferenceable(8) %105)
  store <2 x float> %106, ptr %19, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #7
  %107 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %16, ptr noundef nonnull align 4 dereferenceable(8) %12)
  store <2 x float> %107, ptr %21, align 4
  %108 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 28
  %109 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %21, ptr noundef nonnull align 4 dereferenceable(8) %108)
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #7
  store float %109, ptr %20, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #7
  %110 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 28
  %111 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %14, ptr noundef nonnull align 4 dereferenceable(8) %110)
  store float %111, ptr %22, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #7
  store float 0.000000e+00, ptr %23, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  %112 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store float %112, ptr %24, align 4, !tbaa !24
  %113 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 12
  %114 = load float, ptr %113, align 4, !tbaa !31
  %115 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 11
  %116 = load float, ptr %115, align 8, !tbaa !32
  %117 = fsub float %114, %116
  %118 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %117)
  %119 = fcmp olt float %118, 0x3F847AE140000000
  br i1 %119, label %120, label %122

120:                                              ; preds = %91
  %121 = load float, ptr %24, align 4, !tbaa !24
  store float %121, ptr %23, align 4, !tbaa !24
  br label %146

122:                                              ; preds = %91
  %123 = load float, ptr %24, align 4, !tbaa !24
  %124 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 11
  %125 = load float, ptr %124, align 8, !tbaa !32
  %126 = fcmp ole float %123, %125
  br i1 %126, label %127, label %133

127:                                              ; preds = %122
  %128 = load float, ptr %24, align 4, !tbaa !24
  %129 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 11
  %130 = load float, ptr %129, align 8, !tbaa !32
  %131 = fsub float %128, %130
  %132 = call noundef float @_Z5b2MinIfET_S0_S0_(float noundef %131, float noundef 0.000000e+00)
  store float %132, ptr %23, align 4, !tbaa !24
  br label %145

133:                                              ; preds = %122
  %134 = load float, ptr %24, align 4, !tbaa !24
  %135 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 12
  %136 = load float, ptr %135, align 4, !tbaa !31
  %137 = fcmp oge float %134, %136
  br i1 %137, label %138, label %144

138:                                              ; preds = %133
  %139 = load float, ptr %24, align 4, !tbaa !24
  %140 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 12
  %141 = load float, ptr %140, align 4, !tbaa !31
  %142 = fsub float %139, %141
  %143 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %142, float noundef 0.000000e+00)
  store float %143, ptr %23, align 4, !tbaa !24
  br label %144

144:                                              ; preds = %138, %133
  br label %145

145:                                              ; preds = %144, %127
  br label %146

146:                                              ; preds = %145, %120
  %147 = load float, ptr %23, align 4, !tbaa !24
  %148 = fcmp une float %147, 0.000000e+00
  br i1 %148, label %149, label %202

149:                                              ; preds = %146
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  %150 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 24
  %151 = load float, ptr %150, align 4, !tbaa !33
  %152 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 25
  %153 = load float, ptr %152, align 8, !tbaa !34
  %154 = fadd float %151, %153
  %155 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 26
  %156 = load float, ptr %155, align 4, !tbaa !35
  %157 = load float, ptr %20, align 4, !tbaa !24
  %158 = fmul float %156, %157
  %159 = load float, ptr %20, align 4, !tbaa !24
  %160 = call float @llvm.fmuladd.f32(float %158, float %159, float %154)
  %161 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 27
  %162 = load float, ptr %161, align 8, !tbaa !36
  %163 = load float, ptr %22, align 4, !tbaa !24
  %164 = fmul float %162, %163
  %165 = load float, ptr %22, align 4, !tbaa !24
  %166 = call float @llvm.fmuladd.f32(float %164, float %165, float %160)
  store float %166, ptr %25, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  store float 0.000000e+00, ptr %26, align 4, !tbaa !24
  %167 = load float, ptr %25, align 4, !tbaa !24
  %168 = fcmp une float %167, 0.000000e+00
  br i1 %168, label %169, label %174

169:                                              ; preds = %149
  %170 = load float, ptr %23, align 4, !tbaa !24
  %171 = fneg float %170
  %172 = load float, ptr %25, align 4, !tbaa !24
  %173 = fdiv float %171, %172
  store float %173, ptr %26, align 4, !tbaa !24
  br label %174

174:                                              ; preds = %169, %149
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #7
  %175 = load float, ptr %26, align 4, !tbaa !24
  %176 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %175, ptr noundef nonnull align 4 dereferenceable(8) %19)
  store <2 x float> %176, ptr %27, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #7
  %177 = load float, ptr %26, align 4, !tbaa !24
  %178 = load float, ptr %20, align 4, !tbaa !24
  %179 = fmul float %177, %178
  store float %179, ptr %28, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #7
  %180 = load float, ptr %26, align 4, !tbaa !24
  %181 = load float, ptr %22, align 4, !tbaa !24
  %182 = fmul float %180, %181
  store float %182, ptr %29, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #7
  %183 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 24
  %184 = load float, ptr %183, align 4, !tbaa !33
  %185 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %184, ptr noundef nonnull align 4 dereferenceable(8) %27)
  store <2 x float> %185, ptr %30, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %30)
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #7
  %186 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 26
  %187 = load float, ptr %186, align 4, !tbaa !35
  %188 = load float, ptr %28, align 4, !tbaa !24
  %189 = load float, ptr %6, align 4, !tbaa !24
  %190 = fneg float %187
  %191 = call float @llvm.fmuladd.f32(float %190, float %188, float %189)
  store float %191, ptr %6, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #7
  %192 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 25
  %193 = load float, ptr %192, align 8, !tbaa !34
  %194 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %193, ptr noundef nonnull align 4 dereferenceable(8) %27)
  store <2 x float> %194, ptr %31, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %31)
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #7
  %195 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 27
  %196 = load float, ptr %195, align 8, !tbaa !36
  %197 = load float, ptr %29, align 4, !tbaa !24
  %198 = load float, ptr %8, align 4, !tbaa !24
  %199 = call float @llvm.fmuladd.f32(float %196, float %197, float %198)
  store float %199, ptr %8, align 4, !tbaa !24
  %200 = load float, ptr %23, align 4, !tbaa !24
  %201 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %200)
  store float %201, ptr %9, align 4, !tbaa !24
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  br label %202

202:                                              ; preds = %174, %146
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #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 8, ptr %10) #7
  br label %203

203:                                              ; preds = %202, %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #7
  %204 = load float, ptr %6, align 4, !tbaa !24
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %32, float noundef %204)
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #7
  %205 = load float, ptr %8, align 4, !tbaa !24
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %33, float noundef %205)
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #7
  %206 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 1
  %207 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 22
  %208 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %206, ptr noundef nonnull align 4 dereferenceable(8) %207)
  store <2 x float> %208, ptr %35, align 4
  %209 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %32, ptr noundef nonnull align 4 dereferenceable(8) %35)
  store <2 x float> %209, ptr %34, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #7
  %210 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 2
  %211 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 23
  %212 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %210, ptr noundef nonnull align 4 dereferenceable(8) %211)
  store <2 x float> %212, ptr %37, align 4
  %213 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %33, ptr noundef nonnull align 4 dereferenceable(8) %37)
  store <2 x float> %213, ptr %36, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #7
  %214 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %214, ptr %40, align 4
  %215 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %40, ptr noundef nonnull align 4 dereferenceable(8) %36)
  store <2 x float> %215, ptr %39, align 4
  %216 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %39, ptr noundef nonnull align 4 dereferenceable(8) %34)
  store <2 x float> %216, ptr %38, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #7
  %217 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 4
  %218 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %32, ptr noundef nonnull align 4 dereferenceable(8) %217)
  store <2 x float> %218, ptr %41, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #7
  %219 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %38, ptr noundef nonnull align 4 dereferenceable(8) %34)
  store <2 x float> %219, ptr %43, align 4
  %220 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %43, ptr noundef nonnull align 4 dereferenceable(8) %41)
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  store float %220, ptr %42, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #7
  %221 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(8) %41)
  store float %221, ptr %44, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #7
  %222 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %38, ptr noundef nonnull align 4 dereferenceable(8) %41)
  store float %222, ptr %45, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %46) #7
  %223 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 24
  %224 = load float, ptr %223, align 4, !tbaa !33
  %225 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 25
  %226 = load float, ptr %225, align 8, !tbaa !34
  %227 = fadd float %224, %226
  %228 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 26
  %229 = load float, ptr %228, align 4, !tbaa !35
  %230 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 32
  %231 = load float, ptr %230, align 4, !tbaa !37
  %232 = fmul float %229, %231
  %233 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 32
  %234 = load float, ptr %233, align 4, !tbaa !37
  %235 = call float @llvm.fmuladd.f32(float %232, float %234, float %227)
  %236 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 27
  %237 = load float, ptr %236, align 8, !tbaa !36
  %238 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 33
  %239 = load float, ptr %238, align 8, !tbaa !38
  %240 = fmul float %237, %239
  %241 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 33
  %242 = load float, ptr %241, align 8, !tbaa !38
  %243 = call float @llvm.fmuladd.f32(float %240, float %242, float %235)
  store float %243, ptr %46, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #7
  store float 0.000000e+00, ptr %47, align 4, !tbaa !24
  %244 = load float, ptr %46, align 4, !tbaa !24
  %245 = fcmp une float %244, 0.000000e+00
  br i1 %245, label %246, label %251

246:                                              ; preds = %203
  %247 = load float, ptr %45, align 4, !tbaa !24
  %248 = fneg float %247
  %249 = load float, ptr %46, align 4, !tbaa !24
  %250 = fdiv float %248, %249
  store float %250, ptr %47, align 4, !tbaa !24
  br label %251

251:                                              ; preds = %246, %203
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #7
  %252 = load float, ptr %47, align 4, !tbaa !24
  %253 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %252, ptr noundef nonnull align 4 dereferenceable(8) %41)
  store <2 x float> %253, ptr %48, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #7
  %254 = load float, ptr %47, align 4, !tbaa !24
  %255 = load float, ptr %42, align 4, !tbaa !24
  %256 = fmul float %254, %255
  store float %256, ptr %49, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #7
  %257 = load float, ptr %47, align 4, !tbaa !24
  %258 = load float, ptr %44, align 4, !tbaa !24
  %259 = fmul float %257, %258
  store float %259, ptr %50, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #7
  %260 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 24
  %261 = load float, ptr %260, align 4, !tbaa !33
  %262 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %261, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %262, ptr %51, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %51)
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #7
  %263 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 26
  %264 = load float, ptr %263, align 4, !tbaa !35
  %265 = load float, ptr %49, align 4, !tbaa !24
  %266 = load float, ptr %6, align 4, !tbaa !24
  %267 = fneg float %264
  %268 = call float @llvm.fmuladd.f32(float %267, float %265, float %266)
  store float %268, ptr %6, align 4, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #7
  %269 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 25
  %270 = load float, ptr %269, align 8, !tbaa !34
  %271 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %270, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %271, ptr %52, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %52)
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #7
  %272 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 27
  %273 = load float, ptr %272, align 8, !tbaa !36
  %274 = load float, ptr %50, align 4, !tbaa !24
  %275 = load float, ptr %8, align 4, !tbaa !24
  %276 = call float @llvm.fmuladd.f32(float %273, float %274, float %275)
  store float %276, ptr %8, align 4, !tbaa !24
  %277 = load float, ptr %9, align 4, !tbaa !24
  %278 = load float, ptr %45, align 4, !tbaa !24
  %279 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %278)
  %280 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %277, float noundef %279)
  store float %280, ptr %9, align 4, !tbaa !24
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #7
  %281 = load ptr, ptr %4, align 8, !tbaa !5
  %282 = getelementptr inbounds %struct.b2SolverData, ptr %281, i32 0, i32 1
  %283 = load ptr, ptr %282, align 8, !tbaa !9
  %284 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 20
  %285 = load i32, ptr %284, align 4, !tbaa !15
  %286 = sext i32 %285 to i64
  %287 = getelementptr inbounds %struct.b2Position, ptr %283, i64 %286
  %288 = getelementptr inbounds %struct.b2Position, ptr %287, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %288, ptr align 4 %5, i64 8, i1 false), !tbaa.struct !23
  %289 = load float, ptr %6, align 4, !tbaa !24
  %290 = load ptr, ptr %4, align 8, !tbaa !5
  %291 = getelementptr inbounds %struct.b2SolverData, ptr %290, i32 0, i32 1
  %292 = load ptr, ptr %291, align 8, !tbaa !9
  %293 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 20
  %294 = load i32, ptr %293, align 4, !tbaa !15
  %295 = sext i32 %294 to i64
  %296 = getelementptr inbounds %struct.b2Position, ptr %292, i64 %295
  %297 = getelementptr inbounds %struct.b2Position, ptr %296, i32 0, i32 1
  store float %289, ptr %297, align 4, !tbaa !25
  %298 = load ptr, ptr %4, align 8, !tbaa !5
  %299 = getelementptr inbounds %struct.b2SolverData, ptr %298, i32 0, i32 1
  %300 = load ptr, ptr %299, align 8, !tbaa !9
  %301 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 21
  %302 = load i32, ptr %301, align 8, !tbaa !27
  %303 = sext i32 %302 to i64
  %304 = getelementptr inbounds %struct.b2Position, ptr %300, i64 %303
  %305 = getelementptr inbounds %struct.b2Position, ptr %304, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %305, ptr align 4 %7, i64 8, i1 false), !tbaa.struct !23
  %306 = load float, ptr %8, align 4, !tbaa !24
  %307 = load ptr, ptr %4, align 8, !tbaa !5
  %308 = getelementptr inbounds %struct.b2SolverData, ptr %307, i32 0, i32 1
  %309 = load ptr, ptr %308, align 8, !tbaa !9
  %310 = getelementptr inbounds %class.b2WheelJoint, ptr %53, i32 0, i32 21
  %311 = load i32, ptr %310, align 8, !tbaa !27
  %312 = sext i32 %311 to i64
  %313 = getelementptr inbounds %struct.b2Position, ptr %309, i64 %312
  %314 = getelementptr inbounds %struct.b2Position, ptr %313, i32 0, i32 1
  store float %306, ptr %314, align 4, !tbaa !25
  %315 = load float, ptr %9, align 4, !tbaa !24
  %316 = fcmp ole float %315, 0x3F747AE140000000
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #7
  ret i1 %316
}

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

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 = { 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 = { 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 = { 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 212}
!16 = !{!"_ZTS12b2WheelJoint", !17, i64 0, !22, i64 128, !22, i64 136, !22, i64 144, !22, i64 152, !12, i64 160, !12, i64 164, !12, i64 168, !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, !12, i64 204, !12, i64 208, !13, i64 212, !13, i64 216, !22, i64 220, !22, i64 228, !12, i64 236, !12, i64 240, !12, i64 244, !12, i64 248, !22, i64 252, !22, i64 260, !12, i64 268, !12, i64 272, !12, i64 276, !12, i64 280, !12, i64 284, !12, i64 288, !12, i64 292, !12, i64 296, !12, i64 300, !12, i64 304}
!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 = !{i64 0, i64 4, !24, i64 4, i64 4, !24}
!24 = !{!12, !12, i64 0}
!25 = !{!26, !12, i64 8}
!26 = !{!"_ZTS10b2Position", !22, i64 0, !12, i64 8}
!27 = !{!16, !13, i64 216}
!28 = !{!16, !14, i64 200}
!29 = !{i8 0, i8 2}
!30 = !{}
!31 = !{!16, !12, i64 188}
!32 = !{!16, !12, i64 184}
!33 = !{!16, !12, i64 236}
!34 = !{!16, !12, i64 240}
!35 = !{!16, !12, i64 244}
!36 = !{!16, !12, i64 248}
!37 = !{!16, !12, i64 276}
!38 = !{!16, !12, i64 280}


; 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 }

; 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 @_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 #2

; 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 #2

; 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 #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 #3

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) 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 #3

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN12b2WheelJoint24SolvePositionConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(308) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(48) %1) unnamed_addr #5 align 2 {
  %3 = alloca %struct.b2Vec2, align 8
  %4 = alloca %struct.b2Vec2, align 8
  %5 = alloca %struct.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.b2Vec2, align 8
  %19 = alloca %struct.b2Rot, align 4
  %20 = alloca %struct.b2Rot, align 4
  %21 = alloca %struct.b2Vec2, align 8
  %22 = alloca %struct.b2Vec2, align 8
  %23 = alloca %struct.b2Vec2, align 8
  %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
  %30 = alloca %struct.b2Vec2, align 8
  %31 = alloca %struct.b2Vec2, align 8
  %32 = alloca %struct.b2Vec2, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #6
  %33 = getelementptr inbounds i8, ptr %1, i64 32
  %34 = load ptr, ptr %33, align 8, !tbaa !5
  %35 = getelementptr inbounds i8, ptr %0, i64 212
  %36 = load i32, ptr %35, align 4, !tbaa !14
  %37 = sext i32 %36 to i64
  %38 = getelementptr inbounds %struct.b2Position, ptr %34, i64 %37
  %39 = load i64, ptr %38, align 4
  store i64 %39, ptr %3, align 8
  %40 = getelementptr inbounds %struct.b2Position, ptr %34, i64 %37, i32 1
  %41 = load float, ptr %40, align 4, !tbaa !22
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #6
  %42 = getelementptr inbounds i8, ptr %0, i64 216
  %43 = load i32, ptr %42, align 8, !tbaa !24
  %44 = sext i32 %43 to i64
  %45 = getelementptr inbounds %struct.b2Position, ptr %34, i64 %44
  %46 = load i64, ptr %45, align 4
  store i64 %46, ptr %4, align 8
  %47 = getelementptr inbounds %struct.b2Position, ptr %34, i64 %44, i32 1
  %48 = load float, ptr %47, align 4, !tbaa !22
  %49 = getelementptr inbounds i8, ptr %0, i64 200
  %50 = load i8, ptr %49, align 8, !tbaa !25, !range !26, !noundef !27
  %51 = trunc nuw i8 %50 to i1
  br i1 %51, label %52, label %122

52:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #6
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %5, float noundef %41)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #6
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %6, float noundef %48)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #6
  %53 = getelementptr inbounds i8, ptr %0, i64 128
  %54 = getelementptr inbounds i8, ptr %0, i64 220
  %55 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %53, ptr noundef nonnull align 4 dereferenceable(8) %54)
  store <2 x float> %55, ptr %8, align 8
  %56 = 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> %56, ptr %7, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #6
  %57 = getelementptr inbounds i8, ptr %0, i64 136
  %58 = getelementptr inbounds i8, ptr %0, i64 228
  %59 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %57, ptr noundef nonnull align 4 dereferenceable(8) %58)
  store <2 x float> %59, ptr %10, align 8
  %60 = 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> %60, ptr %9, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #6
  %61 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %61, ptr %13, align 8
  %62 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %62, ptr %12, align 8
  %63 = 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> %63, ptr %11, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #6
  %64 = getelementptr inbounds i8, ptr %0, i64 144
  %65 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %64)
  store <2 x float> %65, ptr %14, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #6
  %66 = 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> %66, ptr %15, align 8
  %67 = getelementptr inbounds i8, ptr %0, i64 252
  %68 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %67)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #6
  %69 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %67)
  %70 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %14, ptr noundef nonnull align 4 dereferenceable(8) %11)
  %71 = getelementptr inbounds i8, ptr %0, i64 188
  %72 = load float, ptr %71, align 4, !tbaa !28
  %73 = getelementptr inbounds i8, ptr %0, i64 184
  %74 = load float, ptr %73, align 8, !tbaa !29
  %75 = fsub float %72, %74
  %76 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %75)
  %77 = fcmp olt float %76, 0x3F847AE140000000
  br i1 %77, label %90, label %78

78:                                               ; preds = %52
  %79 = load float, ptr %73, align 8, !tbaa !29
  %80 = fcmp ugt float %70, %79
  br i1 %80, label %84, label %81

81:                                               ; preds = %78
  %82 = fsub float %70, %79
  %83 = call noundef float @_Z5b2MinIfET_S0_S0_(float noundef %82, float noundef 0.000000e+00)
  br label %90

84:                                               ; preds = %78
  %85 = load float, ptr %71, align 4, !tbaa !28
  %86 = fcmp ult float %70, %85
  br i1 %86, label %.thread, label %87

87:                                               ; preds = %84
  %88 = fsub float %70, %85
  %89 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %88, float noundef 0.000000e+00)
  br label %90

90:                                               ; preds = %52, %81, %87
  %.058 = phi float [ %83, %81 ], [ %89, %87 ], [ %70, %52 ]
  %91 = fcmp une float %.058, 0.000000e+00
  br i1 %91, label %92, label %.thread

92:                                               ; preds = %90
  %93 = getelementptr inbounds i8, ptr %0, i64 236
  %94 = load float, ptr %93, align 4, !tbaa !30
  %95 = getelementptr inbounds i8, ptr %0, i64 240
  %96 = load float, ptr %95, align 8, !tbaa !31
  %97 = fadd float %94, %96
  %98 = getelementptr inbounds i8, ptr %0, i64 244
  %99 = load float, ptr %98, align 4, !tbaa !32
  %100 = fmul float %68, %99
  %101 = call float @llvm.fmuladd.f32(float %100, float %68, float %97)
  %102 = getelementptr inbounds i8, ptr %0, i64 248
  %103 = load float, ptr %102, align 8, !tbaa !33
  %104 = fmul float %69, %103
  %105 = call float @llvm.fmuladd.f32(float %104, float %69, float %101)
  %106 = fcmp une float %105, 0.000000e+00
  %107 = fneg float %.058
  %108 = fdiv float %107, %105
  %.059 = select i1 %106, float %108, float 0.000000e+00
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #6
  %109 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.059, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %109, ptr %16, align 8
  %110 = fmul float %68, %.059
  %111 = fmul float %69, %.059
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #6
  %112 = load float, ptr %93, align 4, !tbaa !30
  %113 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %112, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %113, ptr %17, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %17)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #6
  %114 = load float, ptr %98, align 4, !tbaa !32
  %115 = fneg float %114
  %116 = call float @llvm.fmuladd.f32(float %115, float %110, float %41)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #6
  %117 = load float, ptr %95, align 8, !tbaa !31
  %118 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %117, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %118, ptr %18, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %18)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #6
  %119 = load float, ptr %102, align 8, !tbaa !33
  %120 = call float @llvm.fmuladd.f32(float %119, float %111, float %48)
  %121 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %.058)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #6
  br label %.thread

.thread:                                          ; preds = %84, %92, %90
  %.056 = phi float [ %121, %92 ], [ 0.000000e+00, %90 ], [ 0.000000e+00, %84 ]
  %.053 = phi float [ %120, %92 ], [ %48, %90 ], [ %48, %84 ]
  %.0 = phi float [ %116, %92 ], [ %41, %90 ], [ %41, %84 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #6
  br label %122

122:                                              ; preds = %.thread, %2
  %.157 = phi float [ %.056, %.thread ], [ 0.000000e+00, %2 ]
  %.154 = phi float [ %.053, %.thread ], [ %48, %2 ]
  %.1 = phi float [ %.0, %.thread ], [ %41, %2 ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #6
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %19, float noundef %.1)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #6
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %20, float noundef %.154)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #6
  %123 = getelementptr inbounds i8, ptr %0, i64 128
  %124 = getelementptr inbounds i8, ptr %0, i64 220
  %125 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %123, ptr noundef nonnull align 4 dereferenceable(8) %124)
  store <2 x float> %125, ptr %22, align 8
  %126 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %22)
  store <2 x float> %126, ptr %21, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #6
  %127 = getelementptr inbounds i8, ptr %0, i64 136
  %128 = getelementptr inbounds i8, ptr %0, i64 228
  %129 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %127, ptr noundef nonnull align 4 dereferenceable(8) %128)
  store <2 x float> %129, ptr %24, align 8
  %130 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %20, ptr noundef nonnull align 4 dereferenceable(8) %24)
  store <2 x float> %130, ptr %23, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #6
  %131 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %131, ptr %27, align 8
  %132 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %27, ptr noundef nonnull align 4 dereferenceable(8) %23)
  store <2 x float> %132, ptr %26, align 8
  %133 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %26, ptr noundef nonnull align 4 dereferenceable(8) %21)
  store <2 x float> %133, ptr %25, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #6
  %134 = getelementptr inbounds i8, ptr %0, i64 152
  %135 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %134)
  store <2 x float> %135, ptr %28, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #6
  %136 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %25, ptr noundef nonnull align 4 dereferenceable(8) %21)
  store <2 x float> %136, ptr %29, align 8
  %137 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %29, ptr noundef nonnull align 4 dereferenceable(8) %28)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #6
  %138 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %23, ptr noundef nonnull align 4 dereferenceable(8) %28)
  %139 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %25, ptr noundef nonnull align 4 dereferenceable(8) %28)
  %140 = getelementptr inbounds i8, ptr %0, i64 236
  %141 = load float, ptr %140, align 4, !tbaa !30
  %142 = getelementptr inbounds i8, ptr %0, i64 240
  %143 = load float, ptr %142, align 8, !tbaa !31
  %144 = fadd float %141, %143
  %145 = getelementptr inbounds i8, ptr %0, i64 244
  %146 = load float, ptr %145, align 4, !tbaa !32
  %147 = getelementptr inbounds i8, ptr %0, i64 276
  %148 = load float, ptr %147, align 4, !tbaa !34
  %149 = fmul float %146, %148
  %150 = call float @llvm.fmuladd.f32(float %149, float %148, float %144)
  %151 = getelementptr inbounds i8, ptr %0, i64 248
  %152 = load float, ptr %151, align 8, !tbaa !33
  %153 = getelementptr inbounds i8, ptr %0, i64 280
  %154 = load float, ptr %153, align 8, !tbaa !35
  %155 = fmul float %152, %154
  %156 = call float @llvm.fmuladd.f32(float %155, float %154, float %150)
  %157 = fcmp une float %156, 0.000000e+00
  %158 = fneg float %139
  %159 = fdiv float %158, %156
  %.055 = select i1 %157, float %159, float 0.000000e+00
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #6
  %160 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %.055, ptr noundef nonnull align 4 dereferenceable(8) %28)
  store <2 x float> %160, ptr %30, align 8
  %161 = fmul float %137, %.055
  %162 = fmul float %138, %.055
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #6
  %163 = load float, ptr %140, align 4, !tbaa !30
  %164 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %163, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %164, ptr %31, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %31)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #6
  %165 = load float, ptr %145, align 4, !tbaa !32
  %166 = fneg float %165
  %167 = call float @llvm.fmuladd.f32(float %166, float %161, float %.1)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %32) #6
  %168 = load float, ptr %142, align 8, !tbaa !31
  %169 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %168, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %169, ptr %32, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %32)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #6
  %170 = load float, ptr %151, align 8, !tbaa !33
  %171 = call float @llvm.fmuladd.f32(float %170, float %162, float %.154)
  %172 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %139)
  %173 = call noundef float @_Z5b2MaxIfET_S0_S0_(float noundef %.157, float noundef %172)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #6
  %174 = load ptr, ptr %33, align 8, !tbaa !5
  %175 = load i32, ptr %35, align 4, !tbaa !14
  %176 = sext i32 %175 to i64
  %177 = getelementptr inbounds %struct.b2Position, ptr %174, i64 %176
  %178 = load i64, ptr %3, align 8
  store i64 %178, ptr %177, align 4
  %179 = load ptr, ptr %33, align 8, !tbaa !5
  %180 = load i32, ptr %35, align 4, !tbaa !14
  %181 = sext i32 %180 to i64
  %182 = getelementptr inbounds %struct.b2Position, ptr %179, i64 %181, i32 1
  store float %167, ptr %182, align 4, !tbaa !22
  %183 = load i32, ptr %42, align 8, !tbaa !24
  %184 = sext i32 %183 to i64
  %185 = getelementptr inbounds %struct.b2Position, ptr %179, i64 %184
  %186 = load i64, ptr %4, align 8
  store i64 %186, ptr %185, align 4
  %187 = load ptr, ptr %33, align 8, !tbaa !5
  %188 = load i32, ptr %42, align 8, !tbaa !24
  %189 = sext i32 %188 to i64
  %190 = getelementptr inbounds %struct.b2Position, ptr %187, i64 %189, i32 1
  store float %171, ptr %190, align 4, !tbaa !22
  %191 = fcmp ole float %173, 0x3F747AE140000000
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #6
  ret i1 %191
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2AbsIfET_S0_(float noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2MinIfET_S0_S0_(float noundef, float noundef) local_unnamed_addr #3

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 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 212}
!15 = !{!"_ZTS12b2WheelJoint", !16, i64 0, !21, i64 128, !21, i64 136, !21, i64 144, !21, i64 152, !8, i64 160, !8, i64 164, !8, i64 168, !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, !8, i64 204, !8, i64 208, !11, i64 212, !11, i64 216, !21, i64 220, !21, i64 228, !8, i64 236, !8, i64 240, !8, i64 244, !8, i64 248, !21, i64 252, !21, i64 260, !8, i64 268, !8, i64 272, !8, i64 276, !8, i64 280, !8, i64 284, !8, i64 288, !8, i64 292, !8, i64 296, !8, i64 300, !8, i64 304}
!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 = !{!23, !8, i64 8}
!23 = !{!"_ZTS10b2Position", !21, i64 0, !8, i64 8}
!24 = !{!15, !11, i64 216}
!25 = !{!15, !12, i64 200}
!26 = !{i8 0, i8 2}
!27 = !{}
!28 = !{!15, !8, i64 188}
!29 = !{!15, !8, i64 184}
!30 = !{!15, !8, i64 236}
!31 = !{!15, !8, i64 240}
!32 = !{!15, !8, i64 244}
!33 = !{!15, !8, i64 248}
!34 = !{!15, !8, i64 276}
!35 = !{!15, !8, i64 280}


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