; LLVM IR from mtsamis/box2d-optimized :: src/dynamics/b2_weld_joint.ll (ZN11b2WeldJoint23InitVelocityConstraintsERK12b2SolverData)

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

%struct.b2Vec2 = type { float, float }
%struct.b2Rot = type { float, float }
%struct.b2Mat33 = type { %struct.b2Vec3, %struct.b2Vec3, %struct.b2Vec3 }
%struct.b2Vec3 = type { float, 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.b2WeldJoint = type <{ %class.b2Joint, float, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, %struct.b2Vec3, i32, i32, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, %struct.b2Mat33, [4 x i8] }>
%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 uwtable
declare dso_local void @_ZN7b2Mat33C2Ev(ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec37SetZeroEv(ptr noundef nonnull align 4 dereferenceable(12)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN11b2WeldJoint23InitVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(268) %0, ptr noundef nonnull align 8 dereferenceable(48) %1) unnamed_addr #4 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca float, align 4
  %6 = alloca %struct.b2Vec2, align 4
  %7 = alloca float, align 4
  %8 = alloca float, align 4
  %9 = alloca %struct.b2Vec2, align 4
  %10 = alloca float, align 4
  %11 = alloca %struct.b2Rot, align 4
  %12 = alloca %struct.b2Rot, align 4
  %13 = alloca %struct.b2Vec2, align 4
  %14 = alloca %struct.b2Vec2, align 4
  %15 = alloca %struct.b2Vec2, align 4
  %16 = alloca %struct.b2Vec2, align 4
  %17 = alloca float, align 4
  %18 = alloca float, align 4
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca %struct.b2Mat33, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca float, align 4
  %27 = alloca %struct.b2Vec2, align 4
  %28 = alloca %struct.b2Vec2, align 4
  %29 = alloca %struct.b2Vec2, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %30 = load ptr, ptr %3, align 8
  %31 = getelementptr inbounds %class.b2Joint, ptr %30, i32 0, i32 6
  %32 = load ptr, ptr %31, align 8, !tbaa !9
  %33 = getelementptr inbounds %class.b2Body, ptr %32, i32 0, i32 2
  %34 = load i32, ptr %33, align 8, !tbaa !17
  %35 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 9
  store i32 %34, ptr %35, align 8, !tbaa !27
  %36 = getelementptr inbounds %class.b2Joint, ptr %30, i32 0, i32 7
  %37 = load ptr, ptr %36, align 8, !tbaa !31
  %38 = getelementptr inbounds %class.b2Body, ptr %37, i32 0, i32 2
  %39 = load i32, ptr %38, align 8, !tbaa !17
  %40 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 10
  store i32 %39, ptr %40, align 4, !tbaa !32
  %41 = getelementptr inbounds %class.b2Joint, ptr %30, i32 0, i32 6
  %42 = load ptr, ptr %41, align 8, !tbaa !9
  %43 = getelementptr inbounds %class.b2Body, ptr %42, i32 0, i32 5
  %44 = getelementptr inbounds %struct.b2Sweep, ptr %43, i32 0, i32 0
  %45 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 13
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %45, ptr align 4 %44, i64 8, i1 false), !tbaa.struct !33
  %46 = getelementptr inbounds %class.b2Joint, ptr %30, i32 0, i32 7
  %47 = load ptr, ptr %46, align 8, !tbaa !31
  %48 = getelementptr inbounds %class.b2Body, ptr %47, i32 0, i32 5
  %49 = getelementptr inbounds %struct.b2Sweep, ptr %48, i32 0, i32 0
  %50 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 14
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %50, ptr align 4 %49, i64 8, i1 false), !tbaa.struct !33
  %51 = getelementptr inbounds %class.b2Joint, ptr %30, i32 0, i32 6
  %52 = load ptr, ptr %51, align 8, !tbaa !9
  %53 = getelementptr inbounds %class.b2Body, ptr %52, i32 0, i32 20
  %54 = load float, ptr %53, align 4, !tbaa !35
  %55 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 15
  store float %54, ptr %55, align 8, !tbaa !36
  %56 = getelementptr inbounds %class.b2Joint, ptr %30, i32 0, i32 7
  %57 = load ptr, ptr %56, align 8, !tbaa !31
  %58 = getelementptr inbounds %class.b2Body, ptr %57, i32 0, i32 20
  %59 = load float, ptr %58, align 4, !tbaa !35
  %60 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 16
  store float %59, ptr %60, align 4, !tbaa !37
  %61 = getelementptr inbounds %class.b2Joint, ptr %30, i32 0, i32 6
  %62 = load ptr, ptr %61, align 8, !tbaa !9
  %63 = getelementptr inbounds %class.b2Body, ptr %62, i32 0, i32 22
  %64 = load float, ptr %63, align 4, !tbaa !38
  %65 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 17
  store float %64, ptr %65, align 8, !tbaa !39
  %66 = getelementptr inbounds %class.b2Joint, ptr %30, i32 0, i32 7
  %67 = load ptr, ptr %66, align 8, !tbaa !31
  %68 = getelementptr inbounds %class.b2Body, ptr %67, i32 0, i32 22
  %69 = load float, ptr %68, align 4, !tbaa !38
  %70 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 18
  store float %69, ptr %70, align 4, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #9
  %71 = load ptr, ptr %4, align 8, !tbaa !5
  %72 = getelementptr inbounds %struct.b2SolverData, ptr %71, i32 0, i32 1
  %73 = load ptr, ptr %72, align 8, !tbaa !41
  %74 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 9
  %75 = load i32, ptr %74, align 8, !tbaa !27
  %76 = sext i32 %75 to i64
  %77 = getelementptr inbounds %struct.b2Position, ptr %73, i64 %76
  %78 = getelementptr inbounds %struct.b2Position, ptr %77, i32 0, i32 1
  %79 = load float, ptr %78, align 4, !tbaa !44
  store float %79, ptr %5, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #9
  %80 = load ptr, ptr %4, align 8, !tbaa !5
  %81 = getelementptr inbounds %struct.b2SolverData, ptr %80, i32 0, i32 2
  %82 = load ptr, ptr %81, align 8, !tbaa !46
  %83 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 9
  %84 = load i32, ptr %83, align 8, !tbaa !27
  %85 = sext i32 %84 to i64
  %86 = getelementptr inbounds %struct.b2Velocity, ptr %82, i64 %85
  %87 = getelementptr inbounds %struct.b2Velocity, ptr %86, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %6, ptr align 4 %87, i64 8, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #9
  %88 = load ptr, ptr %4, align 8, !tbaa !5
  %89 = getelementptr inbounds %struct.b2SolverData, ptr %88, i32 0, i32 2
  %90 = load ptr, ptr %89, align 8, !tbaa !46
  %91 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 9
  %92 = load i32, ptr %91, align 8, !tbaa !27
  %93 = sext i32 %92 to i64
  %94 = getelementptr inbounds %struct.b2Velocity, ptr %90, i64 %93
  %95 = getelementptr inbounds %struct.b2Velocity, ptr %94, i32 0, i32 1
  %96 = load float, ptr %95, align 4, !tbaa !47
  store float %96, ptr %7, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  %97 = load ptr, ptr %4, align 8, !tbaa !5
  %98 = getelementptr inbounds %struct.b2SolverData, ptr %97, i32 0, i32 1
  %99 = load ptr, ptr %98, align 8, !tbaa !41
  %100 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 10
  %101 = load i32, ptr %100, align 4, !tbaa !32
  %102 = sext i32 %101 to i64
  %103 = getelementptr inbounds %struct.b2Position, ptr %99, i64 %102
  %104 = getelementptr inbounds %struct.b2Position, ptr %103, i32 0, i32 1
  %105 = load float, ptr %104, align 4, !tbaa !44
  store float %105, ptr %8, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #9
  %106 = load ptr, ptr %4, align 8, !tbaa !5
  %107 = getelementptr inbounds %struct.b2SolverData, ptr %106, i32 0, i32 2
  %108 = load ptr, ptr %107, align 8, !tbaa !46
  %109 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 10
  %110 = load i32, ptr %109, align 4, !tbaa !32
  %111 = sext i32 %110 to i64
  %112 = getelementptr inbounds %struct.b2Velocity, ptr %108, i64 %111
  %113 = getelementptr inbounds %struct.b2Velocity, ptr %112, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %9, ptr align 4 %113, i64 8, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #9
  %114 = load ptr, ptr %4, align 8, !tbaa !5
  %115 = getelementptr inbounds %struct.b2SolverData, ptr %114, i32 0, i32 2
  %116 = load ptr, ptr %115, align 8, !tbaa !46
  %117 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 10
  %118 = load i32, ptr %117, align 4, !tbaa !32
  %119 = sext i32 %118 to i64
  %120 = getelementptr inbounds %struct.b2Velocity, ptr %116, i64 %119
  %121 = getelementptr inbounds %struct.b2Velocity, ptr %120, i32 0, i32 1
  %122 = load float, ptr %121, align 4, !tbaa !47
  store float %122, ptr %10, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #9
  %123 = load float, ptr %5, align 4, !tbaa !34
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %11, float noundef %123)
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #9
  %124 = load float, ptr %8, align 4, !tbaa !34
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %12, float noundef %124)
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #9
  %125 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 4
  %126 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 13
  %127 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %125, ptr noundef nonnull align 4 dereferenceable(8) %126)
  store <2 x float> %127, ptr %14, align 4
  %128 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %14)
  store <2 x float> %128, ptr %13, align 4
  %129 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %129, ptr align 4 %13, i64 8, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #9
  %130 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 5
  %131 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 14
  %132 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %130, ptr noundef nonnull align 4 dereferenceable(8) %131)
  store <2 x float> %132, ptr %16, align 4
  %133 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %12, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %133, ptr %15, align 4
  %134 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %134, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #9
  %135 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 15
  %136 = load float, ptr %135, align 8, !tbaa !36
  store float %136, ptr %17, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #9
  %137 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 16
  %138 = load float, ptr %137, align 4, !tbaa !37
  store float %138, ptr %18, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #9
  %139 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 17
  %140 = load float, ptr %139, align 8, !tbaa !39
  store float %140, ptr %19, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #9
  %141 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 18
  %142 = load float, ptr %141, align 4, !tbaa !40
  store float %142, ptr %20, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 36, ptr %21) #9
  call void @_ZN7b2Mat33C2Ev(ptr noundef nonnull align 4 dereferenceable(36) %21)
  %143 = load float, ptr %17, align 4, !tbaa !34
  %144 = load float, ptr %18, align 4, !tbaa !34
  %145 = fadd float %143, %144
  %146 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %147 = getelementptr inbounds %struct.b2Vec2, ptr %146, i32 0, i32 1
  %148 = load float, ptr %147, align 4, !tbaa !49
  %149 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %150 = getelementptr inbounds %struct.b2Vec2, ptr %149, i32 0, i32 1
  %151 = load float, ptr %150, align 4, !tbaa !49
  %152 = fmul float %148, %151
  %153 = load float, ptr %19, align 4, !tbaa !34
  %154 = call float @llvm.fmuladd.f32(float %152, float %153, float %145)
  %155 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %156 = getelementptr inbounds %struct.b2Vec2, ptr %155, i32 0, i32 1
  %157 = load float, ptr %156, align 4, !tbaa !50
  %158 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %159 = getelementptr inbounds %struct.b2Vec2, ptr %158, i32 0, i32 1
  %160 = load float, ptr %159, align 4, !tbaa !50
  %161 = fmul float %157, %160
  %162 = load float, ptr %20, align 4, !tbaa !34
  %163 = call float @llvm.fmuladd.f32(float %161, float %162, float %154)
  %164 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 0
  %165 = getelementptr inbounds %struct.b2Vec3, ptr %164, i32 0, i32 0
  store float %163, ptr %165, align 4, !tbaa !51
  %166 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %167 = getelementptr inbounds %struct.b2Vec2, ptr %166, i32 0, i32 1
  %168 = load float, ptr %167, align 4, !tbaa !49
  %169 = fneg float %168
  %170 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %171 = getelementptr inbounds %struct.b2Vec2, ptr %170, i32 0, i32 0
  %172 = load float, ptr %171, align 8, !tbaa !52
  %173 = fmul float %169, %172
  %174 = load float, ptr %19, align 4, !tbaa !34
  %175 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %176 = getelementptr inbounds %struct.b2Vec2, ptr %175, i32 0, i32 1
  %177 = load float, ptr %176, align 4, !tbaa !50
  %178 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %179 = getelementptr inbounds %struct.b2Vec2, ptr %178, i32 0, i32 0
  %180 = load float, ptr %179, align 8, !tbaa !53
  %181 = fmul float %177, %180
  %182 = load float, ptr %20, align 4, !tbaa !34
  %183 = fmul float %181, %182
  %184 = fneg float %183
  %185 = call float @llvm.fmuladd.f32(float %173, float %174, float %184)
  %186 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 1
  %187 = getelementptr inbounds %struct.b2Vec3, ptr %186, i32 0, i32 0
  store float %185, ptr %187, align 4, !tbaa !54
  %188 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %189 = getelementptr inbounds %struct.b2Vec2, ptr %188, i32 0, i32 1
  %190 = load float, ptr %189, align 4, !tbaa !49
  %191 = fneg float %190
  %192 = load float, ptr %19, align 4, !tbaa !34
  %193 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %194 = getelementptr inbounds %struct.b2Vec2, ptr %193, i32 0, i32 1
  %195 = load float, ptr %194, align 4, !tbaa !50
  %196 = load float, ptr %20, align 4, !tbaa !34
  %197 = fmul float %195, %196
  %198 = fneg float %197
  %199 = call float @llvm.fmuladd.f32(float %191, float %192, float %198)
  %200 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 2
  %201 = getelementptr inbounds %struct.b2Vec3, ptr %200, i32 0, i32 0
  store float %199, ptr %201, align 4, !tbaa !55
  %202 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 1
  %203 = getelementptr inbounds %struct.b2Vec3, ptr %202, i32 0, i32 0
  %204 = load float, ptr %203, align 4, !tbaa !54
  %205 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 0
  %206 = getelementptr inbounds %struct.b2Vec3, ptr %205, i32 0, i32 1
  store float %204, ptr %206, align 4, !tbaa !56
  %207 = load float, ptr %17, align 4, !tbaa !34
  %208 = load float, ptr %18, align 4, !tbaa !34
  %209 = fadd float %207, %208
  %210 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %211 = getelementptr inbounds %struct.b2Vec2, ptr %210, i32 0, i32 0
  %212 = load float, ptr %211, align 8, !tbaa !52
  %213 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %214 = getelementptr inbounds %struct.b2Vec2, ptr %213, i32 0, i32 0
  %215 = load float, ptr %214, align 8, !tbaa !52
  %216 = fmul float %212, %215
  %217 = load float, ptr %19, align 4, !tbaa !34
  %218 = call float @llvm.fmuladd.f32(float %216, float %217, float %209)
  %219 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %220 = getelementptr inbounds %struct.b2Vec2, ptr %219, i32 0, i32 0
  %221 = load float, ptr %220, align 8, !tbaa !53
  %222 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %223 = getelementptr inbounds %struct.b2Vec2, ptr %222, i32 0, i32 0
  %224 = load float, ptr %223, align 8, !tbaa !53
  %225 = fmul float %221, %224
  %226 = load float, ptr %20, align 4, !tbaa !34
  %227 = call float @llvm.fmuladd.f32(float %225, float %226, float %218)
  %228 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 1
  %229 = getelementptr inbounds %struct.b2Vec3, ptr %228, i32 0, i32 1
  store float %227, ptr %229, align 4, !tbaa !57
  %230 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %231 = getelementptr inbounds %struct.b2Vec2, ptr %230, i32 0, i32 0
  %232 = load float, ptr %231, align 8, !tbaa !52
  %233 = load float, ptr %19, align 4, !tbaa !34
  %234 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %235 = getelementptr inbounds %struct.b2Vec2, ptr %234, i32 0, i32 0
  %236 = load float, ptr %235, align 8, !tbaa !53
  %237 = load float, ptr %20, align 4, !tbaa !34
  %238 = fmul float %236, %237
  %239 = call float @llvm.fmuladd.f32(float %232, float %233, float %238)
  %240 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 2
  %241 = getelementptr inbounds %struct.b2Vec3, ptr %240, i32 0, i32 1
  store float %239, ptr %241, align 4, !tbaa !58
  %242 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 2
  %243 = getelementptr inbounds %struct.b2Vec3, ptr %242, i32 0, i32 0
  %244 = load float, ptr %243, align 4, !tbaa !55
  %245 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 0
  %246 = getelementptr inbounds %struct.b2Vec3, ptr %245, i32 0, i32 2
  store float %244, ptr %246, align 4, !tbaa !59
  %247 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 2
  %248 = getelementptr inbounds %struct.b2Vec3, ptr %247, i32 0, i32 1
  %249 = load float, ptr %248, align 4, !tbaa !58
  %250 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 1
  %251 = getelementptr inbounds %struct.b2Vec3, ptr %250, i32 0, i32 2
  store float %249, ptr %251, align 4, !tbaa !60
  %252 = load float, ptr %19, align 4, !tbaa !34
  %253 = load float, ptr %20, align 4, !tbaa !34
  %254 = fadd float %252, %253
  %255 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 2
  %256 = getelementptr inbounds %struct.b2Vec3, ptr %255, i32 0, i32 2
  store float %254, ptr %256, align 4, !tbaa !61
  %257 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 1
  %258 = load float, ptr %257, align 8, !tbaa !62
  %259 = fcmp ogt float %258, 0.000000e+00
  br i1 %259, label %260, label %321

260:                                              ; preds = %2
  %261 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 19
  call void @_ZNK7b2Mat3312GetInverse22EPS_(ptr noundef nonnull align 4 dereferenceable(36) %21, ptr noundef %261)
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #9
  %262 = load float, ptr %19, align 4, !tbaa !34
  %263 = load float, ptr %20, align 4, !tbaa !34
  %264 = fadd float %262, %263
  store float %264, ptr %22, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #9
  %265 = load float, ptr %8, align 4, !tbaa !34
  %266 = load float, ptr %5, align 4, !tbaa !34
  %267 = fsub float %265, %266
  %268 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 6
  %269 = load float, ptr %268, align 4, !tbaa !63
  %270 = fsub float %267, %269
  store float %270, ptr %23, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  %271 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 2
  %272 = load float, ptr %271, align 4, !tbaa !64
  store float %272, ptr %24, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #9
  %273 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 1
  %274 = load float, ptr %273, align 8, !tbaa !62
  store float %274, ptr %25, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  %275 = load ptr, ptr %4, align 8, !tbaa !5
  %276 = getelementptr inbounds %struct.b2SolverData, ptr %275, i32 0, i32 0
  %277 = getelementptr inbounds %struct.b2TimeStep, ptr %276, i32 0, i32 0
  %278 = load float, ptr %277, align 8, !tbaa !65
  store float %278, ptr %26, align 4, !tbaa !34
  %279 = load float, ptr %26, align 4, !tbaa !34
  %280 = load float, ptr %24, align 4, !tbaa !34
  %281 = load float, ptr %26, align 4, !tbaa !34
  %282 = load float, ptr %25, align 4, !tbaa !34
  %283 = call float @llvm.fmuladd.f32(float %281, float %282, float %280)
  %284 = fmul float %279, %283
  %285 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 7
  store float %284, ptr %285, align 8, !tbaa !66
  %286 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 7
  %287 = load float, ptr %286, align 8, !tbaa !66
  %288 = fcmp une float %287, 0.000000e+00
  br i1 %288, label %289, label %293

289:                                              ; preds = %260
  %290 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 7
  %291 = load float, ptr %290, align 8, !tbaa !66
  %292 = fdiv float 1.000000e+00, %291
  br label %294

293:                                              ; preds = %260
  br label %294

294:                                              ; preds = %293, %289
  %295 = phi float [ %292, %289 ], [ 0.000000e+00, %293 ]
  %296 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 7
  store float %295, ptr %296, align 8, !tbaa !66
  %297 = load float, ptr %23, align 4, !tbaa !34
  %298 = load float, ptr %26, align 4, !tbaa !34
  %299 = fmul float %297, %298
  %300 = load float, ptr %25, align 4, !tbaa !34
  %301 = fmul float %299, %300
  %302 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 7
  %303 = load float, ptr %302, align 8, !tbaa !66
  %304 = fmul float %301, %303
  %305 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 3
  store float %304, ptr %305, align 8, !tbaa !67
  %306 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 7
  %307 = load float, ptr %306, align 8, !tbaa !66
  %308 = load float, ptr %22, align 4, !tbaa !34
  %309 = fadd float %308, %307
  store float %309, ptr %22, align 4, !tbaa !34
  %310 = load float, ptr %22, align 4, !tbaa !34
  %311 = fcmp une float %310, 0.000000e+00
  br i1 %311, label %312, label %315

312:                                              ; preds = %294
  %313 = load float, ptr %22, align 4, !tbaa !34
  %314 = fdiv float 1.000000e+00, %313
  br label %316

315:                                              ; preds = %294
  br label %316

316:                                              ; preds = %315, %312
  %317 = phi float [ %314, %312 ], [ 0.000000e+00, %315 ]
  %318 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 19
  %319 = getelementptr inbounds %struct.b2Mat33, ptr %318, i32 0, i32 2
  %320 = getelementptr inbounds %struct.b2Vec3, ptr %319, i32 0, i32 2
  store float %317, ptr %320, align 8, !tbaa !68
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #9
  br label %335

321:                                              ; preds = %2
  %322 = getelementptr inbounds %struct.b2Mat33, ptr %21, i32 0, i32 2
  %323 = getelementptr inbounds %struct.b2Vec3, ptr %322, i32 0, i32 2
  %324 = load float, ptr %323, align 4, !tbaa !61
  %325 = fcmp oeq float %324, 0.000000e+00
  br i1 %325, label %326, label %330

326:                                              ; preds = %321
  %327 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 19
  call void @_ZNK7b2Mat3312GetInverse22EPS_(ptr noundef nonnull align 4 dereferenceable(36) %21, ptr noundef %327)
  %328 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 7
  store float 0.000000e+00, ptr %328, align 8, !tbaa !66
  %329 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 3
  store float 0.000000e+00, ptr %329, align 8, !tbaa !67
  br label %334

330:                                              ; preds = %321
  %331 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 19
  call void @_ZNK7b2Mat3315GetSymInverse33EPS_(ptr noundef nonnull align 4 dereferenceable(36) %21, ptr noundef %331)
  %332 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 7
  store float 0.000000e+00, ptr %332, align 8, !tbaa !66
  %333 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 3
  store float 0.000000e+00, ptr %333, align 8, !tbaa !67
  br label %334

334:                                              ; preds = %330, %326
  br label %335

335:                                              ; preds = %334, %316
  %336 = load ptr, ptr %4, align 8, !tbaa !5
  %337 = getelementptr inbounds %struct.b2SolverData, ptr %336, i32 0, i32 0
  %338 = getelementptr inbounds %struct.b2TimeStep, ptr %337, i32 0, i32 6
  %339 = load i8, ptr %338, align 8, !tbaa !69, !range !70, !noundef !71
  %340 = trunc i8 %339 to i1
  br i1 %340, label %341, label %376

341:                                              ; preds = %335
  %342 = load ptr, ptr %4, align 8, !tbaa !5
  %343 = getelementptr inbounds %struct.b2SolverData, ptr %342, i32 0, i32 0
  %344 = getelementptr inbounds %struct.b2TimeStep, ptr %343, i32 0, i32 2
  %345 = load float, ptr %344, align 8, !tbaa !72
  %346 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 8
  call void @_ZN6b2Vec3mLEf(ptr noundef nonnull align 4 dereferenceable(12) %346, float noundef %345)
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #9
  %347 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 8
  %348 = getelementptr inbounds %struct.b2Vec3, ptr %347, i32 0, i32 0
  %349 = load float, ptr %348, align 4, !tbaa !73
  %350 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 8
  %351 = getelementptr inbounds %struct.b2Vec3, ptr %350, i32 0, i32 1
  %352 = load float, ptr %351, align 4, !tbaa !74
  call void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8) %27, float noundef %349, float noundef %352)
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #9
  %353 = load float, ptr %17, align 4, !tbaa !34
  %354 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %353, ptr noundef nonnull align 4 dereferenceable(8) %27)
  store <2 x float> %354, ptr %28, align 4
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %28)
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #9
  %355 = load float, ptr %19, align 4, !tbaa !34
  %356 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 11
  %357 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %356, ptr noundef nonnull align 4 dereferenceable(8) %27)
  %358 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 8
  %359 = getelementptr inbounds %struct.b2Vec3, ptr %358, i32 0, i32 2
  %360 = load float, ptr %359, align 4, !tbaa !75
  %361 = fadd float %357, %360
  %362 = load float, ptr %7, align 4, !tbaa !34
  %363 = fneg float %355
  %364 = call float @llvm.fmuladd.f32(float %363, float %361, float %362)
  store float %364, ptr %7, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #9
  %365 = load float, ptr %18, align 4, !tbaa !34
  %366 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %365, ptr noundef nonnull align 4 dereferenceable(8) %27)
  store <2 x float> %366, ptr %29, align 4
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %29)
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #9
  %367 = load float, ptr %20, align 4, !tbaa !34
  %368 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 12
  %369 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %368, ptr noundef nonnull align 4 dereferenceable(8) %27)
  %370 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 8
  %371 = getelementptr inbounds %struct.b2Vec3, ptr %370, i32 0, i32 2
  %372 = load float, ptr %371, align 4, !tbaa !75
  %373 = fadd float %369, %372
  %374 = load float, ptr %10, align 4, !tbaa !34
  %375 = call float @llvm.fmuladd.f32(float %367, float %373, float %374)
  store float %375, ptr %10, align 4, !tbaa !34
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #9
  br label %378

376:                                              ; preds = %335
  %377 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 8
  call void @_ZN6b2Vec37SetZeroEv(ptr noundef nonnull align 4 dereferenceable(12) %377)
  br label %378

378:                                              ; preds = %376, %341
  %379 = load ptr, ptr %4, align 8, !tbaa !5
  %380 = getelementptr inbounds %struct.b2SolverData, ptr %379, i32 0, i32 2
  %381 = load ptr, ptr %380, align 8, !tbaa !46
  %382 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 9
  %383 = load i32, ptr %382, align 8, !tbaa !27
  %384 = sext i32 %383 to i64
  %385 = getelementptr inbounds %struct.b2Velocity, ptr %381, i64 %384
  %386 = getelementptr inbounds %struct.b2Velocity, ptr %385, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %386, ptr align 4 %6, i64 8, i1 false), !tbaa.struct !33
  %387 = load float, ptr %7, align 4, !tbaa !34
  %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 !46
  %391 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 9
  %392 = load i32, ptr %391, align 8, !tbaa !27
  %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 1
  store float %387, ptr %395, align 4, !tbaa !47
  %396 = load ptr, ptr %4, align 8, !tbaa !5
  %397 = getelementptr inbounds %struct.b2SolverData, ptr %396, i32 0, i32 2
  %398 = load ptr, ptr %397, align 8, !tbaa !46
  %399 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 10
  %400 = load i32, ptr %399, align 4, !tbaa !32
  %401 = sext i32 %400 to i64
  %402 = getelementptr inbounds %struct.b2Velocity, ptr %398, i64 %401
  %403 = getelementptr inbounds %struct.b2Velocity, ptr %402, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %403, ptr align 4 %9, i64 8, i1 false), !tbaa.struct !33
  %404 = load float, ptr %10, align 4, !tbaa !34
  %405 = load ptr, ptr %4, align 8, !tbaa !5
  %406 = getelementptr inbounds %struct.b2SolverData, ptr %405, i32 0, i32 2
  %407 = load ptr, ptr %406, align 8, !tbaa !46
  %408 = getelementptr inbounds %class.b2WeldJoint, ptr %30, i32 0, i32 10
  %409 = load i32, ptr %408, align 4, !tbaa !32
  %410 = sext i32 %409 to i64
  %411 = getelementptr inbounds %struct.b2Velocity, ptr %407, i64 %410
  %412 = getelementptr inbounds %struct.b2Velocity, ptr %411, i32 0, i32 1
  store float %404, ptr %412, align 4, !tbaa !47
  call void @llvm.lifetime.end.p0(i64 36, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #9
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8), float noundef) unnamed_addr #3 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)) #5

; 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)) #5

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

declare void @_ZNK7b2Mat3312GetInverse22EPS_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef) #7

declare void @_ZNK7b2Mat3315GetSymInverse33EPS_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef) #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec3mLEf(ptr noundef nonnull align 4 dereferenceable(12), float noundef) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #3 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress 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 nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress 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 uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { 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 #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 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 176}
!28 = !{!"_ZTS11b2WeldJoint", !10, i64 0, !23, i64 128, !23, i64 132, !23, i64 136, !22, i64 140, !22, i64 148, !23, i64 156, !23, i64 160, !29, i64 164, !13, i64 176, !13, i64 180, !22, i64 184, !22, i64 192, !22, i64 200, !22, i64 208, !23, i64 216, !23, i64 220, !23, i64 224, !23, i64 228, !30, i64 232}
!29 = !{!"_ZTS6b2Vec3", !23, i64 0, !23, i64 4, !23, i64 8}
!30 = !{!"_ZTS7b2Mat33", !29, i64 0, !29, i64 12, !29, i64 24}
!31 = !{!10, !6, i64 104}
!32 = !{!28, !13, i64 180}
!33 = !{i64 0, i64 4, !34, i64 4, i64 4, !34}
!34 = !{!23, !23, i64 0}
!35 = !{!18, !23, i64 172}
!36 = !{!28, !23, i64 216}
!37 = !{!28, !23, i64 220}
!38 = !{!18, !23, i64 180}
!39 = !{!28, !23, i64 224}
!40 = !{!28, !23, i64 228}
!41 = !{!42, !6, i64 32}
!42 = !{!"_ZTS12b2SolverData", !43, i64 0, !6, i64 32, !6, i64 40}
!43 = !{!"_ZTS10b2TimeStep", !23, i64 0, !23, i64 4, !23, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !14, i64 24}
!44 = !{!45, !23, i64 8}
!45 = !{!"_ZTS10b2Position", !22, i64 0, !23, i64 8}
!46 = !{!42, !6, i64 40}
!47 = !{!48, !23, i64 8}
!48 = !{!"_ZTS10b2Velocity", !22, i64 0, !23, i64 8}
!49 = !{!28, !23, i64 188}
!50 = !{!28, !23, i64 196}
!51 = !{!30, !23, i64 0}
!52 = !{!28, !23, i64 184}
!53 = !{!28, !23, i64 192}
!54 = !{!30, !23, i64 12}
!55 = !{!30, !23, i64 24}
!56 = !{!30, !23, i64 4}
!57 = !{!30, !23, i64 16}
!58 = !{!30, !23, i64 28}
!59 = !{!30, !23, i64 8}
!60 = !{!30, !23, i64 20}
!61 = !{!30, !23, i64 32}
!62 = !{!28, !23, i64 128}
!63 = !{!28, !23, i64 156}
!64 = !{!28, !23, i64 132}
!65 = !{!42, !23, i64 0}
!66 = !{!28, !23, i64 160}
!67 = !{!28, !23, i64 136}
!68 = !{!28, !23, i64 264}
!69 = !{!42, !14, i64 24}
!70 = !{i8 0, i8 2}
!71 = !{}
!72 = !{!42, !23, i64 8}
!73 = !{!28, !23, i64 164}
!74 = !{!28, !23, i64 168}
!75 = !{!28, !23, i64 172}


; 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.b2Mat33 = type { %struct.b2Vec3, %struct.b2Vec3, %struct.b2Vec3 }
%struct.b2Vec3 = type { float, 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 uwtable
declare dso_local void @_ZN7b2Mat33C2Ev(ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec37SetZeroEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN11b2WeldJoint23InitVelocityConstraintsERK12b2SolverData(ptr noundef nonnull align 8 dereferenceable(268) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(48) %1) unnamed_addr #3 align 2 {
  %3 = alloca %struct.b2Vec2, align 8
  %4 = alloca %struct.b2Vec2, align 8
  %5 = alloca %struct.b2Rot, align 4
  %6 = alloca %struct.b2Rot, align 4
  %7 = alloca %struct.b2Vec2, align 8
  %8 = alloca %struct.b2Vec2, align 8
  %9 = alloca %struct.b2Mat33, align 4
  %10 = alloca %struct.b2Vec2, align 4
  %11 = alloca %struct.b2Vec2, align 8
  %12 = alloca %struct.b2Vec2, align 8
  %13 = getelementptr inbounds i8, ptr %0, i64 96
  %14 = load ptr, ptr %13, align 8, !tbaa !5
  %15 = getelementptr inbounds i8, ptr %14, i64 8
  %16 = load i32, ptr %15, align 8, !tbaa !16
  %17 = getelementptr inbounds i8, ptr %0, i64 176
  store i32 %16, ptr %17, align 8, !tbaa !26
  %18 = getelementptr inbounds i8, ptr %0, i64 104
  %19 = load ptr, ptr %18, align 8, !tbaa !30
  %20 = getelementptr inbounds i8, ptr %19, i64 8
  %21 = load i32, ptr %20, align 8, !tbaa !16
  %22 = getelementptr inbounds i8, ptr %0, i64 180
  store i32 %21, ptr %22, align 4, !tbaa !31
  %23 = getelementptr inbounds i8, ptr %14, i64 44
  %24 = getelementptr inbounds i8, ptr %0, i64 200
  %25 = load i64, ptr %23, align 4
  store i64 %25, ptr %24, align 8
  %26 = getelementptr inbounds i8, ptr %19, i64 44
  %27 = getelementptr inbounds i8, ptr %0, i64 208
  %28 = load i64, ptr %26, align 4
  store i64 %28, ptr %27, align 8
  %29 = getelementptr inbounds i8, ptr %14, i64 172
  %30 = load float, ptr %29, align 4, !tbaa !32
  %31 = getelementptr inbounds i8, ptr %0, i64 216
  store float %30, ptr %31, align 8, !tbaa !33
  %32 = getelementptr inbounds i8, ptr %19, i64 172
  %33 = load float, ptr %32, align 4, !tbaa !32
  %34 = getelementptr inbounds i8, ptr %0, i64 220
  store float %33, ptr %34, align 4, !tbaa !34
  %35 = getelementptr inbounds i8, ptr %14, i64 180
  %36 = load float, ptr %35, align 4, !tbaa !35
  %37 = getelementptr inbounds i8, ptr %0, i64 224
  store float %36, ptr %37, align 8, !tbaa !36
  %38 = getelementptr inbounds i8, ptr %19, i64 180
  %39 = load float, ptr %38, align 4, !tbaa !35
  %40 = getelementptr inbounds i8, ptr %0, i64 228
  store float %39, ptr %40, align 4, !tbaa !37
  %41 = getelementptr inbounds i8, ptr %1, i64 32
  %42 = load ptr, ptr %41, align 8, !tbaa !38
  %43 = sext i32 %16 to i64
  %44 = getelementptr inbounds %struct.b2Position, ptr %42, i64 %43, i32 1
  %45 = load float, ptr %44, align 4, !tbaa !41
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #9
  %46 = getelementptr inbounds i8, ptr %1, i64 40
  %47 = load ptr, ptr %46, align 8, !tbaa !43
  %48 = getelementptr inbounds %struct.b2Velocity, ptr %47, i64 %43
  %49 = load i64, ptr %48, align 4
  store i64 %49, ptr %3, align 8
  %50 = getelementptr inbounds %struct.b2Velocity, ptr %47, i64 %43, i32 1
  %51 = load float, ptr %50, align 4, !tbaa !44
  %52 = sext i32 %21 to i64
  %53 = getelementptr inbounds %struct.b2Position, ptr %42, i64 %52, i32 1
  %54 = load float, ptr %53, align 4, !tbaa !41
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #9
  %55 = getelementptr inbounds %struct.b2Velocity, ptr %47, i64 %52
  %56 = load i64, ptr %55, align 4
  store i64 %56, ptr %4, align 8
  %57 = getelementptr inbounds %struct.b2Velocity, ptr %47, i64 %52, i32 1
  %58 = load float, ptr %57, align 4, !tbaa !44
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #9
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %5, float noundef %45)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #9
  call void @_ZN5b2RotC2Ef(ptr noundef nonnull align 4 dereferenceable(8) %6, float noundef %54)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #9
  %59 = getelementptr inbounds i8, ptr %0, i64 140
  %60 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %59, ptr noundef nonnull align 4 dereferenceable(8) %24)
  store <2 x float> %60, ptr %7, align 8
  %61 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %7)
  %62 = getelementptr inbounds i8, ptr %0, i64 184
  store <2 x float> %61, ptr %62, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #9
  %63 = getelementptr inbounds i8, ptr %0, i64 148
  %64 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %63, ptr noundef nonnull align 4 dereferenceable(8) %27)
  store <2 x float> %64, ptr %8, align 8
  %65 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %8)
  %66 = getelementptr inbounds i8, ptr %0, i64 192
  store <2 x float> %65, ptr %66, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #9
  %67 = load float, ptr %31, align 8, !tbaa !33
  %68 = load float, ptr %34, align 4, !tbaa !34
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %9) #9
  %69 = fadd float %67, %68
  %70 = getelementptr inbounds i8, ptr %0, i64 188
  %71 = getelementptr inbounds i8, ptr %0, i64 196
  %72 = getelementptr inbounds i8, ptr %9, i64 24
  %73 = getelementptr inbounds i8, ptr %9, i64 4
  %74 = getelementptr inbounds i8, ptr %9, i64 8
  %75 = load <2 x float>, ptr %37, align 8, !tbaa !46
  %76 = shufflevector <2 x float> %75, <2 x float> poison, <4 x i32> <i32 0, i32 0, i32 1, i32 0>
  call void @_ZN7b2Mat33C2Ev(ptr noundef nonnull align 4 dereferenceable(36) %9)
  %77 = load float, ptr %70, align 4, !tbaa !47
  %78 = fmul float %77, %77
  %79 = extractelement <2 x float> %75, i64 0
  %80 = call float @llvm.fmuladd.f32(float %78, float %79, float %69)
  %81 = load float, ptr %71, align 4, !tbaa !48
  %82 = fmul float %81, %81
  %83 = extractelement <2 x float> %75, i64 1
  %84 = call float @llvm.fmuladd.f32(float %82, float %83, float %80)
  store float %84, ptr %9, align 4, !tbaa !49
  %85 = fneg float %77
  %86 = load float, ptr %62, align 8, !tbaa !50
  %87 = fmul float %86, %85
  %88 = load float, ptr %66, align 8, !tbaa !51
  %89 = fneg float %81
  %90 = fmul float %88, %89
  %91 = shufflevector <2 x float> %75, <2 x float> poison, <2 x i32> <i32 1, i32 1>
  %92 = insertelement <2 x float> poison, float %89, i64 0
  %93 = insertelement <2 x float> %92, float %90, i64 1
  %94 = fmul <2 x float> %91, %93
  %95 = fmul float %86, %86
  %96 = call float @llvm.fmuladd.f32(float %95, float %79, float %69)
  %97 = fmul float %88, %88
  %98 = fmul float %83, %88
  %99 = insertelement <4 x float> poison, float %85, i64 0
  %100 = insertelement <4 x float> %99, float %87, i64 1
  %101 = insertelement <4 x float> %100, float %97, i64 2
  %102 = insertelement <4 x float> %101, float %86, i64 3
  %103 = shufflevector <2 x float> %94, <2 x float> poison, <4 x i32> <i32 0, i32 1, i32 poison, i32 poison>
  %104 = insertelement <4 x float> %103, float %96, i64 2
  %105 = insertelement <4 x float> %104, float %98, i64 3
  %106 = call <4 x float> @llvm.fmuladd.v4f32(<4 x float> %102, <4 x float> %76, <4 x float> %105)
  %107 = extractelement <4 x float> %106, i64 1
  store float %107, ptr %73, align 4, !tbaa !52
  %108 = shufflevector <4 x float> %106, <4 x float> poison, <2 x i32> <i32 0, i32 3>
  store <2 x float> %108, ptr %72, align 4, !tbaa !46
  store <4 x float> %106, ptr %74, align 4, !tbaa !46
  %109 = fadd float %79, %83
  %110 = getelementptr inbounds i8, ptr %9, i64 32
  store float %109, ptr %110, align 4, !tbaa !53
  %111 = getelementptr inbounds i8, ptr %0, i64 128
  %112 = load float, ptr %111, align 8, !tbaa !54
  %113 = fcmp ogt float %112, 0.000000e+00
  br i1 %113, label %114, label %139

114:                                              ; preds = %2
  %115 = getelementptr inbounds i8, ptr %0, i64 232
  call void @_ZNK7b2Mat3312GetInverse22EPS_(ptr noundef nonnull align 4 dereferenceable(36) %9, ptr noundef nonnull %115)
  %116 = fsub float %54, %45
  %117 = getelementptr inbounds i8, ptr %0, i64 156
  %118 = load float, ptr %117, align 4, !tbaa !55
  %119 = fsub float %116, %118
  %120 = getelementptr inbounds i8, ptr %0, i64 132
  %121 = load float, ptr %120, align 4, !tbaa !56
  %122 = load float, ptr %111, align 8, !tbaa !54
  %123 = load float, ptr %1, align 8, !tbaa !57
  %124 = call float @llvm.fmuladd.f32(float %123, float %122, float %121)
  %125 = fmul float %123, %124
  %126 = getelementptr inbounds i8, ptr %0, i64 160
  %127 = fcmp une float %125, 0.000000e+00
  %128 = fdiv float 1.000000e+00, %125
  %129 = select i1 %127, float %128, float 0.000000e+00
  store float %129, ptr %126, align 8, !tbaa !58
  %130 = fmul float %119, %123
  %131 = fmul float %122, %130
  %132 = fmul float %131, %129
  %133 = getelementptr inbounds i8, ptr %0, i64 136
  store float %132, ptr %133, align 8, !tbaa !59
  %134 = fadd float %109, %129
  %135 = fcmp une float %134, 0.000000e+00
  %136 = fdiv float 1.000000e+00, %134
  %137 = select i1 %135, float %136, float 0.000000e+00
  %138 = getelementptr inbounds i8, ptr %0, i64 264
  store float %137, ptr %138, align 8, !tbaa !60
  br label %146

139:                                              ; preds = %2
  %140 = fcmp oeq float %109, 0.000000e+00
  %141 = getelementptr inbounds i8, ptr %0, i64 232
  %142 = getelementptr inbounds i8, ptr %0, i64 160
  %143 = getelementptr inbounds i8, ptr %0, i64 136
  br i1 %140, label %144, label %145

144:                                              ; preds = %139
  call void @_ZNK7b2Mat3312GetInverse22EPS_(ptr noundef nonnull align 4 dereferenceable(36) %9, ptr noundef nonnull %141)
  store float 0.000000e+00, ptr %142, align 8, !tbaa !58
  store float 0.000000e+00, ptr %143, align 8, !tbaa !59
  br label %146

145:                                              ; preds = %139
  call void @_ZNK7b2Mat3315GetSymInverse33EPS_(ptr noundef nonnull align 4 dereferenceable(36) %9, ptr noundef nonnull %141)
  store float 0.000000e+00, ptr %142, align 8, !tbaa !58
  store float 0.000000e+00, ptr %143, align 8, !tbaa !59
  br label %146

146:                                              ; preds = %144, %145, %114
  %147 = getelementptr inbounds i8, ptr %1, i64 24
  %148 = load i8, ptr %147, align 8, !tbaa !61, !range !62, !noundef !63
  %149 = trunc nuw i8 %148 to i1
  br i1 %149, label %150, label %169

150:                                              ; preds = %146
  %151 = getelementptr inbounds i8, ptr %1, i64 8
  %152 = load float, ptr %151, align 8, !tbaa !64
  %153 = getelementptr inbounds i8, ptr %0, i64 164
  call void @_ZN6b2Vec3mLEf(ptr noundef nonnull align 4 dereferenceable(12) %153, float noundef %152)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #9
  %154 = load float, ptr %153, align 4, !tbaa !65
  %155 = getelementptr inbounds i8, ptr %0, i64 168
  %156 = load float, ptr %155, align 8, !tbaa !66
  call void @_ZN6b2Vec2C2Eff(ptr noundef nonnull align 4 dereferenceable(8) %10, float noundef %154, float noundef %156)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #9
  %157 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %67, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %157, ptr %11, align 8
  call void @_ZN6b2Vec2mIERKS_(ptr noundef nonnull align 4 dereferenceable(8) %3, ptr noundef nonnull align 4 dereferenceable(8) %11)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #9
  %158 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %62, ptr noundef nonnull align 4 dereferenceable(8) %10)
  %159 = getelementptr inbounds i8, ptr %0, i64 172
  %160 = load float, ptr %159, align 4, !tbaa !67
  %161 = fadd float %158, %160
  %162 = fneg float %79
  %163 = call float @llvm.fmuladd.f32(float %162, float %161, float %51)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #9
  %164 = call <2 x float> @_ZmlfRK6b2Vec2(float noundef %68, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %164, ptr %12, align 8
  call void @_ZN6b2Vec2pLERKS_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #9
  %165 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %66, ptr noundef nonnull align 4 dereferenceable(8) %10)
  %166 = load float, ptr %159, align 4, !tbaa !67
  %167 = fadd float %165, %166
  %168 = call float @llvm.fmuladd.f32(float %83, float %167, float %58)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #9
  %.pre = load i64, ptr %3, align 8
  br label %171

169:                                              ; preds = %146
  %170 = getelementptr inbounds i8, ptr %0, i64 164
  call void @_ZN6b2Vec37SetZeroEv(ptr noundef nonnull align 4 dereferenceable(12) %170)
  br label %171

171:                                              ; preds = %169, %150
  %172 = phi i64 [ %.pre, %150 ], [ %49, %169 ]
  %.055 = phi float [ %168, %150 ], [ %58, %169 ]
  %.0 = phi float [ %163, %150 ], [ %51, %169 ]
  %173 = load ptr, ptr %46, align 8, !tbaa !43
  %174 = load i32, ptr %17, align 8, !tbaa !26
  %175 = sext i32 %174 to i64
  %176 = getelementptr inbounds %struct.b2Velocity, ptr %173, i64 %175
  store i64 %172, ptr %176, align 4
  %177 = load ptr, ptr %46, align 8, !tbaa !43
  %178 = load i32, ptr %17, align 8, !tbaa !26
  %179 = sext i32 %178 to i64
  %180 = getelementptr inbounds %struct.b2Velocity, ptr %177, i64 %179, i32 1
  store float %.0, ptr %180, align 4, !tbaa !44
  %181 = load i32, ptr %22, align 4, !tbaa !31
  %182 = sext i32 %181 to i64
  %183 = getelementptr inbounds %struct.b2Velocity, ptr %177, i64 %182
  %184 = load i64, ptr %4, align 8
  store i64 %184, ptr %183, align 4
  %185 = load ptr, ptr %46, align 8, !tbaa !43
  %186 = load i32, ptr %22, align 4, !tbaa !31
  %187 = sext i32 %186 to i64
  %188 = getelementptr inbounds %struct.b2Velocity, ptr %185, i64 %187, i32 1
  store float %.055, ptr %188, align 4, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %9) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #9
  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)) local_unnamed_addr #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)) local_unnamed_addr #4

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

declare void @_ZNK7b2Mat3312GetInverse22EPS_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef) local_unnamed_addr #6

declare void @_ZNK7b2Mat3315GetSymInverse33EPS_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef) local_unnamed_addr #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec3mLEf(ptr noundef nonnull align 4 dereferenceable(12), float noundef) local_unnamed_addr #2 align 2

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #7

; 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 #2 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <4 x float> @llvm.fmuladd.v4f32(<4 x float>, <4 x float>, <4 x float>) #8

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #6 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 #8 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !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 176}
!27 = !{!"_ZTS11b2WeldJoint", !6, i64 0, !22, i64 128, !22, i64 132, !22, i64 136, !21, i64 140, !21, i64 148, !22, i64 156, !22, i64 160, !28, i64 164, !12, i64 176, !12, i64 180, !21, i64 184, !21, i64 192, !21, i64 200, !21, i64 208, !22, i64 216, !22, i64 220, !22, i64 224, !22, i64 228, !29, i64 232}
!28 = !{!"_ZTS6b2Vec3", !22, i64 0, !22, i64 4, !22, i64 8}
!29 = !{!"_ZTS7b2Mat33", !28, i64 0, !28, i64 12, !28, i64 24}
!30 = !{!6, !10, i64 104}
!31 = !{!27, !12, i64 180}
!32 = !{!17, !22, i64 172}
!33 = !{!27, !22, i64 216}
!34 = !{!27, !22, i64 220}
!35 = !{!17, !22, i64 180}
!36 = !{!27, !22, i64 224}
!37 = !{!27, !22, i64 228}
!38 = !{!39, !10, i64 32}
!39 = !{!"_ZTS12b2SolverData", !40, i64 0, !10, i64 32, !10, i64 40}
!40 = !{!"_ZTS10b2TimeStep", !22, i64 0, !22, i64 4, !22, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !13, i64 24}
!41 = !{!42, !22, i64 8}
!42 = !{!"_ZTS10b2Position", !21, i64 0, !22, i64 8}
!43 = !{!39, !10, i64 40}
!44 = !{!45, !22, i64 8}
!45 = !{!"_ZTS10b2Velocity", !21, i64 0, !22, i64 8}
!46 = !{!22, !22, i64 0}
!47 = !{!27, !22, i64 188}
!48 = !{!27, !22, i64 196}
!49 = !{!29, !22, i64 0}
!50 = !{!27, !22, i64 184}
!51 = !{!27, !22, i64 192}
!52 = !{!29, !22, i64 4}
!53 = !{!29, !22, i64 32}
!54 = !{!27, !22, i64 128}
!55 = !{!27, !22, i64 156}
!56 = !{!27, !22, i64 132}
!57 = !{!39, !22, i64 0}
!58 = !{!27, !22, i64 160}
!59 = !{!27, !22, i64 136}
!60 = !{!27, !22, i64 264}
!61 = !{!39, !13, i64 24}
!62 = !{i8 0, i8 2}
!63 = !{}
!64 = !{!39, !22, i64 8}
!65 = !{!27, !22, i64 164}
!66 = !{!27, !22, i64 168}
!67 = !{!27, !22, i64 172}


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