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

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

%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%class.b2Joint = type { ptr, i32, ptr, ptr, %struct.b2JointEdge, %struct.b2JointEdge, ptr, ptr, i32, i8, i8, %struct.b2JointUserData }
%struct.b2JointEdge = type { ptr, ptr, ptr, ptr }
%struct.b2JointUserData = type { i64 }
%class.b2Body = type { i32, i16, i32, %struct.b2Transform, %struct.b2Transform, %struct.b2Sweep, %struct.b2Vec2, float, %struct.b2Vec2, float, ptr, ptr, ptr, ptr, i32, ptr, ptr, i32, i32, float, float, float, float, float, float, float, float, %struct.b2BodyUserData }
%struct.b2Transform = type { %struct.b2Vec2, %struct.b2Rot }
%struct.b2Sweep = type { %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float }
%struct.b2BodyUserData = type { i64 }
%class.b2PrismaticJoint = type <{ %class.b2Joint, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, %struct.b2Vec2, float, float, float, float, float, float, float, i8, i8, [2 x i8], i32, i32, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat22, float, float, [4 x i8] }>
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2SolverData = type { %struct.b2TimeStep, ptr, ptr }
%struct.b2TimeStep = type { float, float, float, i32, i32, i32, i8 }
%struct.b2Position = type { %struct.b2Vec2, float }
%struct.b2Velocity = type { %struct.b2Vec2, float }

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

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16b2PrismaticJoint23InitVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(300) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #3 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %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 %struct.b2Vec2, align 4
  %35 = alloca %struct.b2Vec2, align 4
  %36 = alloca %struct.b2Vec2, align 4
  %37 = alloca float, align 4
  %38 = alloca float, align 4
  %39 = alloca %struct.b2Vec2, align 4
  %40 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %41 = load ptr, ptr %3, align 8
  %42 = getelementptr inbounds %class.b2Joint, ptr %41, i32 0, i32 6
  %43 = load ptr, ptr %42, align 8, !tbaa !9
  %44 = getelementptr inbounds %class.b2Body, ptr %43, i32 0, i32 2
  %45 = load i32, ptr %44, align 8, !tbaa !17
  %46 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 17
  store i32 %45, ptr %46, align 4, !tbaa !27
  %47 = getelementptr inbounds %class.b2Joint, ptr %41, i32 0, i32 7
  %48 = load ptr, ptr %47, align 8, !tbaa !30
  %49 = getelementptr inbounds %class.b2Body, ptr %48, i32 0, i32 2
  %50 = load i32, ptr %49, align 8, !tbaa !17
  %51 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 18
  store i32 %50, ptr %51, align 8, !tbaa !31
  %52 = getelementptr inbounds %class.b2Joint, ptr %41, i32 0, i32 6
  %53 = load ptr, ptr %52, align 8, !tbaa !9
  %54 = getelementptr inbounds %class.b2Body, ptr %53, i32 0, i32 5
  %55 = getelementptr inbounds %struct.b2Sweep, ptr %54, i32 0, i32 0
  %56 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 19
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %56, ptr align 4 %55, i64 8, i1 false), !tbaa.struct !32
  %57 = getelementptr inbounds %class.b2Joint, ptr %41, i32 0, i32 7
  %58 = load ptr, ptr %57, align 8, !tbaa !30
  %59 = getelementptr inbounds %class.b2Body, ptr %58, i32 0, i32 5
  %60 = getelementptr inbounds %struct.b2Sweep, ptr %59, i32 0, i32 0
  %61 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 20
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %61, ptr align 4 %60, i64 8, i1 false), !tbaa.struct !32
  %62 = getelementptr inbounds %class.b2Joint, ptr %41, i32 0, i32 6
  %63 = load ptr, ptr %62, align 8, !tbaa !9
  %64 = getelementptr inbounds %class.b2Body, ptr %63, i32 0, i32 20
  %65 = load float, ptr %64, align 4, !tbaa !34
  %66 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 21
  store float %65, ptr %66, align 4, !tbaa !35
  %67 = getelementptr inbounds %class.b2Joint, ptr %41, i32 0, i32 7
  %68 = load ptr, ptr %67, align 8, !tbaa !30
  %69 = getelementptr inbounds %class.b2Body, ptr %68, i32 0, i32 20
  %70 = load float, ptr %69, align 4, !tbaa !34
  %71 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 22
  store float %70, ptr %71, align 8, !tbaa !36
  %72 = getelementptr inbounds %class.b2Joint, ptr %41, i32 0, i32 6
  %73 = load ptr, ptr %72, align 8, !tbaa !9
  %74 = getelementptr inbounds %class.b2Body, ptr %73, i32 0, i32 22
  %75 = load float, ptr %74, align 4, !tbaa !37
  %76 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 23
  store float %75, ptr %76, align 4, !tbaa !38
  %77 = getelementptr inbounds %class.b2Joint, ptr %41, i32 0, i32 7
  %78 = load ptr, ptr %77, align 8, !tbaa !30
  %79 = getelementptr inbounds %class.b2Body, ptr %78, i32 0, i32 22
  %80 = load float, ptr %79, align 4, !tbaa !37
  %81 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 24
  store float %80, ptr %81, align 8, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #7
  %82 = load ptr, ptr %4, align 8, !tbaa !5
  %83 = getelementptr inbounds %struct.b2SolverData, ptr %82, i32 0, i32 1
  %84 = load ptr, ptr %83, align 8, !tbaa !40
  %85 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 17
  %86 = load i32, ptr %85, align 4, !tbaa !27
  %87 = sext i32 %86 to i64
  %88 = getelementptr inbounds %struct.b2Position, ptr %84, i64 %87
  %89 = getelementptr inbounds %struct.b2Position, ptr %88, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %5, ptr align 4 %89, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #7
  %90 = load ptr, ptr %4, align 8, !tbaa !5
  %91 = getelementptr inbounds %struct.b2SolverData, ptr %90, i32 0, i32 1
  %92 = load ptr, ptr %91, align 8, !tbaa !40
  %93 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 17
  %94 = load i32, ptr %93, align 4, !tbaa !27
  %95 = sext i32 %94 to i64
  %96 = getelementptr inbounds %struct.b2Position, ptr %92, i64 %95
  %97 = getelementptr inbounds %struct.b2Position, ptr %96, i32 0, i32 1
  %98 = load float, ptr %97, align 4, !tbaa !43
  store float %98, ptr %6, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  %99 = load ptr, ptr %4, align 8, !tbaa !5
  %100 = getelementptr inbounds %struct.b2SolverData, ptr %99, i32 0, i32 2
  %101 = load ptr, ptr %100, align 8, !tbaa !45
  %102 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 17
  %103 = load i32, ptr %102, align 4, !tbaa !27
  %104 = sext i32 %103 to i64
  %105 = getelementptr inbounds %struct.b2Velocity, ptr %101, i64 %104
  %106 = getelementptr inbounds %struct.b2Velocity, ptr %105, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %7, ptr align 4 %106, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #7
  %107 = load ptr, ptr %4, align 8, !tbaa !5
  %108 = getelementptr inbounds %struct.b2SolverData, ptr %107, i32 0, i32 2
  %109 = load ptr, ptr %108, align 8, !tbaa !45
  %110 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 17
  %111 = load i32, ptr %110, align 4, !tbaa !27
  %112 = sext i32 %111 to i64
  %113 = getelementptr inbounds %struct.b2Velocity, ptr %109, i64 %112
  %114 = getelementptr inbounds %struct.b2Velocity, ptr %113, i32 0, i32 1
  %115 = load float, ptr %114, align 4, !tbaa !46
  store float %115, ptr %8, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %116 = load ptr, ptr %4, align 8, !tbaa !5
  %117 = getelementptr inbounds %struct.b2SolverData, ptr %116, i32 0, i32 1
  %118 = load ptr, ptr %117, align 8, !tbaa !40
  %119 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 18
  %120 = load i32, ptr %119, align 8, !tbaa !31
  %121 = sext i32 %120 to i64
  %122 = getelementptr inbounds %struct.b2Position, ptr %118, i64 %121
  %123 = getelementptr inbounds %struct.b2Position, ptr %122, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %9, ptr align 4 %123, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #7
  %124 = load ptr, ptr %4, align 8, !tbaa !5
  %125 = getelementptr inbounds %struct.b2SolverData, ptr %124, i32 0, i32 1
  %126 = load ptr, ptr %125, align 8, !tbaa !40
  %127 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 18
  %128 = load i32, ptr %127, align 8, !tbaa !31
  %129 = sext i32 %128 to i64
  %130 = getelementptr inbounds %struct.b2Position, ptr %126, i64 %129
  %131 = getelementptr inbounds %struct.b2Position, ptr %130, i32 0, i32 1
  %132 = load float, ptr %131, align 4, !tbaa !43
  store float %132, ptr %10, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %133 = load ptr, ptr %4, align 8, !tbaa !5
  %134 = getelementptr inbounds %struct.b2SolverData, ptr %133, i32 0, i32 2
  %135 = load ptr, ptr %134, align 8, !tbaa !45
  %136 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 18
  %137 = load i32, ptr %136, align 8, !tbaa !31
  %138 = sext i32 %137 to i64
  %139 = getelementptr inbounds %struct.b2Velocity, ptr %135, i64 %138
  %140 = getelementptr inbounds %struct.b2Velocity, ptr %139, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %11, ptr align 4 %140, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #7
  %141 = load ptr, ptr %4, align 8, !tbaa !5
  %142 = getelementptr inbounds %struct.b2SolverData, ptr %141, i32 0, i32 2
  %143 = load ptr, ptr %142, align 8, !tbaa !45
  %144 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 18
  %145 = load i32, ptr %144, align 8, !tbaa !31
  %146 = sext i32 %145 to i64
  %147 = getelementptr inbounds %struct.b2Velocity, ptr %143, i64 %146
  %148 = getelementptr inbounds %struct.b2Velocity, ptr %147, i32 0, i32 1
  %149 = load float, ptr %148, align 4, !tbaa !46
  store float %149, ptr %12, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %150 = load float, ptr %6, align 4, !tbaa !33
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %13, float noundef %150)
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %151 = load float, ptr %10, align 4, !tbaa !33
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %14, float noundef %151)
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  %152 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 1
  %153 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 19
  %154 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %152, ptr noundef nonnull align 4 dereferenceable(8) %153)
  store <2 x float> %154, ptr %16, align 4
  %155 = 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> %155, 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
  %156 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 2
  %157 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 20
  %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 %18, align 4
  %159 = 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> %159, 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
  %160 = 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> %160, ptr %21, align 4
  %161 = 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> %161, ptr %20, align 4
  %162 = 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> %162, 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
  %163 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 21
  %164 = load float, ptr %163, align 4, !tbaa !35
  store float %164, ptr %22, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #7
  %165 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 22
  %166 = load float, ptr %165, align 8, !tbaa !36
  store float %166, ptr %23, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  %167 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 23
  %168 = load float, ptr %167, align 4, !tbaa !38
  store float %168, ptr %24, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  %169 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 24
  %170 = load float, ptr %169, align 8, !tbaa !39
  store float %170, ptr %25, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #7
  %171 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 3
  %172 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %171)
  store <2 x float> %172, ptr %26, align 4
  %173 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 25
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %173, ptr align 4 %26, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #7
  %174 = 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> %174, ptr %27, align 4
  %175 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 25
  %176 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %27, ptr noundef nonnull align 4 dereferenceable(8) %175)
  %177 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 29
  store float %176, ptr %177, align 4, !tbaa !48
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #7
  %178 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 25
  %179 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %178)
  %180 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 30
  store float %179, ptr %180, align 8, !tbaa !49
  %181 = load float, ptr %22, align 4, !tbaa !33
  %182 = load float, ptr %23, align 4, !tbaa !33
  %183 = fadd float %181, %182
  %184 = load float, ptr %24, align 4, !tbaa !33
  %185 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 29
  %186 = load float, ptr %185, align 4, !tbaa !48
  %187 = fmul float %184, %186
  %188 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 29
  %189 = load float, ptr %188, align 4, !tbaa !48
  %190 = call float @llvm.fmuladd.f32(float %187, float %189, float %183)
  %191 = load float, ptr %25, align 4, !tbaa !33
  %192 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 30
  %193 = load float, ptr %192, align 8, !tbaa !49
  %194 = fmul float %191, %193
  %195 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 30
  %196 = load float, ptr %195, align 8, !tbaa !49
  %197 = call float @llvm.fmuladd.f32(float %194, float %196, float %190)
  %198 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 33
  store float %197, ptr %198, align 8, !tbaa !50
  %199 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 33
  %200 = load float, ptr %199, align 8, !tbaa !50
  %201 = fcmp ogt float %200, 0.000000e+00
  br i1 %201, label %202, label %207

202:                                              ; preds = %2
  %203 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 33
  %204 = load float, ptr %203, align 8, !tbaa !50
  %205 = fdiv float 1.000000e+00, %204
  %206 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 33
  store float %205, ptr %206, align 8, !tbaa !50
  br label %207

207:                                              ; preds = %202, %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #7
  %208 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 4
  %209 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %13, ptr noundef nonnull align 4 dereferenceable(8) %208)
  store <2 x float> %209, ptr %28, align 4
  %210 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 26
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %210, ptr align 4 %28, i64 8, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #7
  %211 = 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> %211, ptr %29, align 4
  %212 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 26
  %213 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %29, ptr noundef nonnull align 4 dereferenceable(8) %212)
  %214 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 27
  store float %213, ptr %214, align 4, !tbaa !51
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #7
  %215 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 26
  %216 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(8) %215)
  %217 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 28
  store float %216, ptr %217, align 8, !tbaa !52
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #7
  %218 = load float, ptr %22, align 4, !tbaa !33
  %219 = load float, ptr %23, align 4, !tbaa !33
  %220 = fadd float %218, %219
  %221 = load float, ptr %24, align 4, !tbaa !33
  %222 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 27
  %223 = load float, ptr %222, align 4, !tbaa !51
  %224 = fmul float %221, %223
  %225 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 27
  %226 = load float, ptr %225, align 4, !tbaa !51
  %227 = call float @llvm.fmuladd.f32(float %224, float %226, float %220)
  %228 = load float, ptr %25, align 4, !tbaa !33
  %229 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 28
  %230 = load float, ptr %229, align 8, !tbaa !52
  %231 = fmul float %228, %230
  %232 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 28
  %233 = load float, ptr %232, align 8, !tbaa !52
  %234 = call float @llvm.fmuladd.f32(float %231, float %233, float %227)
  store float %234, ptr %30, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #7
  %235 = load float, ptr %24, align 4, !tbaa !33
  %236 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 27
  %237 = load float, ptr %236, align 4, !tbaa !51
  %238 = load float, ptr %25, align 4, !tbaa !33
  %239 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 28
  %240 = load float, ptr %239, align 8, !tbaa !52
  %241 = fmul float %238, %240
  %242 = call float @llvm.fmuladd.f32(float %235, float %237, float %241)
  store float %242, ptr %31, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #7
  %243 = load float, ptr %24, align 4, !tbaa !33
  %244 = load float, ptr %25, align 4, !tbaa !33
  %245 = fadd float %243, %244
  store float %245, ptr %32, align 4, !tbaa !33
  %246 = load float, ptr %32, align 4, !tbaa !33
  %247 = fcmp oeq float %246, 0.000000e+00
  br i1 %247, label %248, label %249

248:                                              ; preds = %207
  store float 1.000000e+00, ptr %32, align 4, !tbaa !33
  br label %249

249:                                              ; preds = %248, %207
  %250 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 31
  %251 = getelementptr inbounds %struct.b2Mat22, ptr %250, i32 0, i32 0
  %252 = load float, ptr %30, align 4, !tbaa !33
  %253 = load float, ptr %31, align 4, !tbaa !33
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %251, float noundef %252, float noundef %253)
  %254 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 31
  %255 = getelementptr inbounds %struct.b2Mat22, ptr %254, i32 0, i32 1
  %256 = load float, ptr %31, align 4, !tbaa !33
  %257 = load float, ptr %32, align 4, !tbaa !33
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %255, float noundef %256, float noundef %257)
  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
  %258 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 14
  %259 = load i8, ptr %258, align 8, !tbaa !53, !range !54, !noundef !55
  %260 = trunc i8 %259 to i1
  br i1 %260, label %261, label %265

261:                                              ; preds = %249
  %262 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 25
  %263 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %262, ptr noundef nonnull align 4 dereferenceable(8) %19)
  %264 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 32
  store float %263, ptr %264, align 4, !tbaa !56
  br label %268

265:                                              ; preds = %249
  %266 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 8
  store float 0.000000e+00, ptr %266, align 8, !tbaa !57
  %267 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 9
  store float 0.000000e+00, ptr %267, align 4, !tbaa !58
  br label %268

268:                                              ; preds = %265, %261
  %269 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 15
  %270 = load i8, ptr %269, align 1, !tbaa !59, !range !54, !noundef !55
  %271 = trunc i8 %270 to i1
  %272 = zext i1 %271 to i32
  %273 = icmp eq i32 %272, 0
  br i1 %273, label %274, label %276

274:                                              ; preds = %268
  %275 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 7
  store float 0.000000e+00, ptr %275, align 4, !tbaa !60
  br label %276

276:                                              ; preds = %274, %268
  %277 = load ptr, ptr %4, align 8, !tbaa !5
  %278 = getelementptr inbounds %struct.b2SolverData, ptr %277, i32 0, i32 0
  %279 = getelementptr inbounds %struct.b2TimeStep, ptr %278, i32 0, i32 6
  %280 = load i8, ptr %279, align 8, !tbaa !61, !range !54, !noundef !55
  %281 = trunc i8 %280 to i1
  br i1 %281, label %282, label %365

282:                                              ; preds = %276
  %283 = load ptr, ptr %4, align 8, !tbaa !5
  %284 = getelementptr inbounds %struct.b2SolverData, ptr %283, i32 0, i32 0
  %285 = getelementptr inbounds %struct.b2TimeStep, ptr %284, i32 0, i32 2
  %286 = load float, ptr %285, align 8, !tbaa !62
  %287 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 6
  call void @_ZN6b2Vec2mLEf(ptr noundef nonnull align 4 dereferenceable(8) %287, float noundef %286)
  %288 = load ptr, ptr %4, align 8, !tbaa !5
  %289 = getelementptr inbounds %struct.b2SolverData, ptr %288, i32 0, i32 0
  %290 = getelementptr inbounds %struct.b2TimeStep, ptr %289, i32 0, i32 2
  %291 = load float, ptr %290, align 8, !tbaa !62
  %292 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 7
  %293 = load float, ptr %292, align 4, !tbaa !60
  %294 = fmul float %293, %291
  store float %294, ptr %292, align 4, !tbaa !60
  %295 = load ptr, ptr %4, align 8, !tbaa !5
  %296 = getelementptr inbounds %struct.b2SolverData, ptr %295, i32 0, i32 0
  %297 = getelementptr inbounds %struct.b2TimeStep, ptr %296, i32 0, i32 2
  %298 = load float, ptr %297, align 8, !tbaa !62
  %299 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 8
  %300 = load float, ptr %299, align 8, !tbaa !57
  %301 = fmul float %300, %298
  store float %301, ptr %299, align 8, !tbaa !57
  %302 = load ptr, ptr %4, align 8, !tbaa !5
  %303 = getelementptr inbounds %struct.b2SolverData, ptr %302, i32 0, i32 0
  %304 = getelementptr inbounds %struct.b2TimeStep, ptr %303, i32 0, i32 2
  %305 = load float, ptr %304, align 8, !tbaa !62
  %306 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 9
  %307 = load float, ptr %306, align 4, !tbaa !58
  %308 = fmul float %307, %305
  store float %308, ptr %306, align 4, !tbaa !58
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #7
  %309 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 7
  %310 = load float, ptr %309, align 4, !tbaa !60
  %311 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 8
  %312 = load float, ptr %311, align 8, !tbaa !57
  %313 = fadd float %310, %312
  %314 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 9
  %315 = load float, ptr %314, align 4, !tbaa !58
  %316 = fsub float %313, %315
  store float %316, ptr %33, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #7
  %317 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 6
  %318 = getelementptr inbounds %struct.b2Vec2, ptr %317, i32 0, i32 0
  %319 = load float, ptr %318, align 4, !tbaa !63
  %320 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 26
  %321 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %319, ptr noundef nonnull align 4 dereferenceable(8) %320)
  store <2 x float> %321, ptr %35, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #7
  %322 = load float, ptr %33, align 4, !tbaa !33
  %323 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 25
  %324 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %322, ptr noundef nonnull align 4 dereferenceable(8) %323)
  store <2 x float> %324, ptr %36, align 4
  %325 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %35, ptr noundef nonnull align 4 dereferenceable(8) %36)
  store <2 x float> %325, ptr %34, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #7
  %326 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 6
  %327 = getelementptr inbounds %struct.b2Vec2, ptr %326, i32 0, i32 0
  %328 = load float, ptr %327, align 4, !tbaa !63
  %329 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 27
  %330 = load float, ptr %329, align 4, !tbaa !51
  %331 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 6
  %332 = getelementptr inbounds %struct.b2Vec2, ptr %331, i32 0, i32 1
  %333 = load float, ptr %332, align 4, !tbaa !64
  %334 = call float @llvm.fmuladd.f32(float %328, float %330, float %333)
  %335 = load float, ptr %33, align 4, !tbaa !33
  %336 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 29
  %337 = load float, ptr %336, align 4, !tbaa !48
  %338 = call float @llvm.fmuladd.f32(float %335, float %337, float %334)
  store float %338, ptr %37, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #7
  %339 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 6
  %340 = getelementptr inbounds %struct.b2Vec2, ptr %339, i32 0, i32 0
  %341 = load float, ptr %340, align 4, !tbaa !63
  %342 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 28
  %343 = load float, ptr %342, align 8, !tbaa !52
  %344 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 6
  %345 = getelementptr inbounds %struct.b2Vec2, ptr %344, i32 0, i32 1
  %346 = load float, ptr %345, align 4, !tbaa !64
  %347 = call float @llvm.fmuladd.f32(float %341, float %343, float %346)
  %348 = load float, ptr %33, align 4, !tbaa !33
  %349 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 30
  %350 = load float, ptr %349, align 8, !tbaa !49
  %351 = call float @llvm.fmuladd.f32(float %348, float %350, float %347)
  store float %351, ptr %38, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #7
  %352 = load float, ptr %22, align 4, !tbaa !33
  %353 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %352, ptr noundef nonnull align 4 dereferenceable(8) %34)
  store <2 x float> %353, ptr %39, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %39)
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #7
  %354 = load float, ptr %24, align 4, !tbaa !33
  %355 = load float, ptr %37, align 4, !tbaa !33
  %356 = load float, ptr %8, align 4, !tbaa !33
  %357 = fneg float %354
  %358 = call float @llvm.fmuladd.f32(float %357, float %355, float %356)
  store float %358, ptr %8, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #7
  %359 = load float, ptr %23, align 4, !tbaa !33
  %360 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %359, ptr noundef nonnull align 4 dereferenceable(8) %34)
  store <2 x float> %360, ptr %40, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %40)
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #7
  %361 = load float, ptr %25, align 4, !tbaa !33
  %362 = load float, ptr %38, align 4, !tbaa !33
  %363 = load float, ptr %12, align 4, !tbaa !33
  %364 = call float @llvm.fmuladd.f32(float %361, float %362, float %363)
  store float %364, ptr %12, align 4, !tbaa !33
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #7
  br label %370

365:                                              ; preds = %276
  %366 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 6
  call void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %366)
  %367 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 7
  store float 0.000000e+00, ptr %367, align 4, !tbaa !60
  %368 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 8
  store float 0.000000e+00, ptr %368, align 8, !tbaa !57
  %369 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 9
  store float 0.000000e+00, ptr %369, align 4, !tbaa !58
  br label %370

370:                                              ; preds = %365, %282
  %371 = load ptr, ptr %4, align 8, !tbaa !5
  %372 = getelementptr inbounds %struct.b2SolverData, ptr %371, i32 0, i32 2
  %373 = load ptr, ptr %372, align 8, !tbaa !45
  %374 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 17
  %375 = load i32, ptr %374, align 4, !tbaa !27
  %376 = sext i32 %375 to i64
  %377 = getelementptr inbounds %struct.b2Velocity, ptr %373, i64 %376
  %378 = getelementptr inbounds %struct.b2Velocity, ptr %377, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %378, ptr align 4 %7, i64 8, i1 false), !tbaa.struct !32
  %379 = load float, ptr %8, align 4, !tbaa !33
  %380 = load ptr, ptr %4, align 8, !tbaa !5
  %381 = getelementptr inbounds %struct.b2SolverData, ptr %380, i32 0, i32 2
  %382 = load ptr, ptr %381, align 8, !tbaa !45
  %383 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 17
  %384 = load i32, ptr %383, align 4, !tbaa !27
  %385 = sext i32 %384 to i64
  %386 = getelementptr inbounds %struct.b2Velocity, ptr %382, i64 %385
  %387 = getelementptr inbounds %struct.b2Velocity, ptr %386, i32 0, i32 1
  store float %379, ptr %387, align 4, !tbaa !46
  %388 = load ptr, ptr %4, align 8, !tbaa !5
  %389 = getelementptr inbounds %struct.b2SolverData, ptr %388, i32 0, i32 2
  %390 = load ptr, ptr %389, align 8, !tbaa !45
  %391 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 18
  %392 = load i32, ptr %391, align 8, !tbaa !31
  %393 = sext i32 %392 to i64
  %394 = getelementptr inbounds %struct.b2Velocity, ptr %390, i64 %393
  %395 = getelementptr inbounds %struct.b2Velocity, ptr %394, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %395, ptr align 4 %11, i64 8, i1 false), !tbaa.struct !32
  %396 = load float, ptr %12, align 4, !tbaa !33
  %397 = load ptr, ptr %4, align 8, !tbaa !5
  %398 = getelementptr inbounds %struct.b2SolverData, ptr %397, i32 0, i32 2
  %399 = load ptr, ptr %398, align 8, !tbaa !45
  %400 = getelementptr inbounds %class.b2PrismaticJoint, ptr %41, i32 0, i32 18
  %401 = load i32, ptr %400, align 8, !tbaa !31
  %402 = sext i32 %401 to i64
  %403 = getelementptr inbounds %struct.b2Velocity, ptr %399, i64 %402
  %404 = getelementptr inbounds %struct.b2Velocity, ptr %403, i32 0, i32 1
  store float %396, ptr %404, align 4, !tbaa !46
  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 @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) #2 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2mLEf(ptr noundef nonnull align 4 dereferenceable(8), 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, !15, i64 120}
!11 = !{!"_ZTS11b2JointType", !7, i64 0}
!12 = !{!"_ZTS11b2JointEdge", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!13 = !{!"int", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!"_ZTS15b2JointUserData", !16, i64 0}
!16 = !{!"long", !7, i64 0}
!17 = !{!18, !13, i64 8}
!18 = !{!"_ZTS6b2Body", !19, i64 0, !20, i64 4, !13, i64 8, !21, i64 12, !21, i64 28, !25, i64 44, !22, i64 80, !23, i64 88, !22, i64 92, !23, i64 100, !6, i64 104, !6, i64 112, !6, i64 120, !6, i64 128, !13, i64 136, !6, i64 144, !6, i64 152, !13, i64 160, !13, i64 164, !23, i64 168, !23, i64 172, !23, i64 176, !23, i64 180, !23, i64 184, !23, i64 188, !23, i64 192, !23, i64 196, !26, i64 200}
!19 = !{!"_ZTS10b2BodyType", !7, i64 0}
!20 = !{!"short", !7, i64 0}
!21 = !{!"_ZTS11b2Transform", !22, i64 0, !24, i64 8}
!22 = !{!"_ZTS6b2Vec2", !23, i64 0, !23, i64 4}
!23 = !{!"float", !7, i64 0}
!24 = !{!"_ZTS5b2Rot", !23, i64 0, !23, i64 4}
!25 = !{!"_ZTS7b2Sweep", !22, i64 0, !22, i64 8, !22, i64 16, !23, i64 24, !23, i64 28, !23, i64 32}
!26 = !{!"_ZTS14b2BodyUserData", !16, i64 0}
!27 = !{!28, !13, i64 204}
!28 = !{!"_ZTS16b2PrismaticJoint", !10, i64 0, !22, i64 128, !22, i64 136, !22, i64 144, !22, i64 152, !23, i64 160, !22, i64 164, !23, i64 172, !23, i64 176, !23, i64 180, !23, i64 184, !23, i64 188, !23, i64 192, !23, i64 196, !14, i64 200, !14, i64 201, !13, i64 204, !13, i64 208, !22, i64 212, !22, i64 220, !23, i64 228, !23, i64 232, !23, i64 236, !23, i64 240, !22, i64 244, !22, i64 252, !23, i64 260, !23, i64 264, !23, i64 268, !23, i64 272, !29, i64 276, !23, i64 292, !23, i64 296}
!29 = !{!"_ZTS7b2Mat22", !22, i64 0, !22, i64 8}
!30 = !{!10, !6, i64 104}
!31 = !{!28, !13, i64 208}
!32 = !{i64 0, i64 4, !33, i64 4, i64 4, !33}
!33 = !{!23, !23, i64 0}
!34 = !{!18, !23, i64 172}
!35 = !{!28, !23, i64 228}
!36 = !{!28, !23, i64 232}
!37 = !{!18, !23, i64 180}
!38 = !{!28, !23, i64 236}
!39 = !{!28, !23, i64 240}
!40 = !{!41, !6, i64 32}
!41 = !{!"_ZTS12b2SolverData", !42, i64 0, !6, i64 32, !6, i64 40}
!42 = !{!"_ZTS10b2TimeStep", !23, i64 0, !23, i64 4, !23, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !14, i64 24}
!43 = !{!44, !23, i64 8}
!44 = !{!"_ZTS10b2Position", !22, i64 0, !23, i64 8}
!45 = !{!41, !6, i64 40}
!46 = !{!47, !23, i64 8}
!47 = !{!"_ZTS10b2Velocity", !22, i64 0, !23, i64 8}
!48 = !{!28, !23, i64 268}
!49 = !{!28, !23, i64 272}
!50 = !{!28, !23, i64 296}
!51 = !{!28, !23, i64 260}
!52 = !{!28, !23, i64 264}
!53 = !{!28, !14, i64 200}
!54 = !{i8 0, i8 2}
!55 = !{}
!56 = !{!28, !23, i64 292}
!57 = !{!28, !23, i64 176}
!58 = !{!28, !23, i64 180}
!59 = !{!28, !14, i64 201}
!60 = !{!28, !23, i64 172}
!61 = !{!41, !14, i64 24}
!62 = !{!41, !23, i64 8}
!63 = !{!28, !23, i64 164}
!64 = !{!28, !23, 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 @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN16b2PrismaticJoint23InitVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(300) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(48) %1) unnamed_addr #2 align 2 {
  %3 = alloca %struct.b2Vec2, align 8
  %4 = alloca %struct.b2Vec2, align 8
  %5 = alloca %struct.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 !16
  %27 = getelementptr inbounds i8, ptr %0, i64 204
  store i32 %26, ptr %27, align 4, !tbaa !26
  %28 = getelementptr inbounds i8, ptr %0, i64 104
  %29 = load ptr, ptr %28, align 8, !tbaa !29
  %30 = getelementptr inbounds i8, ptr %29, i64 8
  %31 = load i32, ptr %30, align 8, !tbaa !16
  %32 = getelementptr inbounds i8, ptr %0, i64 208
  store i32 %31, ptr %32, align 8, !tbaa !30
  %33 = getelementptr inbounds i8, ptr %24, i64 44
  %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 44
  %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 172
  %40 = load float, ptr %39, align 4, !tbaa !31
  %41 = getelementptr inbounds i8, ptr %0, i64 228
  store float %40, ptr %41, align 4, !tbaa !32
  %42 = getelementptr inbounds i8, ptr %29, i64 172
  %43 = load float, ptr %42, align 4, !tbaa !31
  %44 = getelementptr inbounds i8, ptr %0, i64 232
  store float %43, ptr %44, align 8, !tbaa !33
  %45 = getelementptr inbounds i8, ptr %24, i64 180
  %46 = load float, ptr %45, align 4, !tbaa !34
  %47 = getelementptr inbounds i8, ptr %0, i64 236
  store float %46, ptr %47, align 4, !tbaa !35
  %48 = getelementptr inbounds i8, ptr %29, i64 180
  %49 = load float, ptr %48, align 4, !tbaa !34
  %50 = getelementptr inbounds i8, ptr %0, i64 240
  store float %49, ptr %50, align 8, !tbaa !36
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  %51 = getelementptr inbounds i8, ptr %1, i64 32
  %52 = load ptr, ptr %51, align 8, !tbaa !37
  %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 !40
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %58 = getelementptr inbounds i8, ptr %1, i64 40
  %59 = load ptr, ptr %58, align 8, !tbaa !42
  %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 !43
  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 !40
  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 !43
  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 !32
  %83 = load float, ptr %44, align 8, !tbaa !33
  %84 = load <2 x float>, ptr %47, align 4, !tbaa !45
  %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 !46
  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 !47
  %93 = fadd float %82, %83
  %94 = load float, ptr %90, align 4, !tbaa !46
  %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 296
  %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 !48
  %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 !49
  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 !50
  %112 = load float, ptr %109, align 4, !tbaa !49
  %113 = fmul float %95, %112
  %114 = call float @llvm.fmuladd.f32(float %113, float %112, float %93)
  %115 = fmul float %98, %110
  %116 = call float @llvm.fmuladd.f32(float %115, float %110, float %114)
  %117 = call float @llvm.fmuladd.f32(float %95, float %112, float %115)
  %118 = fadd float %95, %98
  %119 = fcmp oeq float %118, 0.000000e+00
  %.052 = select i1 %119, float 1.000000e+00, float %118
  %120 = getelementptr inbounds i8, ptr %0, i64 276
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %120, float noundef %116, float noundef %117)
  %121 = getelementptr inbounds i8, ptr %0, i64 284
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %121, float noundef %117, float noundef %.052)
  %122 = getelementptr inbounds i8, ptr %0, i64 200
  %123 = load i8, ptr %122, align 8, !tbaa !51, !range !52, !noundef !53
  %124 = trunc nuw i8 %123 to i1
  br i1 %124, label %125, label %127

125:                                              ; preds = %2
  %126 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %87, ptr noundef nonnull align 4 dereferenceable(8) %13)
  br label %129

127:                                              ; preds = %2
  %128 = getelementptr inbounds i8, ptr %0, i64 176
  store float 0.000000e+00, ptr %128, align 8, !tbaa !54
  br label %129

129:                                              ; preds = %127, %125
  %.sink56 = phi i64 [ 180, %127 ], [ 292, %125 ]
  %.sink = phi float [ 0.000000e+00, %127 ], [ %126, %125 ]
  %130 = getelementptr inbounds i8, ptr %0, i64 %.sink56
  store float %.sink, ptr %130, align 4, !tbaa !45
  %131 = getelementptr inbounds i8, ptr %0, i64 201
  %132 = load i8, ptr %131, align 1, !tbaa !55, !range !52, !noundef !53
  %133 = icmp eq i8 %132, 0
  br i1 %133, label %134, label %136

134:                                              ; preds = %129
  %135 = getelementptr inbounds i8, ptr %0, i64 172
  store float 0.000000e+00, ptr %135, align 4, !tbaa !56
  br label %136

136:                                              ; preds = %134, %129
  %137 = getelementptr inbounds i8, ptr %1, i64 24
  %138 = load i8, ptr %137, align 8, !tbaa !57, !range !52, !noundef !53
  %139 = trunc nuw i8 %138 to i1
  br i1 %139, label %140, label %178

140:                                              ; preds = %136
  %141 = getelementptr inbounds i8, ptr %1, i64 8
  %142 = load float, ptr %141, align 8, !tbaa !58
  %143 = getelementptr inbounds i8, ptr %0, i64 164
  call void @_ZN6b2Vec2mLEf(ptr noundef nonnull align 4 dereferenceable(8) %143, float noundef %142)
  %144 = load float, ptr %141, align 8, !tbaa !58
  %145 = getelementptr inbounds i8, ptr %0, i64 172
  %146 = load <2 x float>, ptr %145, align 4, !tbaa !45
  %147 = insertelement <2 x float> poison, float %144, i64 0
  %148 = shufflevector <2 x float> %147, <2 x float> poison, <2 x i32> zeroinitializer
  %149 = fmul <2 x float> %148, %146
  store <2 x float> %149, ptr %145, align 4, !tbaa !45
  %150 = getelementptr inbounds i8, ptr %0, i64 180
  %151 = load float, ptr %150, align 4, !tbaa !59
  %152 = fmul float %144, %151
  store float %152, ptr %150, align 4, !tbaa !59
  %shift = shufflevector <2 x float> %149, <2 x float> poison, <2 x i32> <i32 1, i32 poison>
  %153 = fadd <2 x float> %149, %shift
  %154 = extractelement <2 x float> %153, i64 0
  %155 = fsub float %154, %152
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #7
  %156 = load float, ptr %143, align 4, !tbaa !60
  %157 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %156, ptr noundef nonnull align 4 dereferenceable(8) %106)
  store <2 x float> %157, ptr %19, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #7
  %158 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %155, ptr noundef nonnull align 4 dereferenceable(8) %87)
  store <2 x float> %158, ptr %20, align 8
  %159 = 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> %159, 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
  %160 = load <4 x float>, ptr %143, align 4
  %161 = getelementptr inbounds i8, ptr %0, i64 168
  %162 = load <4 x float>, ptr %161, align 8
  %163 = load <2 x float>, ptr %109, align 4, !tbaa !45
  %164 = shufflevector <4 x float> %160, <4 x float> poison, <2 x i32> zeroinitializer
  %165 = shufflevector <4 x float> %162, <4 x float> poison, <2 x i32> zeroinitializer
  %166 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %164, <2 x float> %163, <2 x float> %165)
  %167 = load <2 x float>, ptr %90, align 4, !tbaa !45
  %168 = insertelement <2 x float> poison, float %155, i64 0
  %169 = shufflevector <2 x float> %168, <2 x float> poison, <2 x i32> zeroinitializer
  %170 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %169, <2 x float> %167, <2 x float> %166)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #7
  %171 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %82, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %171, 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
  %172 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %83, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %172, 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
  %173 = fneg <2 x float> %84
  %174 = shufflevector <2 x float> %173, <2 x float> %84, <2 x i32> <i32 0, i32 3>
  %175 = insertelement <2 x float> poison, float %63, i64 0
  %176 = insertelement <2 x float> %175, float %72, i64 1
  %177 = call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %174, <2 x float> %170, <2 x float> %176)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #7
  br label %184

178:                                              ; preds = %136
  %179 = getelementptr inbounds i8, ptr %0, i64 164
  call void @_ZN6b2Vec27SetZeroEv(ptr noundef nonnull align 4 dereferenceable(8) %179)
  %180 = getelementptr inbounds i8, ptr %0, i64 172
  store <2 x float> zeroinitializer, ptr %180, align 4, !tbaa !45
  %181 = getelementptr inbounds i8, ptr %0, i64 180
  store float 0.000000e+00, ptr %181, align 4, !tbaa !59
  %182 = insertelement <2 x float> poison, float %63, i64 0
  %183 = insertelement <2 x float> %182, float %72, i64 1
  br label %184

184:                                              ; preds = %178, %140
  %185 = phi <2 x float> [ %177, %140 ], [ %183, %178 ]
  %186 = load ptr, ptr %58, align 8, !tbaa !42
  %187 = load i32, ptr %27, align 4, !tbaa !26
  %188 = sext i32 %187 to i64
  %189 = getelementptr inbounds %struct.b2Velocity, ptr %186, i64 %188
  %190 = load i64, ptr %4, align 8
  store i64 %190, ptr %189, align 4
  %191 = load ptr, ptr %58, align 8, !tbaa !42
  %192 = load i32, ptr %27, align 4, !tbaa !26
  %193 = sext i32 %192 to i64
  %194 = getelementptr inbounds %struct.b2Velocity, ptr %191, i64 %193, i32 1
  %195 = extractelement <2 x float> %185, i64 0
  store float %195, ptr %194, align 4, !tbaa !43
  %196 = load i32, ptr %32, align 8, !tbaa !30
  %197 = sext i32 %196 to i64
  %198 = getelementptr inbounds %struct.b2Velocity, ptr %191, i64 %197
  %199 = load i64, ptr %6, align 8
  store i64 %199, ptr %198, align 4
  %200 = load ptr, ptr %58, align 8, !tbaa !42
  %201 = load i32, ptr %32, align 8, !tbaa !30
  %202 = sext i32 %201 to i64
  %203 = getelementptr inbounds %struct.b2Velocity, ptr %200, i64 %202, i32 1
  %204 = extractelement <2 x float> %185, i64 1
  store float %204, ptr %203, align 4, !tbaa !43
  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 @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) local_unnamed_addr #1 align 2

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

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

; Function Attrs: 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, !14, i64 120}
!7 = !{!"_ZTS11b2JointType", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"any pointer", !8, i64 0}
!11 = !{!"_ZTS11b2JointEdge", !10, i64 0, !10, i64 8, !10, i64 16, !10, i64 24}
!12 = !{!"int", !8, i64 0}
!13 = !{!"bool", !8, i64 0}
!14 = !{!"_ZTS15b2JointUserData", !15, i64 0}
!15 = !{!"long", !8, i64 0}
!16 = !{!17, !12, i64 8}
!17 = !{!"_ZTS6b2Body", !18, i64 0, !19, i64 4, !12, i64 8, !20, i64 12, !20, i64 28, !24, i64 44, !21, i64 80, !22, i64 88, !21, i64 92, !22, i64 100, !10, i64 104, !10, i64 112, !10, i64 120, !10, i64 128, !12, i64 136, !10, i64 144, !10, i64 152, !12, i64 160, !12, i64 164, !22, i64 168, !22, i64 172, !22, i64 176, !22, i64 180, !22, i64 184, !22, i64 188, !22, i64 192, !22, i64 196, !25, i64 200}
!18 = !{!"_ZTS10b2BodyType", !8, i64 0}
!19 = !{!"short", !8, i64 0}
!20 = !{!"_ZTS11b2Transform", !21, i64 0, !23, i64 8}
!21 = !{!"_ZTS6b2Vec2", !22, i64 0, !22, i64 4}
!22 = !{!"float", !8, i64 0}
!23 = !{!"_ZTS5b2Rot", !22, i64 0, !22, i64 4}
!24 = !{!"_ZTS7b2Sweep", !21, i64 0, !21, i64 8, !21, i64 16, !22, i64 24, !22, i64 28, !22, i64 32}
!25 = !{!"_ZTS14b2BodyUserData", !15, i64 0}
!26 = !{!27, !12, i64 204}
!27 = !{!"_ZTS16b2PrismaticJoint", !6, i64 0, !21, i64 128, !21, i64 136, !21, i64 144, !21, i64 152, !22, i64 160, !21, i64 164, !22, i64 172, !22, i64 176, !22, i64 180, !22, i64 184, !22, i64 188, !22, i64 192, !22, i64 196, !13, i64 200, !13, i64 201, !12, i64 204, !12, i64 208, !21, i64 212, !21, i64 220, !22, i64 228, !22, i64 232, !22, i64 236, !22, i64 240, !21, i64 244, !21, i64 252, !22, i64 260, !22, i64 264, !22, i64 268, !22, i64 272, !28, i64 276, !22, i64 292, !22, i64 296}
!28 = !{!"_ZTS7b2Mat22", !21, i64 0, !21, i64 8}
!29 = !{!6, !10, i64 104}
!30 = !{!27, !12, i64 208}
!31 = !{!17, !22, i64 172}
!32 = !{!27, !22, i64 228}
!33 = !{!27, !22, i64 232}
!34 = !{!17, !22, i64 180}
!35 = !{!27, !22, i64 236}
!36 = !{!27, !22, i64 240}
!37 = !{!38, !10, i64 32}
!38 = !{!"_ZTS12b2SolverData", !39, i64 0, !10, i64 32, !10, i64 40}
!39 = !{!"_ZTS10b2TimeStep", !22, i64 0, !22, i64 4, !22, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !13, i64 24}
!40 = !{!41, !22, i64 8}
!41 = !{!"_ZTS10b2Position", !21, i64 0, !22, i64 8}
!42 = !{!38, !10, i64 40}
!43 = !{!44, !22, i64 8}
!44 = !{!"_ZTS10b2Velocity", !21, i64 0, !22, i64 8}
!45 = !{!22, !22, i64 0}
!46 = !{!27, !22, i64 268}
!47 = !{!27, !22, i64 272}
!48 = !{!27, !22, i64 296}
!49 = !{!27, !22, i64 260}
!50 = !{!27, !22, i64 264}
!51 = !{!27, !13, i64 200}
!52 = !{i8 0, i8 2}
!53 = !{}
!54 = !{!27, !22, i64 176}
!55 = !{!27, !13, i64 201}
!56 = !{!27, !22, i64 172}
!57 = !{!38, !13, i64 24}
!58 = !{!38, !22, i64 8}
!59 = !{!27, !22, i64 180}
!60 = !{!27, !22, i64 164}


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