; LLVM IR from godofecht/GANN-Object-Avoidance :: Box2D/Box2D/Dynamics/Joints (b2PrismaticJoint)

; 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, ptr }
%struct.b2JointEdge = type { ptr, ptr, ptr, ptr }
%class.b2Body = type { i32, i16, i32, %struct.b2Transform, %struct.b2Sweep, %struct.b2Vec2, float, %struct.b2Vec2, float, ptr, ptr, ptr, ptr, i32, ptr, ptr, float, float, float, float, float, float, float, float, ptr }
%struct.b2Transform = type { %struct.b2Vec2, %struct.b2Rot }
%struct.b2Sweep = type { %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float }
%class.b2PrismaticJoint = type <{ %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, %struct.b2Vec3, float, float, float, float, float, i8, i8, [2 x i8], i32, i32, i32, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat33, float, [4 x i8] }>
%struct.b2Vec3 = type { float, float, float }
%struct.b2Mat33 = type { %struct.b2Vec3, %struct.b2Vec3, %struct.b2Vec3 }
%struct.b2SolverData = type { %struct.b2TimeStep, ptr, ptr }
%struct.b2TimeStep = type { float, float, float, 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 @_ZN6b2Vec37SetZeroEv(ptr noundef nonnull align 4 dereferenceable(12)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16b2PrismaticJoint23InitVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(316) %0, ptr noundef nonnull align 8 dereferenceable(40) %1) unnamed_addr #3 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %struct.b2Vec2, align 4
  %6 = alloca float, align 4
  %7 = alloca %struct.b2Vec2, align 4
  %8 = alloca float, align 4
  %9 = alloca %struct.b2Vec2, align 4
  %10 = alloca float, align 4
  %11 = alloca %struct.b2Vec2, align 4
  %12 = alloca float, align 4
  %13 = alloca %struct.b2Rot, align 4
  %14 = alloca %struct.b2Rot, align 4
  %15 = alloca %struct.b2Vec2, align 4
  %16 = alloca %struct.b2Vec2, align 4
  %17 = alloca %struct.b2Vec2, align 4
  %18 = alloca %struct.b2Vec2, align 4
  %19 = alloca %struct.b2Vec2, align 4
  %20 = alloca %struct.b2Vec2, align 4
  %21 = alloca %struct.b2Vec2, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca %struct.b2Vec2, align 4
  %27 = alloca %struct.b2Vec2, align 4
  %28 = alloca %struct.b2Vec2, align 4
  %29 = alloca %struct.b2Vec2, align 4
  %30 = alloca float, align 4
  %31 = alloca float, align 4
  %32 = alloca float, align 4
  %33 = alloca float, align 4
  %34 = alloca float, align 4
  %35 = alloca float, align 4
  %36 = alloca float, align 4
  %37 = alloca float, align 4
  %38 = alloca %struct.b2Vec2, align 4
  %39 = alloca %struct.b2Vec2, align 4
  %40 = alloca %struct.b2Vec2, align 4
  %41 = alloca float, align 4
  %42 = alloca float, align 4
  %43 = alloca %struct.b2Vec2, align 4
  %44 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %45 = load ptr, ptr %3, align 8
  %46 = getelementptr inbounds %class.b2Joint, ptr %45, i32 0, i32 6
  %47 = load ptr, ptr %46, align 8, !tbaa !9
  %48 = getelementptr inbounds %class.b2Body, ptr %47, i32 0, i32 2
  %49 = load i32, ptr %48, align 8, !tbaa !15
  %50 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 16
  store i32 %49, ptr %50, align 4, !tbaa !24
  %51 = getelementptr inbounds %class.b2Joint, ptr %45, i32 0, i32 7
  %52 = load ptr, ptr %51, align 8, !tbaa !29
  %53 = getelementptr inbounds %class.b2Body, ptr %52, i32 0, i32 2
  %54 = load i32, ptr %53, align 8, !tbaa !15
  %55 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 17
  store i32 %54, ptr %55, align 8, !tbaa !30
  %56 = getelementptr inbounds %class.b2Joint, ptr %45, i32 0, i32 6
  %57 = load ptr, ptr %56, align 8, !tbaa !9
  %58 = getelementptr inbounds %class.b2Body, ptr %57, i32 0, i32 4
  %59 = getelementptr inbounds %struct.b2Sweep, ptr %58, i32 0, i32 0
  %60 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 18
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %60, ptr align 4 %59, i64 8, i1 false), !tbaa.struct !31
  %61 = getelementptr inbounds %class.b2Joint, ptr %45, i32 0, i32 7
  %62 = load ptr, ptr %61, align 8, !tbaa !29
  %63 = getelementptr inbounds %class.b2Body, ptr %62, i32 0, i32 4
  %64 = getelementptr inbounds %struct.b2Sweep, ptr %63, i32 0, i32 0
  %65 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 19
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %65, ptr align 4 %64, i64 8, i1 false), !tbaa.struct !31
  %66 = getelementptr inbounds %class.b2Joint, ptr %45, i32 0, i32 6
  %67 = load ptr, ptr %66, align 8, !tbaa !9
  %68 = getelementptr inbounds %class.b2Body, ptr %67, i32 0, i32 17
  %69 = load float, ptr %68, align 4, !tbaa !33
  %70 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 20
  store float %69, ptr %70, align 4, !tbaa !34
  %71 = getelementptr inbounds %class.b2Joint, ptr %45, i32 0, i32 7
  %72 = load ptr, ptr %71, align 8, !tbaa !29
  %73 = getelementptr inbounds %class.b2Body, ptr %72, i32 0, i32 17
  %74 = load float, ptr %73, align 4, !tbaa !33
  %75 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 21
  store float %74, ptr %75, align 8, !tbaa !35
  %76 = getelementptr inbounds %class.b2Joint, ptr %45, i32 0, i32 6
  %77 = load ptr, ptr %76, align 8, !tbaa !9
  %78 = getelementptr inbounds %class.b2Body, ptr %77, i32 0, i32 19
  %79 = load float, ptr %78, align 4, !tbaa !36
  %80 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 22
  store float %79, ptr %80, align 4, !tbaa !37
  %81 = getelementptr inbounds %class.b2Joint, ptr %45, i32 0, i32 7
  %82 = load ptr, ptr %81, align 8, !tbaa !29
  %83 = getelementptr inbounds %class.b2Body, ptr %82, i32 0, i32 19
  %84 = load float, ptr %83, align 4, !tbaa !36
  %85 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 23
  store float %84, ptr %85, align 8, !tbaa !38
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #7
  %86 = load ptr, ptr %4, align 8, !tbaa !5
  %87 = getelementptr inbounds %struct.b2SolverData, ptr %86, i32 0, i32 1
  %88 = load ptr, ptr %87, align 8, !tbaa !39
  %89 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 16
  %90 = load i32, ptr %89, align 4, !tbaa !24
  %91 = sext i32 %90 to i64
  %92 = getelementptr inbounds %struct.b2Position, ptr %88, i64 %91
  %93 = getelementptr inbounds %struct.b2Position, ptr %92, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %5, ptr align 4 %93, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #7
  %94 = load ptr, ptr %4, align 8, !tbaa !5
  %95 = getelementptr inbounds %struct.b2SolverData, ptr %94, i32 0, i32 1
  %96 = load ptr, ptr %95, align 8, !tbaa !39
  %97 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 16
  %98 = load i32, ptr %97, align 4, !tbaa !24
  %99 = sext i32 %98 to i64
  %100 = getelementptr inbounds %struct.b2Position, ptr %96, i64 %99
  %101 = getelementptr inbounds %struct.b2Position, ptr %100, i32 0, i32 1
  %102 = load float, ptr %101, align 4, !tbaa !42
  store float %102, ptr %6, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  %103 = load ptr, ptr %4, align 8, !tbaa !5
  %104 = getelementptr inbounds %struct.b2SolverData, ptr %103, i32 0, i32 2
  %105 = load ptr, ptr %104, align 8, !tbaa !44
  %106 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 16
  %107 = load i32, ptr %106, align 4, !tbaa !24
  %108 = sext i32 %107 to i64
  %109 = getelementptr inbounds %struct.b2Velocity, ptr %105, i64 %108
  %110 = getelementptr inbounds %struct.b2Velocity, ptr %109, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %7, ptr align 4 %110, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #7
  %111 = load ptr, ptr %4, align 8, !tbaa !5
  %112 = getelementptr inbounds %struct.b2SolverData, ptr %111, i32 0, i32 2
  %113 = load ptr, ptr %112, align 8, !tbaa !44
  %114 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 16
  %115 = load i32, ptr %114, align 4, !tbaa !24
  %116 = sext i32 %115 to i64
  %117 = getelementptr inbounds %struct.b2Velocity, ptr %113, i64 %116
  %118 = getelementptr inbounds %struct.b2Velocity, ptr %117, i32 0, i32 1
  %119 = load float, ptr %118, align 4, !tbaa !45
  store float %119, ptr %8, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %120 = load ptr, ptr %4, align 8, !tbaa !5
  %121 = getelementptr inbounds %struct.b2SolverData, ptr %120, i32 0, i32 1
  %122 = load ptr, ptr %121, align 8, !tbaa !39
  %123 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 17
  %124 = load i32, ptr %123, align 8, !tbaa !30
  %125 = sext i32 %124 to i64
  %126 = getelementptr inbounds %struct.b2Position, ptr %122, i64 %125
  %127 = getelementptr inbounds %struct.b2Position, ptr %126, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %9, ptr align 4 %127, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #7
  %128 = load ptr, ptr %4, align 8, !tbaa !5
  %129 = getelementptr inbounds %struct.b2SolverData, ptr %128, i32 0, i32 1
  %130 = load ptr, ptr %129, align 8, !tbaa !39
  %131 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 17
  %132 = load i32, ptr %131, align 8, !tbaa !30
  %133 = sext i32 %132 to i64
  %134 = getelementptr inbounds %struct.b2Position, ptr %130, i64 %133
  %135 = getelementptr inbounds %struct.b2Position, ptr %134, i32 0, i32 1
  %136 = load float, ptr %135, align 4, !tbaa !42
  store float %136, ptr %10, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %137 = load ptr, ptr %4, align 8, !tbaa !5
  %138 = getelementptr inbounds %struct.b2SolverData, ptr %137, i32 0, i32 2
  %139 = load ptr, ptr %138, align 8, !tbaa !44
  %140 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 17
  %141 = load i32, ptr %140, align 8, !tbaa !30
  %142 = sext i32 %141 to i64
  %143 = getelementptr inbounds %struct.b2Velocity, ptr %139, i64 %142
  %144 = getelementptr inbounds %struct.b2Velocity, ptr %143, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 4 %144, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #7
  %145 = load ptr, ptr %4, align 8, !tbaa !5
  %146 = getelementptr inbounds %struct.b2SolverData, ptr %145, i32 0, i32 2
  %147 = load ptr, ptr %146, align 8, !tbaa !44
  %148 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 17
  %149 = load i32, ptr %148, align 8, !tbaa !30
  %150 = sext i32 %149 to i64
  %151 = getelementptr inbounds %struct.b2Velocity, ptr %147, i64 %150
  %152 = getelementptr inbounds %struct.b2Velocity, ptr %151, i32 0, i32 1
  %153 = load float, ptr %152, align 4, !tbaa !45
  store float %153, ptr %12, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %154 = load float, ptr %6, align 4, !tbaa !32
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %13, float noundef %154)
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %155 = load float, ptr %10, align 4, !tbaa !32
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %14, float noundef %155)
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  %156 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 1
  %157 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 18
  %158 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %156, ptr noundef nonnull align 4 dereferenceable(8) %157)
  store <2 x float> %158, ptr %16, align 4
  %159 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %159, ptr %15, align 4
  call void @llvm.lifetime.end.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
  %160 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 2
  %161 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 19
  %162 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %160, ptr noundef nonnull align 4 dereferenceable(8) %161)
  store <2 x float> %162, ptr %18, align 4
  %163 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %14, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %163, ptr %17, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #7
  %164 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %164, ptr %21, align 4
  %165 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %21, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %165, ptr %20, align 4
  %166 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %20, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %166, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #7
  %167 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 20
  %168 = load float, ptr %167, align 4, !tbaa !34
  store float %168, ptr %22, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #7
  %169 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 21
  %170 = load float, ptr %169, align 8, !tbaa !35
  store float %170, ptr %23, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  %171 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 22
  %172 = load float, ptr %171, align 4, !tbaa !37
  store float %172, ptr %24, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  %173 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 23
  %174 = load float, ptr %173, align 8, !tbaa !38
  store float %174, ptr %25, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #7
  %175 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 3
  %176 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %175)
  store <2 x float> %176, ptr %26, align 4
  %177 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 24
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %177, ptr align 4 %26, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #7
  %178 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %178, ptr %27, align 4
  %179 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 24
  %180 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %27, ptr noundef nonnull align 4 dereferenceable(8) %179)
  %181 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 28
  store float %180, ptr %181, align 4, !tbaa !47
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #7
  %182 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 24
  %183 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %182)
  %184 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 29
  store float %183, ptr %184, align 8, !tbaa !48
  %185 = load float, ptr %22, align 4, !tbaa !32
  %186 = load float, ptr %23, align 4, !tbaa !32
  %187 = fadd float %185, %186
  %188 = load float, ptr %24, align 4, !tbaa !32
  %189 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 28
  %190 = load float, ptr %189, align 4, !tbaa !47
  %191 = fmul float %188, %190
  %192 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 28
  %193 = load float, ptr %192, align 4, !tbaa !47
  %194 = call float @llvm.fmuladd.f32(float %191, float %193, float %187)
  %195 = load float, ptr %25, align 4, !tbaa !32
  %196 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 29
  %197 = load float, ptr %196, align 8, !tbaa !48
  %198 = fmul float %195, %197
  %199 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 29
  %200 = load float, ptr %199, align 8, !tbaa !48
  %201 = call float @llvm.fmuladd.f32(float %198, float %200, float %194)
  %202 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 31
  store float %201, ptr %202, align 8, !tbaa !49
  %203 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 31
  %204 = load float, ptr %203, align 8, !tbaa !49
  %205 = fcmp ogt float %204, 0.000000e+00
  br i1 %205, label %206, label %211

206:                                              ; preds = %2
  %207 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 31
  %208 = load float, ptr %207, align 8, !tbaa !49
  %209 = fdiv float 1.000000e+00, %208
  %210 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 31
  store float %209, ptr %210, align 8, !tbaa !49
  br label %211

211:                                              ; preds = %206, %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #7
  %212 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 4
  %213 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %212)
  store <2 x float> %213, ptr %28, align 4
  %214 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 25
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %214, ptr align 4 %28, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #7
  %215 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %215, ptr %29, align 4
  %216 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 25
  %217 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %29, ptr noundef nonnull align 4 dereferenceable(8) %216)
  %218 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 26
  store float %217, ptr %218, align 4, !tbaa !50
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #7
  %219 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 25
  %220 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %219)
  %221 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 27
  store float %220, ptr %221, align 8, !tbaa !51
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #7
  %222 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 25
  %223 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %222)
  store float %223, ptr %30, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #7
  %224 = load float, ptr %22, align 4, !tbaa !32
  %225 = load float, ptr %23, align 4, !tbaa !32
  %226 = fadd float %224, %225
  %227 = load float, ptr %24, align 4, !tbaa !32
  %228 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 26
  %229 = load float, ptr %228, align 4, !tbaa !50
  %230 = fmul float %227, %229
  %231 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 26
  %232 = load float, ptr %231, align 4, !tbaa !50
  %233 = call float @llvm.fmuladd.f32(float %230, float %232, float %226)
  %234 = load float, ptr %25, align 4, !tbaa !32
  %235 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 27
  %236 = load float, ptr %235, align 8, !tbaa !51
  %237 = fmul float %234, %236
  %238 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 27
  %239 = load float, ptr %238, align 8, !tbaa !51
  %240 = call float @llvm.fmuladd.f32(float %237, float %239, float %233)
  store float %240, ptr %31, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #7
  %241 = load float, ptr %24, align 4, !tbaa !32
  %242 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 26
  %243 = load float, ptr %242, align 4, !tbaa !50
  %244 = load float, ptr %25, align 4, !tbaa !32
  %245 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 27
  %246 = load float, ptr %245, align 8, !tbaa !51
  %247 = fmul float %244, %246
  %248 = call float @llvm.fmuladd.f32(float %241, float %243, float %247)
  store float %248, ptr %32, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #7
  %249 = load float, ptr %24, align 4, !tbaa !32
  %250 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 26
  %251 = load float, ptr %250, align 4, !tbaa !50
  %252 = fmul float %249, %251
  %253 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 28
  %254 = load float, ptr %253, align 4, !tbaa !47
  %255 = load float, ptr %25, align 4, !tbaa !32
  %256 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 27
  %257 = load float, ptr %256, align 8, !tbaa !51
  %258 = fmul float %255, %257
  %259 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 29
  %260 = load float, ptr %259, align 8, !tbaa !48
  %261 = fmul float %258, %260
  %262 = call float @llvm.fmuladd.f32(float %252, float %254, float %261)
  store float %262, ptr %33, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #7
  %263 = load float, ptr %24, align 4, !tbaa !32
  %264 = load float, ptr %25, align 4, !tbaa !32
  %265 = fadd float %263, %264
  store float %265, ptr %34, align 4, !tbaa !32
  %266 = load float, ptr %34, align 4, !tbaa !32
  %267 = fcmp oeq float %266, 0.000000e+00
  br i1 %267, label %268, label %269

268:                                              ; preds = %211
  store float 1.000000e+00, ptr %34, align 4, !tbaa !32
  br label %269

269:                                              ; preds = %268, %211
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #7
  %270 = load float, ptr %24, align 4, !tbaa !32
  %271 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 28
  %272 = load float, ptr %271, align 4, !tbaa !47
  %273 = load float, ptr %25, align 4, !tbaa !32
  %274 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 29
  %275 = load float, ptr %274, align 8, !tbaa !48
  %276 = fmul float %273, %275
  %277 = call float @llvm.fmuladd.f32(float %270, float %272, float %276)
  store float %277, ptr %35, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #7
  %278 = load float, ptr %22, align 4, !tbaa !32
  %279 = load float, ptr %23, align 4, !tbaa !32
  %280 = fadd float %278, %279
  %281 = load float, ptr %24, align 4, !tbaa !32
  %282 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 28
  %283 = load float, ptr %282, align 4, !tbaa !47
  %284 = fmul float %281, %283
  %285 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 28
  %286 = load float, ptr %285, align 4, !tbaa !47
  %287 = call float @llvm.fmuladd.f32(float %284, float %286, float %280)
  %288 = load float, ptr %25, align 4, !tbaa !32
  %289 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 29
  %290 = load float, ptr %289, align 8, !tbaa !48
  %291 = fmul float %288, %290
  %292 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 29
  %293 = load float, ptr %292, align 8, !tbaa !48
  %294 = call float @llvm.fmuladd.f32(float %291, float %293, float %287)
  store float %294, ptr %36, align 4, !tbaa !32
  %295 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 30
  %296 = getelementptr inbounds %struct.b2Mat33, ptr %295, i32 0, i32 0
  %297 = load float, ptr %31, align 4, !tbaa !32
  %298 = load float, ptr %32, align 4, !tbaa !32
  %299 = load float, ptr %33, align 4, !tbaa !32
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %296, float noundef %297, float noundef %298, float noundef %299)
  %300 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 30
  %301 = getelementptr inbounds %struct.b2Mat33, ptr %300, i32 0, i32 1
  %302 = load float, ptr %32, align 4, !tbaa !32
  %303 = load float, ptr %34, align 4, !tbaa !32
  %304 = load float, ptr %35, align 4, !tbaa !32
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %301, float noundef %302, float noundef %303, float noundef %304)
  %305 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 30
  %306 = getelementptr inbounds %struct.b2Mat33, ptr %305, i32 0, i32 2
  %307 = load float, ptr %33, align 4, !tbaa !32
  %308 = load float, ptr %35, align 4, !tbaa !32
  %309 = load float, ptr %36, align 4, !tbaa !32
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %306, float noundef %307, float noundef %308, float noundef %309)
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #7
  %310 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 12
  %311 = load i8, ptr %310, align 4, !tbaa !52, !range !53, !noundef !54
  %312 = trunc i8 %311 to i1
  br i1 %312, label %313, label %360

313:                                              ; preds = %269
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #7
  %314 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 24
  %315 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %314, ptr noundef nonnull align 4 dereferenceable(8) %19)
  store float %315, ptr %37, align 4, !tbaa !32
  %316 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 9
  %317 = load float, ptr %316, align 8, !tbaa !55
  %318 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 8
  %319 = load float, ptr %318, align 4, !tbaa !56
  %320 = fsub float %317, %319
  %321 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %320)
  %322 = fcmp olt float %321, 0x3F847AE140000000
  br i1 %322, label %323, label %325

323:                                              ; preds = %313
  %324 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 15
  store i32 3, ptr %324, align 8, !tbaa !57
  br label %359

325:                                              ; preds = %313
  %326 = load float, ptr %37, align 4, !tbaa !32
  %327 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 8
  %328 = load float, ptr %327, align 4, !tbaa !56
  %329 = fcmp ole float %326, %328
  br i1 %329, label %330, label %339

330:                                              ; preds = %325
  %331 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 15
  %332 = load i32, ptr %331, align 8, !tbaa !57
  %333 = icmp ne i32 %332, 1
  br i1 %333, label %334, label %338

334:                                              ; preds = %330
  %335 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 15
  store i32 1, ptr %335, align 8, !tbaa !57
  %336 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %337 = getelementptr inbounds %struct.b2Vec3, ptr %336, i32 0, i32 2
  store float 0.000000e+00, ptr %337, align 4, !tbaa !58
  br label %338

338:                                              ; preds = %334, %330
  br label %358

339:                                              ; preds = %325
  %340 = load float, ptr %37, align 4, !tbaa !32
  %341 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 9
  %342 = load float, ptr %341, align 8, !tbaa !55
  %343 = fcmp oge float %340, %342
  br i1 %343, label %344, label %353

344:                                              ; preds = %339
  %345 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 15
  %346 = load i32, ptr %345, align 8, !tbaa !57
  %347 = icmp ne i32 %346, 2
  br i1 %347, label %348, label %352

348:                                              ; preds = %344
  %349 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 15
  store i32 2, ptr %349, align 8, !tbaa !57
  %350 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %351 = getelementptr inbounds %struct.b2Vec3, ptr %350, i32 0, i32 2
  store float 0.000000e+00, ptr %351, align 4, !tbaa !58
  br label %352

352:                                              ; preds = %348, %344
  br label %357

353:                                              ; preds = %339
  %354 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 15
  store i32 0, ptr %354, align 8, !tbaa !57
  %355 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %356 = getelementptr inbounds %struct.b2Vec3, ptr %355, i32 0, i32 2
  store float 0.000000e+00, ptr %356, align 4, !tbaa !58
  br label %357

357:                                              ; preds = %353, %352
  br label %358

358:                                              ; preds = %357, %338
  br label %359

359:                                              ; preds = %358, %323
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #7
  br label %364

360:                                              ; preds = %269
  %361 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 15
  store i32 0, ptr %361, align 8, !tbaa !57
  %362 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %363 = getelementptr inbounds %struct.b2Vec3, ptr %362, i32 0, i32 2
  store float 0.000000e+00, ptr %363, align 4, !tbaa !58
  br label %364

364:                                              ; preds = %360, %359
  %365 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 13
  %366 = load i8, ptr %365, align 1, !tbaa !59, !range !53, !noundef !54
  %367 = trunc i8 %366 to i1
  %368 = zext i1 %367 to i32
  %369 = icmp eq i32 %368, 0
  br i1 %369, label %370, label %372

370:                                              ; preds = %364
  %371 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 7
  store float 0.000000e+00, ptr %371, align 8, !tbaa !60
  br label %372

372:                                              ; preds = %370, %364
  %373 = load ptr, ptr %4, align 8, !tbaa !5
  %374 = getelementptr inbounds %struct.b2SolverData, ptr %373, i32 0, i32 0
  %375 = getelementptr inbounds %struct.b2TimeStep, ptr %374, i32 0, i32 5
  %376 = load i8, ptr %375, align 4, !tbaa !61, !range !53, !noundef !54
  %377 = trunc i8 %376 to i1
  br i1 %377, label %378, label %454

378:                                              ; preds = %372
  %379 = load ptr, ptr %4, align 8, !tbaa !5
  %380 = getelementptr inbounds %struct.b2SolverData, ptr %379, i32 0, i32 0
  %381 = getelementptr inbounds %struct.b2TimeStep, ptr %380, i32 0, i32 2
  %382 = load float, ptr %381, align 8, !tbaa !62
  %383 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  call void @_ZN6b2Vec3mLEf(ptr noundef nonnull align 4 dereferenceable(12) %383, float noundef %382)
  %384 = load ptr, ptr %4, align 8, !tbaa !5
  %385 = getelementptr inbounds %struct.b2SolverData, ptr %384, i32 0, i32 0
  %386 = getelementptr inbounds %struct.b2TimeStep, ptr %385, i32 0, i32 2
  %387 = load float, ptr %386, align 8, !tbaa !62
  %388 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 7
  %389 = load float, ptr %388, align 8, !tbaa !60
  %390 = fmul float %389, %387
  store float %390, ptr %388, align 8, !tbaa !60
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #7
  %391 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %392 = getelementptr inbounds %struct.b2Vec3, ptr %391, i32 0, i32 0
  %393 = load float, ptr %392, align 4, !tbaa !63
  %394 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 25
  %395 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %393, ptr noundef nonnull align 4 dereferenceable(8) %394)
  store <2 x float> %395, ptr %39, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #7
  %396 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 7
  %397 = load float, ptr %396, align 8, !tbaa !60
  %398 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %399 = getelementptr inbounds %struct.b2Vec3, ptr %398, i32 0, i32 2
  %400 = load float, ptr %399, align 4, !tbaa !58
  %401 = fadd float %397, %400
  %402 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 24
  %403 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %401, ptr noundef nonnull align 4 dereferenceable(8) %402)
  store <2 x float> %403, ptr %40, align 4
  %404 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %39, ptr noundef nonnull align 4 dereferenceable(8) %40)
  store <2 x float> %404, 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 4, ptr %41) #7
  %405 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %406 = getelementptr inbounds %struct.b2Vec3, ptr %405, i32 0, i32 0
  %407 = load float, ptr %406, align 4, !tbaa !63
  %408 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 26
  %409 = load float, ptr %408, align 4, !tbaa !50
  %410 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %411 = getelementptr inbounds %struct.b2Vec3, ptr %410, i32 0, i32 1
  %412 = load float, ptr %411, align 4, !tbaa !64
  %413 = call float @llvm.fmuladd.f32(float %407, float %409, float %412)
  %414 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 7
  %415 = load float, ptr %414, align 8, !tbaa !60
  %416 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %417 = getelementptr inbounds %struct.b2Vec3, ptr %416, i32 0, i32 2
  %418 = load float, ptr %417, align 4, !tbaa !58
  %419 = fadd float %415, %418
  %420 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 28
  %421 = load float, ptr %420, align 4, !tbaa !47
  %422 = call float @llvm.fmuladd.f32(float %419, float %421, float %413)
  store float %422, ptr %41, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #7
  %423 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %424 = getelementptr inbounds %struct.b2Vec3, ptr %423, i32 0, i32 0
  %425 = load float, ptr %424, align 4, !tbaa !63
  %426 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 27
  %427 = load float, ptr %426, align 8, !tbaa !51
  %428 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %429 = getelementptr inbounds %struct.b2Vec3, ptr %428, i32 0, i32 1
  %430 = load float, ptr %429, align 4, !tbaa !64
  %431 = call float @llvm.fmuladd.f32(float %425, float %427, float %430)
  %432 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 7
  %433 = load float, ptr %432, align 8, !tbaa !60
  %434 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  %435 = getelementptr inbounds %struct.b2Vec3, ptr %434, i32 0, i32 2
  %436 = load float, ptr %435, align 4, !tbaa !58
  %437 = fadd float %433, %436
  %438 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 29
  %439 = load float, ptr %438, align 8, !tbaa !48
  %440 = call float @llvm.fmuladd.f32(float %437, float %439, float %431)
  store float %440, ptr %42, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #7
  %441 = load float, ptr %22, align 4, !tbaa !32
  %442 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %441, ptr noundef nonnull align 4 dereferenceable(8) %38)
  store <2 x float> %442, ptr %43, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %43)
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  %443 = load float, ptr %24, align 4, !tbaa !32
  %444 = load float, ptr %41, align 4, !tbaa !32
  %445 = load float, ptr %8, align 4, !tbaa !32
  %446 = fneg float %443
  %447 = call float @llvm.fmuladd.f32(float %446, float %444, float %445)
  store float %447, ptr %8, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #7
  %448 = load float, ptr %23, align 4, !tbaa !32
  %449 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %448, ptr noundef nonnull align 4 dereferenceable(8) %38)
  store <2 x float> %449, ptr %44, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %44)
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  %450 = load float, ptr %25, align 4, !tbaa !32
  %451 = load float, ptr %42, align 4, !tbaa !32
  %452 = load float, ptr %12, align 4, !tbaa !32
  %453 = call float @llvm.fmuladd.f32(float %450, float %451, float %452)
  store float %453, ptr %12, align 4, !tbaa !32
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #7
  br label %457

454:                                              ; preds = %372
  %455 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 6
  call void @_ZN6b2Vec37SetZeroEv(ptr noundef nonnull align 4 dereferenceable(12) %455)
  %456 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 7
  store float 0.000000e+00, ptr %456, align 8, !tbaa !60
  br label %457

457:                                              ; preds = %454, %378
  %458 = load ptr, ptr %4, align 8, !tbaa !5
  %459 = getelementptr inbounds %struct.b2SolverData, ptr %458, i32 0, i32 2
  %460 = load ptr, ptr %459, align 8, !tbaa !44
  %461 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 16
  %462 = load i32, ptr %461, align 4, !tbaa !24
  %463 = sext i32 %462 to i64
  %464 = getelementptr inbounds %struct.b2Velocity, ptr %460, i64 %463
  %465 = getelementptr inbounds %struct.b2Velocity, ptr %464, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %465, ptr align 4 %7, i64 8, i1 false), !tbaa.struct !31
  %466 = load float, ptr %8, align 4, !tbaa !32
  %467 = load ptr, ptr %4, align 8, !tbaa !5
  %468 = getelementptr inbounds %struct.b2SolverData, ptr %467, i32 0, i32 2
  %469 = load ptr, ptr %468, align 8, !tbaa !44
  %470 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 16
  %471 = load i32, ptr %470, align 4, !tbaa !24
  %472 = sext i32 %471 to i64
  %473 = getelementptr inbounds %struct.b2Velocity, ptr %469, i64 %472
  %474 = getelementptr inbounds %struct.b2Velocity, ptr %473, i32 0, i32 1
  store float %466, ptr %474, align 4, !tbaa !45
  %475 = load ptr, ptr %4, align 8, !tbaa !5
  %476 = getelementptr inbounds %struct.b2SolverData, ptr %475, i32 0, i32 2
  %477 = load ptr, ptr %476, align 8, !tbaa !44
  %478 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 17
  %479 = load i32, ptr %478, align 8, !tbaa !30
  %480 = sext i32 %479 to i64
  %481 = getelementptr inbounds %struct.b2Velocity, ptr %477, i64 %480
  %482 = getelementptr inbounds %struct.b2Velocity, ptr %481, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %482, ptr align 4 %11, i64 8, i1 false), !tbaa.struct !31
  %483 = load float, ptr %12, align 4, !tbaa !32
  %484 = load ptr, ptr %4, align 8, !tbaa !5
  %485 = getelementptr inbounds %struct.b2SolverData, ptr %484, i32 0, i32 2
  %486 = load ptr, ptr %485, align 8, !tbaa !44
  %487 = getelementptr inbounds %class.b2PrismaticJoint, ptr %45, i32 0, i32 17
  %488 = load i32, ptr %487, align 8, !tbaa !30
  %489 = sext i32 %488 to i64
  %490 = getelementptr inbounds %struct.b2Velocity, ptr %486, i64 %489
  %491 = getelementptr inbounds %struct.b2Velocity, ptr %490, i32 0, i32 1
  store float %483, ptr %491, align 4, !tbaa !45
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  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 8, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  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.end.p0(i64 4, 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 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 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: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #4

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

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #5

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec3mLEf(ptr noundef nonnull align 4 dereferenceable(12), float noundef) #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: 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 = { 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, !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, !6, 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 = !{!16, !13, i64 8}
!16 = !{!"_ZTS6b2Body", !17, i64 0, !18, i64 4, !13, i64 8, !19, i64 12, !23, i64 28, !20, i64 64, !21, i64 72, !20, i64 76, !21, i64 84, !6, i64 88, !6, i64 96, !6, i64 104, !6, i64 112, !13, i64 120, !6, i64 128, !6, i64 136, !21, i64 144, !21, i64 148, !21, i64 152, !21, i64 156, !21, i64 160, !21, i64 164, !21, i64 168, !21, i64 172, !6, i64 176}
!17 = !{!"_ZTS10b2BodyType", !7, i64 0}
!18 = !{!"short", !7, i64 0}
!19 = !{!"_ZTS11b2Transform", !20, i64 0, !22, i64 8}
!20 = !{!"_ZTS6b2Vec2", !21, i64 0, !21, i64 4}
!21 = !{!"float", !7, i64 0}
!22 = !{!"_ZTS5b2Rot", !21, i64 0, !21, i64 4}
!23 = !{!"_ZTS7b2Sweep", !20, i64 0, !20, i64 8, !20, i64 16, !21, i64 24, !21, i64 28, !21, i64 32}
!24 = !{!25, !13, i64 204}
!25 = !{!"_ZTS16b2PrismaticJoint", !10, i64 0, !20, i64 128, !20, i64 136, !20, i64 144, !20, i64 152, !21, i64 160, !26, i64 164, !21, i64 176, !21, i64 180, !21, i64 184, !21, i64 188, !21, i64 192, !14, i64 196, !14, i64 197, !27, i64 200, !13, i64 204, !13, i64 208, !20, i64 212, !20, i64 220, !21, i64 228, !21, i64 232, !21, i64 236, !21, i64 240, !20, i64 244, !20, i64 252, !21, i64 260, !21, i64 264, !21, i64 268, !21, i64 272, !28, i64 276, !21, i64 312}
!26 = !{!"_ZTS6b2Vec3", !21, i64 0, !21, i64 4, !21, i64 8}
!27 = !{!"_ZTS12b2LimitState", !7, i64 0}
!28 = !{!"_ZTS7b2Mat33", !26, i64 0, !26, i64 12, !26, i64 24}
!29 = !{!10, !6, i64 104}
!30 = !{!25, !13, i64 208}
!31 = !{i64 0, i64 4, !32, i64 4, i64 4, !32}
!32 = !{!21, !21, i64 0}
!33 = !{!16, !21, i64 148}
!34 = !{!25, !21, i64 228}
!35 = !{!25, !21, i64 232}
!36 = !{!16, !21, i64 156}
!37 = !{!25, !21, i64 236}
!38 = !{!25, !21, i64 240}
!39 = !{!40, !6, i64 24}
!40 = !{!"_ZTS12b2SolverData", !41, i64 0, !6, i64 24, !6, i64 32}
!41 = !{!"_ZTS10b2TimeStep", !21, i64 0, !21, i64 4, !21, i64 8, !13, i64 12, !13, i64 16, !14, i64 20}
!42 = !{!43, !21, i64 8}
!43 = !{!"_ZTS10b2Position", !20, i64 0, !21, i64 8}
!44 = !{!40, !6, i64 32}
!45 = !{!46, !21, i64 8}
!46 = !{!"_ZTS10b2Velocity", !20, i64 0, !21, i64 8}
!47 = !{!25, !21, i64 268}
!48 = !{!25, !21, i64 272}
!49 = !{!25, !21, i64 312}
!50 = !{!25, !21, i64 260}
!51 = !{!25, !21, i64 264}
!52 = !{!25, !14, i64 196}
!53 = !{i8 0, i8 2}
!54 = !{}
!55 = !{!25, !21, i64 184}
!56 = !{!25, !21, i64 180}
!57 = !{!25, !27, i64 200}
!58 = !{!25, !21, i64 172}
!59 = !{!25, !14, i64 197}
!60 = !{!25, !21, i64 176}
!61 = !{!40, !14, i64 20}
!62 = !{!40, !21, i64 8}
!63 = !{!25, !21, i64 164}
!64 = !{!25, !21, i64 168}


; 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 @_ZN6b2Vec37SetZeroEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16b2PrismaticJoint23InitVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(316) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(40) %1) unnamed_addr #2 align 2 {
  %3 = alloca %struct.b2Vec2, align 8
  %4 = alloca %struct.b2Vec2, align 8
  %5 = alloca %struct.b2Vec2, align 8
  %6 = alloca %struct.b2Vec2, align 8
  %7 = alloca %struct.b2Rot, align 4
  %8 = alloca %struct.b2Rot, align 4
  %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.b2Vec2, align 8
  %20 = alloca %struct.b2Vec2, align 8
  %21 = alloca %struct.b2Vec2, align 8
  %22 = alloca %struct.b2Vec2, align 8
  %23 = getelementptr inbounds i8, ptr %0, i64 96
  %24 = load ptr, ptr %23, align 8, !tbaa !5
  %25 = getelementptr inbounds i8, ptr %24, i64 8
  %26 = load i32, ptr %25, align 8, !tbaa !14
  %27 = getelementptr inbounds i8, ptr %0, i64 204
  store i32 %26, ptr %27, align 4, !tbaa !23
  %28 = getelementptr inbounds i8, ptr %0, i64 104
  %29 = load ptr, ptr %28, align 8, !tbaa !28
  %30 = getelementptr inbounds i8, ptr %29, i64 8
  %31 = load i32, ptr %30, align 8, !tbaa !14
  %32 = getelementptr inbounds i8, ptr %0, i64 208
  store i32 %31, ptr %32, align 8, !tbaa !29
  %33 = getelementptr inbounds i8, ptr %24, i64 28
  %34 = getelementptr inbounds i8, ptr %0, i64 212
  %35 = load i64, ptr %33, align 4
  store i64 %35, ptr %34, align 4
  %36 = getelementptr inbounds i8, ptr %29, i64 28
  %37 = getelementptr inbounds i8, ptr %0, i64 220
  %38 = load i64, ptr %36, align 4
  store i64 %38, ptr %37, align 4
  %39 = getelementptr inbounds i8, ptr %24, i64 148
  %40 = load float, ptr %39, align 4, !tbaa !30
  %41 = getelementptr inbounds i8, ptr %0, i64 228
  store float %40, ptr %41, align 4, !tbaa !31
  %42 = getelementptr inbounds i8, ptr %29, i64 148
  %43 = load float, ptr %42, align 4, !tbaa !30
  %44 = getelementptr inbounds i8, ptr %0, i64 232
  store float %43, ptr %44, align 8, !tbaa !32
  %45 = getelementptr inbounds i8, ptr %24, i64 156
  %46 = load float, ptr %45, align 4, !tbaa !33
  %47 = getelementptr inbounds i8, ptr %0, i64 236
  store float %46, ptr %47, align 4, !tbaa !34
  %48 = getelementptr inbounds i8, ptr %29, i64 156
  %49 = load float, ptr %48, align 4, !tbaa !33
  %50 = getelementptr inbounds i8, ptr %0, i64 240
  store float %49, ptr %50, align 8, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  %51 = getelementptr inbounds i8, ptr %1, i64 24
  %52 = load ptr, ptr %51, align 8, !tbaa !36
  %53 = sext i32 %26 to i64
  %54 = getelementptr inbounds %struct.b2Position, ptr %52, i64 %53
  %55 = load i64, ptr %54, align 4
  store i64 %55, ptr %3, align 8
  %56 = getelementptr inbounds %struct.b2Position, ptr %52, i64 %53, i32 1
  %57 = load float, ptr %56, align 4, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %58 = getelementptr inbounds i8, ptr %1, i64 32
  %59 = load ptr, ptr %58, align 8, !tbaa !41
  %60 = getelementptr inbounds %struct.b2Velocity, ptr %59, i64 %53
  %61 = load i64, ptr %60, align 4
  store i64 %61, ptr %4, align 8
  %62 = getelementptr inbounds %struct.b2Velocity, ptr %59, i64 %53, i32 1
  %63 = load float, ptr %62, align 4, !tbaa !42
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  %64 = sext i32 %31 to i64
  %65 = getelementptr inbounds %struct.b2Position, ptr %52, i64 %64
  %66 = load i64, ptr %65, align 4
  store i64 %66, ptr %5, align 8
  %67 = getelementptr inbounds %struct.b2Position, ptr %52, i64 %64, i32 1
  %68 = load float, ptr %67, align 4, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #7
  %69 = getelementptr inbounds %struct.b2Velocity, ptr %59, i64 %64
  %70 = load i64, ptr %69, align 4
  store i64 %70, ptr %6, align 8
  %71 = getelementptr inbounds %struct.b2Velocity, ptr %59, i64 %64, i32 1
  %72 = load float, ptr %71, align 4, !tbaa !42
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #7
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %7, float noundef %57)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #7
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %8, float noundef %68)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #7
  %73 = getelementptr inbounds i8, ptr %0, i64 128
  %74 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %73, ptr noundef nonnull align 4 dereferenceable(8) %34)
  store <2 x float> %74, ptr %10, align 8
  %75 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %75, ptr %9, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #7
  %76 = getelementptr inbounds i8, ptr %0, i64 136
  %77 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %76, ptr noundef nonnull align 4 dereferenceable(8) %37)
  store <2 x float> %77, ptr %12, align 8
  %78 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %8, ptr noundef nonnull align 4 dereferenceable(8) %12)
  store <2 x float> %78, ptr %11, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #7
  %79 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %79, ptr %15, align 8
  %80 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %80, ptr %14, align 8
  %81 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %14, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %81, ptr %13, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #7
  %82 = load float, ptr %41, align 4, !tbaa !31
  %83 = load float, ptr %44, align 8, !tbaa !32
  %84 = load <2 x float>, ptr %47, align 4, !tbaa !44
  %85 = getelementptr inbounds i8, ptr %0, i64 144
  %86 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %85)
  %87 = getelementptr inbounds i8, ptr %0, i64 244
  store <2 x float> %86, ptr %87, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #7
  %88 = 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> %88, ptr %16, align 8
  %89 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %16, ptr noundef nonnull align 4 dereferenceable(8) %87)
  %90 = getelementptr inbounds i8, ptr %0, i64 268
  store float %89, ptr %90, align 4, !tbaa !45
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #7
  %91 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %87)
  %92 = getelementptr inbounds i8, ptr %0, i64 272
  store float %91, ptr %92, align 8, !tbaa !46
  %93 = fadd float %82, %83
  %94 = load float, ptr %90, align 4, !tbaa !45
  %95 = extractelement <2 x float> %84, i64 0
  %96 = fmul float %95, %94
  %97 = call float @llvm.fmuladd.f32(float %96, float %94, float %93)
  %98 = extractelement <2 x float> %84, i64 1
  %99 = fmul float %98, %91
  %100 = call float @llvm.fmuladd.f32(float %99, float %91, float %97)
  %101 = getelementptr inbounds i8, ptr %0, i64 312
  %102 = fcmp ogt float %100, 0.000000e+00
  %103 = fdiv float 1.000000e+00, %100
  %storemerge = select i1 %102, float %103, float %100
  store float %storemerge, ptr %101, align 8, !tbaa !47
  %104 = getelementptr inbounds i8, ptr %0, i64 152
  %105 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %104)
  %106 = getelementptr inbounds i8, ptr %0, i64 252
  store <2 x float> %105, ptr %106, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #7
  %107 = 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> %107, ptr %17, align 8
  %108 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %106)
  %109 = getelementptr inbounds i8, ptr %0, i64 260
  store float %108, ptr %109, align 4, !tbaa !48
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #7
  %110 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %106)
  %111 = getelementptr inbounds i8, ptr %0, i64 264
  store float %110, ptr %111, align 8, !tbaa !49
  %112 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %106)
  %113 = load float, ptr %109, align 4, !tbaa !48
  %114 = fmul float %95, %113
  %115 = call float @llvm.fmuladd.f32(float %114, float %113, float %93)
  %116 = load float, ptr %111, align 8, !tbaa !49
  %117 = fmul float %98, %116
  %118 = call float @llvm.fmuladd.f32(float %117, float %116, float %115)
  %119 = call float @llvm.fmuladd.f32(float %95, float %113, float %117)
  %120 = load float, ptr %90, align 4, !tbaa !45
  %121 = load float, ptr %92, align 8, !tbaa !46
  %122 = fmul float %117, %121
  %123 = call float @llvm.fmuladd.f32(float %114, float %120, float %122)
  %124 = fadd float %95, %98
  %125 = fcmp oeq float %124, 0.000000e+00
  %.062 = select i1 %125, float 1.000000e+00, float %124
  %126 = fmul float %98, %121
  %127 = call float @llvm.fmuladd.f32(float %95, float %120, float %126)
  %128 = fmul float %95, %120
  %129 = call float @llvm.fmuladd.f32(float %128, float %120, float %93)
  %130 = call float @llvm.fmuladd.f32(float %126, float %121, float %129)
  %131 = getelementptr inbounds i8, ptr %0, i64 276
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %131, float noundef %118, float noundef %119, float noundef %123)
  %132 = getelementptr inbounds i8, ptr %0, i64 288
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %132, float noundef %119, float noundef %.062, float noundef %127)
  %133 = getelementptr inbounds i8, ptr %0, i64 300
  call void @_ZN6b2Vec33SetEfff(ptr noundef nonnull align 4 dereferenceable(12) %133, float noundef %123, float noundef %127, float noundef %130)
  %134 = getelementptr inbounds i8, ptr %0, i64 196
  %135 = load i8, ptr %134, align 4, !tbaa !50, !range !51, !noundef !52
  %136 = trunc nuw i8 %135 to i1
  br i1 %136, label %137, label %166

137:                                              ; preds = %2
  %138 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %87, ptr noundef nonnull align 4 dereferenceable(8) %13)
  %139 = getelementptr inbounds i8, ptr %0, i64 184
  %140 = load float, ptr %139, align 8, !tbaa !53
  %141 = getelementptr inbounds i8, ptr %0, i64 180
  %142 = load float, ptr %141, align 4, !tbaa !54
  %143 = fsub float %140, %142
  %144 = call noundef float @_Z5b2AbsIfET_S0_(float noundef %143)
  %145 = fcmp olt float %144, 0x3F847AE140000000
  br i1 %145, label %146, label %148

146:                                              ; preds = %137
  %147 = getelementptr inbounds i8, ptr %0, i64 200
  store i32 3, ptr %147, align 8, !tbaa !55
  br label %169

148:                                              ; preds = %137
  %149 = load float, ptr %141, align 4, !tbaa !54
  %150 = fcmp ugt float %138, %149
  br i1 %150, label %156, label %151

151:                                              ; preds = %148
  %152 = getelementptr inbounds i8, ptr %0, i64 200
  %153 = load i32, ptr %152, align 8, !tbaa !55
  %.not66 = icmp eq i32 %153, 1
  br i1 %.not66, label %169, label %154

154:                                              ; preds = %151
  store i32 1, ptr %152, align 8, !tbaa !55
  %155 = getelementptr inbounds i8, ptr %0, i64 172
  store float 0.000000e+00, ptr %155, align 4, !tbaa !56
  br label %169

156:                                              ; preds = %148
  %157 = load float, ptr %139, align 8, !tbaa !53
  %158 = fcmp ult float %138, %157
  %159 = getelementptr inbounds i8, ptr %0, i64 200
  br i1 %158, label %164, label %160

160:                                              ; preds = %156
  %161 = load i32, ptr %159, align 8, !tbaa !55
  %.not = icmp eq i32 %161, 2
  br i1 %.not, label %169, label %162

162:                                              ; preds = %160
  store i32 2, ptr %159, align 8, !tbaa !55
  %163 = getelementptr inbounds i8, ptr %0, i64 172
  store float 0.000000e+00, ptr %163, align 4, !tbaa !56
  br label %169

164:                                              ; preds = %156
  store i32 0, ptr %159, align 8, !tbaa !55
  %165 = getelementptr inbounds i8, ptr %0, i64 172
  store float 0.000000e+00, ptr %165, align 4, !tbaa !56
  br label %169

166:                                              ; preds = %2
  %167 = getelementptr inbounds i8, ptr %0, i64 200
  store i32 0, ptr %167, align 8, !tbaa !55
  %168 = getelementptr inbounds i8, ptr %0, i64 172
  store float 0.000000e+00, ptr %168, align 4, !tbaa !56
  br label %169

169:                                              ; preds = %146, %164, %162, %160, %151, %154, %166
  %170 = getelementptr inbounds i8, ptr %0, i64 197
  %171 = load i8, ptr %170, align 1, !tbaa !57, !range !51, !noundef !52
  %172 = icmp eq i8 %171, 0
  br i1 %172, label %173, label %175

173:                                              ; preds = %169
  %174 = getelementptr inbounds i8, ptr %0, i64 176
  store float 0.000000e+00, ptr %174, align 8, !tbaa !58
  br label %175

175:                                              ; preds = %173, %169
  %176 = getelementptr inbounds i8, ptr %1, i64 20
  %177 = load i8, ptr %176, align 4, !tbaa !59, !range !51, !noundef !52
  %178 = trunc nuw i8 %177 to i1
  br i1 %178, label %179, label %216

179:                                              ; preds = %175
  %180 = getelementptr inbounds i8, ptr %1, i64 8
  %181 = load float, ptr %180, align 8, !tbaa !60
  %182 = getelementptr inbounds i8, ptr %0, i64 164
  call void @_ZN6b2Vec3mLEf(ptr noundef nonnull align 4 dereferenceable(12) %182, float noundef %181)
  %183 = load float, ptr %180, align 8, !tbaa !60
  %184 = getelementptr inbounds i8, ptr %0, i64 176
  %185 = load float, ptr %184, align 8, !tbaa !58
  %186 = fmul float %183, %185
  store float %186, ptr %184, align 8, !tbaa !58
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #7
  %187 = load float, ptr %182, align 4, !tbaa !61
  %188 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %187, ptr noundef nonnull align 4 dereferenceable(8) %106)
  store <2 x float> %188, ptr %19, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #7
  %189 = load float, ptr %184, align 8, !tbaa !58
  %190 = getelementptr inbounds i8, ptr %0, i64 172
  %191 = load float, ptr %190, align 4, !tbaa !56
  %192 = fadd float %189, %191
  %193 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %192, ptr noundef nonnull align 4 dereferenceable(8) %87)
  store <2 x float> %193, ptr %20, align 8
  %194 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %19, ptr noundef nonnull align 4 dereferenceable(8) %20)
  store <2 x float> %194, ptr %18, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #7
  %195 = load <4 x float>, ptr %182, align 4
  %196 = getelementptr inbounds i8, ptr %0, i64 168
  %197 = load <4 x float>, ptr %196, align 8
  %198 = load float, ptr %184, align 8, !tbaa !58
  %199 = load float, ptr %190, align 4, !tbaa !56
  %200 = fadd float %198, %199
  %201 = load <2 x float>, ptr %109, align 4, !tbaa !44
  %202 = shufflevector <4 x float> %195, <4 x float> poison, <2 x i32> zeroinitializer
  %203 = shufflevector <4 x float> %197, <4 x float> poison, <2 x i32> zeroinitializer
  %204 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %202, <2 x float> %201, <2 x float> %203)
  %205 = load <2 x float>, ptr %90, align 4, !tbaa !44
  %206 = insertelement <2 x float> poison, float %200, i64 0
  %207 = shufflevector <2 x float> %206, <2 x float> poison, <2 x i32> zeroinitializer
  %208 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %207, <2 x float> %205, <2 x float> %204)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #7
  %209 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %82, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %209, ptr %21, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %21)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #7
  %210 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %83, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %210, ptr %22, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %22)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #7
  %211 = fneg <2 x float> %84
  %212 = shufflevector <2 x float> %211, <2 x float> %84, <2 x i32> <i32 0, i32 3>
  %213 = insertelement <2 x float> poison, float %63, i64 0
  %214 = insertelement <2 x float> %213, float %72, i64 1
  %215 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %212, <2 x float> %208, <2 x float> %214)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #7
  br label %221

216:                                              ; preds = %175
  %217 = getelementptr inbounds i8, ptr %0, i64 164
  call void @_ZN6b2Vec37SetZeroEv(ptr noundef nonnull align 4 dereferenceable(12) %217)
  %218 = getelementptr inbounds i8, ptr %0, i64 176
  store float 0.000000e+00, ptr %218, align 8, !tbaa !58
  %219 = insertelement <2 x float> poison, float %63, i64 0
  %220 = insertelement <2 x float> %219, float %72, i64 1
  br label %221

221:                                              ; preds = %216, %179
  %222 = phi <2 x float> [ %215, %179 ], [ %220, %216 ]
  %223 = load ptr, ptr %58, align 8, !tbaa !41
  %224 = load i32, ptr %27, align 4, !tbaa !23
  %225 = sext i32 %224 to i64
  %226 = getelementptr inbounds %struct.b2Velocity, ptr %223, i64 %225
  %227 = load i64, ptr %4, align 8
  store i64 %227, ptr %226, align 4
  %228 = load ptr, ptr %58, align 8, !tbaa !41
  %229 = load i32, ptr %27, align 4, !tbaa !23
  %230 = sext i32 %229 to i64
  %231 = getelementptr inbounds %struct.b2Velocity, ptr %228, i64 %230, i32 1
  %232 = extractelement <2 x float> %222, i64 0
  store float %232, ptr %231, align 4, !tbaa !42
  %233 = load i32, ptr %32, align 8, !tbaa !29
  %234 = sext i32 %233 to i64
  %235 = getelementptr inbounds %struct.b2Velocity, ptr %228, i64 %234
  %236 = load i64, ptr %6, align 8
  store i64 %236, ptr %235, align 4
  %237 = load ptr, ptr %58, align 8, !tbaa !41
  %238 = load i32, ptr %32, align 8, !tbaa !29
  %239 = sext i32 %238 to i64
  %240 = getelementptr inbounds %struct.b2Velocity, ptr %237, i64 %239, i32 1
  %241 = extractelement <2 x float> %222, i64 1
  store float %241, ptr %240, align 4, !tbaa !42
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  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: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

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

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

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

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec3mLEf(ptr noundef nonnull align 4 dereferenceable(12), float noundef) local_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: 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 <2 x float> @llvm.fmuladd.v2f32(<2 x float>, <2 x float>, <2 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 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #6 = { 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, !10, 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 = !{!15, !12, i64 8}
!15 = !{!"_ZTS6b2Body", !16, i64 0, !17, i64 4, !12, i64 8, !18, i64 12, !22, i64 28, !19, i64 64, !20, i64 72, !19, i64 76, !20, i64 84, !10, i64 88, !10, i64 96, !10, i64 104, !10, i64 112, !12, i64 120, !10, i64 128, !10, i64 136, !20, i64 144, !20, i64 148, !20, i64 152, !20, i64 156, !20, i64 160, !20, i64 164, !20, i64 168, !20, i64 172, !10, i64 176}
!16 = !{!"_ZTS10b2BodyType", !8, i64 0}
!17 = !{!"short", !8, i64 0}
!18 = !{!"_ZTS11b2Transform", !19, i64 0, !21, i64 8}
!19 = !{!"_ZTS6b2Vec2", !20, i64 0, !20, i64 4}
!20 = !{!"float", !8, i64 0}
!21 = !{!"_ZTS5b2Rot", !20, i64 0, !20, i64 4}
!22 = !{!"_ZTS7b2Sweep", !19, i64 0, !19, i64 8, !19, i64 16, !20, i64 24, !20, i64 28, !20, i64 32}
!23 = !{!24, !12, i64 204}
!24 = !{!"_ZTS16b2PrismaticJoint", !6, i64 0, !19, i64 128, !19, i64 136, !19, i64 144, !19, i64 152, !20, i64 160, !25, i64 164, !20, i64 176, !20, i64 180, !20, i64 184, !20, i64 188, !20, i64 192, !13, i64 196, !13, i64 197, !26, i64 200, !12, i64 204, !12, i64 208, !19, i64 212, !19, i64 220, !20, i64 228, !20, i64 232, !20, i64 236, !20, i64 240, !19, i64 244, !19, i64 252, !20, i64 260, !20, i64 264, !20, i64 268, !20, i64 272, !27, i64 276, !20, i64 312}
!25 = !{!"_ZTS6b2Vec3", !20, i64 0, !20, i64 4, !20, i64 8}
!26 = !{!"_ZTS12b2LimitState", !8, i64 0}
!27 = !{!"_ZTS7b2Mat33", !25, i64 0, !25, i64 12, !25, i64 24}
!28 = !{!6, !10, i64 104}
!29 = !{!24, !12, i64 208}
!30 = !{!15, !20, i64 148}
!31 = !{!24, !20, i64 228}
!32 = !{!24, !20, i64 232}
!33 = !{!15, !20, i64 156}
!34 = !{!24, !20, i64 236}
!35 = !{!24, !20, i64 240}
!36 = !{!37, !10, i64 24}
!37 = !{!"_ZTS12b2SolverData", !38, i64 0, !10, i64 24, !10, i64 32}
!38 = !{!"_ZTS10b2TimeStep", !20, i64 0, !20, i64 4, !20, i64 8, !12, i64 12, !12, i64 16, !13, i64 20}
!39 = !{!40, !20, i64 8}
!40 = !{!"_ZTS10b2Position", !19, i64 0, !20, i64 8}
!41 = !{!37, !10, i64 32}
!42 = !{!43, !20, i64 8}
!43 = !{!"_ZTS10b2Velocity", !19, i64 0, !20, i64 8}
!44 = !{!20, !20, i64 0}
!45 = !{!24, !20, i64 268}
!46 = !{!24, !20, i64 272}
!47 = !{!24, !20, i64 312}
!48 = !{!24, !20, i64 260}
!49 = !{!24, !20, i64 264}
!50 = !{!24, !13, i64 196}
!51 = !{i8 0, i8 2}
!52 = !{}
!53 = !{!24, !20, i64 184}
!54 = !{!24, !20, i64 180}
!55 = !{!24, !26, i64 200}
!56 = !{!24, !20, i64 172}
!57 = !{!24, !13, i64 197}
!58 = !{!24, !20, i64 176}
!59 = !{!37, !13, i64 20}
!60 = !{!37, !20, i64 8}
!61 = !{!24, !20, i64 164}


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