; LLVM IR from mtsamis/box2d-optimized :: src/dynamics/b2_contact_solver.ll (ZN15b2ContactSolver29InitializeVelocityConstraintsEv)

; 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.b2Transform = type { %struct.b2Vec2, %struct.b2Rot }
%struct.b2Rot = type { float, float }
%struct.b2WorldManifold = type { %struct.b2Vec2, [2 x %struct.b2Vec2], [2 x float] }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%class.b2ContactSolver = type <{ ptr, ptr, ptr, ptr, ptr, i32, [4 x i8] }>
%struct.b2ContactVelocityConstraint = type { [2 x %struct.b2VelocityConstraintPoint], %struct.b2Vec2, %struct.b2Mat22, %struct.b2Mat22, i32, i32, float, float, float, float, float, float, float, float, i32, ptr }
%struct.b2VelocityConstraintPoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float }
%struct.b2ContactPositionConstraint = type { [2 x %struct.b2Vec2], %struct.b2Vec2, %struct.b2Vec2, i32, i32, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, i32, float, float, i32 }
%struct.b2Position = type { %struct.b2Vec2, float }
%struct.b2Velocity = type { %struct.b2Vec2, float }
%struct.b2Manifold = type { [2 x %struct.b2ManifoldPoint], %struct.b2Vec2, %struct.b2Vec2, i32, i32 }
%struct.b2ManifoldPoint = type { %struct.b2Vec2, float, float, %union.b2ContactID }
%union.b2ContactID = type { i32 }

@g_blockSolve = external dso_local global i8, align 1
@.str.1 = external hidden unnamed_addr constant [92 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [25 x i8], align 1
@__PRETTY_FUNCTION__._ZN15b2ContactSolver29InitializeVelocityConstraintsEv = external hidden unnamed_addr constant [54 x i8], align 1

; 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: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #2

; 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
define dso_local void @_ZN15b2ContactSolver29InitializeVelocityConstraintsEv(ptr noundef nonnull align 8 dereferenceable(44) %0) #3 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca float, align 4
  %8 = alloca float, align 4
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca float, align 4
  %13 = alloca float, align 4
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca %struct.b2Vec2, align 4
  %17 = alloca %struct.b2Vec2, align 4
  %18 = alloca %struct.b2Vec2, align 4
  %19 = alloca float, align 4
  %20 = alloca %struct.b2Vec2, align 4
  %21 = alloca float, align 4
  %22 = alloca %struct.b2Vec2, align 4
  %23 = alloca float, align 4
  %24 = alloca %struct.b2Vec2, align 4
  %25 = alloca float, align 4
  %26 = alloca %struct.b2Transform, align 4
  %27 = alloca %struct.b2Transform, align 4
  %28 = alloca %struct.b2Vec2, align 4
  %29 = alloca %struct.b2Vec2, align 4
  %30 = alloca %struct.b2Vec2, align 4
  %31 = alloca %struct.b2Vec2, align 4
  %32 = alloca %struct.b2WorldManifold, align 4
  %33 = alloca %struct.b2Vec2, align 4
  %34 = alloca i32, align 4
  %35 = alloca i32, align 4
  %36 = alloca ptr, align 8
  %37 = alloca %struct.b2Vec2, align 4
  %38 = alloca %struct.b2Vec2, align 4
  %39 = alloca float, align 4
  %40 = alloca float, align 4
  %41 = alloca float, align 4
  %42 = alloca float, align 4
  %43 = alloca float, align 4
  %44 = alloca float, align 4
  %45 = alloca float, align 4
  %46 = alloca %struct.b2Vec2, align 4
  %47 = alloca %struct.b2Vec2, align 4
  %48 = alloca %struct.b2Vec2, align 4
  %49 = alloca %struct.b2Vec2, align 4
  %50 = alloca %struct.b2Vec2, align 4
  %51 = alloca ptr, align 8
  %52 = alloca ptr, align 8
  %53 = alloca float, align 4
  %54 = alloca float, align 4
  %55 = alloca float, align 4
  %56 = alloca float, align 4
  %57 = alloca float, align 4
  %58 = alloca float, align 4
  %59 = alloca float, align 4
  %60 = alloca float, align 4
  %61 = alloca %struct.b2Mat22, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %62 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #11
  store i32 0, ptr %3, align 4, !tbaa !9
  br label %63

63:                                               ; preds = %429, %1
  %64 = load i32, ptr %3, align 4, !tbaa !9
  %65 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 5
  %66 = load i32, ptr %65, align 8, !tbaa !11
  %67 = icmp slt i32 %64, %66
  br i1 %67, label %69, label %68

68:                                               ; preds = %63
  store i32 2, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #11
  br label %432

69:                                               ; preds = %63
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #11
  %70 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 4
  %71 = load ptr, ptr %70, align 8, !tbaa !13
  %72 = load i32, ptr %3, align 4, !tbaa !9
  %73 = sext i32 %72 to i64
  %74 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %71, i64 %73
  store ptr %74, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #11
  %75 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 3
  %76 = load ptr, ptr %75, align 8, !tbaa !14
  %77 = load i32, ptr %3, align 4, !tbaa !9
  %78 = sext i32 %77 to i64
  %79 = getelementptr inbounds %struct.b2ContactPositionConstraint, ptr %76, i64 %78
  store ptr %79, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #11
  %80 = load ptr, ptr %6, align 8, !tbaa !5
  %81 = getelementptr inbounds %struct.b2ContactPositionConstraint, ptr %80, i32 0, i32 12
  %82 = load float, ptr %81, align 4, !tbaa !15
  store float %82, ptr %7, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #11
  %83 = load ptr, ptr %6, align 8, !tbaa !5
  %84 = getelementptr inbounds %struct.b2ContactPositionConstraint, ptr %83, i32 0, i32 13
  %85 = load float, ptr %84, align 4, !tbaa !21
  store float %85, ptr %8, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #11
  %86 = load ptr, ptr %5, align 8, !tbaa !5
  %87 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %86, i32 0, i32 15
  %88 = load ptr, ptr %87, align 8, !tbaa !22
  store ptr %88, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #11
  %89 = load ptr, ptr %5, align 8, !tbaa !5
  %90 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %89, i32 0, i32 4
  %91 = load i32, ptr %90, align 8, !tbaa !25
  store i32 %91, ptr %10, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #11
  %92 = load ptr, ptr %5, align 8, !tbaa !5
  %93 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %92, i32 0, i32 5
  %94 = load i32, ptr %93, align 4, !tbaa !26
  store i32 %94, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #11
  %95 = load ptr, ptr %5, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %95, i32 0, i32 6
  %97 = load float, ptr %96, align 8, !tbaa !27
  store float %97, ptr %12, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #11
  %98 = load ptr, ptr %5, align 8, !tbaa !5
  %99 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %98, i32 0, i32 7
  %100 = load float, ptr %99, align 4, !tbaa !28
  store float %100, ptr %13, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #11
  %101 = load ptr, ptr %5, align 8, !tbaa !5
  %102 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %101, i32 0, i32 8
  %103 = load float, ptr %102, align 8, !tbaa !29
  store float %103, ptr %14, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #11
  %104 = load ptr, ptr %5, align 8, !tbaa !5
  %105 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %104, i32 0, i32 9
  %106 = load float, ptr %105, align 4, !tbaa !30
  store float %106, ptr %15, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #11
  %107 = load ptr, ptr %6, align 8, !tbaa !5
  %108 = getelementptr inbounds %struct.b2ContactPositionConstraint, ptr %107, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %16, ptr align 4 %108, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #11
  %109 = load ptr, ptr %6, align 8, !tbaa !5
  %110 = getelementptr inbounds %struct.b2ContactPositionConstraint, ptr %109, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %110, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #11
  %111 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 0
  %112 = load ptr, ptr %111, align 8, !tbaa !32
  %113 = load i32, ptr %10, align 4, !tbaa !9
  %114 = sext i32 %113 to i64
  %115 = getelementptr inbounds %struct.b2Position, ptr %112, i64 %114
  %116 = getelementptr inbounds %struct.b2Position, ptr %115, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %18, ptr align 4 %116, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #11
  %117 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 0
  %118 = load ptr, ptr %117, align 8, !tbaa !32
  %119 = load i32, ptr %10, align 4, !tbaa !9
  %120 = sext i32 %119 to i64
  %121 = getelementptr inbounds %struct.b2Position, ptr %118, i64 %120
  %122 = getelementptr inbounds %struct.b2Position, ptr %121, i32 0, i32 1
  %123 = load float, ptr %122, align 4, !tbaa !33
  store float %123, ptr %19, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #11
  %124 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 1
  %125 = load ptr, ptr %124, align 8, !tbaa !35
  %126 = load i32, ptr %10, align 4, !tbaa !9
  %127 = sext i32 %126 to i64
  %128 = getelementptr inbounds %struct.b2Velocity, ptr %125, i64 %127
  %129 = getelementptr inbounds %struct.b2Velocity, ptr %128, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %20, ptr align 4 %129, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #11
  %130 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 1
  %131 = load ptr, ptr %130, align 8, !tbaa !35
  %132 = load i32, ptr %10, align 4, !tbaa !9
  %133 = sext i32 %132 to i64
  %134 = getelementptr inbounds %struct.b2Velocity, ptr %131, i64 %133
  %135 = getelementptr inbounds %struct.b2Velocity, ptr %134, i32 0, i32 1
  %136 = load float, ptr %135, align 4, !tbaa !36
  store float %136, ptr %21, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #11
  %137 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 0
  %138 = load ptr, ptr %137, align 8, !tbaa !32
  %139 = load i32, ptr %11, align 4, !tbaa !9
  %140 = sext i32 %139 to i64
  %141 = getelementptr inbounds %struct.b2Position, ptr %138, i64 %140
  %142 = getelementptr inbounds %struct.b2Position, ptr %141, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %22, ptr align 4 %142, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #11
  %143 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 0
  %144 = load ptr, ptr %143, align 8, !tbaa !32
  %145 = load i32, ptr %11, align 4, !tbaa !9
  %146 = sext i32 %145 to i64
  %147 = getelementptr inbounds %struct.b2Position, ptr %144, i64 %146
  %148 = getelementptr inbounds %struct.b2Position, ptr %147, i32 0, i32 1
  %149 = load float, ptr %148, align 4, !tbaa !33
  store float %149, ptr %23, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #11
  %150 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 1
  %151 = load ptr, ptr %150, align 8, !tbaa !35
  %152 = load i32, ptr %11, align 4, !tbaa !9
  %153 = sext i32 %152 to i64
  %154 = getelementptr inbounds %struct.b2Velocity, ptr %151, i64 %153
  %155 = getelementptr inbounds %struct.b2Velocity, ptr %154, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %24, ptr align 4 %155, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #11
  %156 = getelementptr inbounds %class.b2ContactSolver, ptr %62, i32 0, i32 1
  %157 = load ptr, ptr %156, align 8, !tbaa !35
  %158 = load i32, ptr %11, align 4, !tbaa !9
  %159 = sext i32 %158 to i64
  %160 = getelementptr inbounds %struct.b2Velocity, ptr %157, i64 %159
  %161 = getelementptr inbounds %struct.b2Velocity, ptr %160, i32 0, i32 1
  %162 = load float, ptr %161, align 4, !tbaa !36
  store float %162, ptr %25, align 4, !tbaa !20
  %163 = load ptr, ptr %9, align 8, !tbaa !5
  %164 = getelementptr inbounds %struct.b2Manifold, ptr %163, i32 0, i32 4
  %165 = load i32, ptr %164, align 4, !tbaa !38
  %166 = icmp sgt i32 %165, 0
  br i1 %166, label %167, label %168

167:                                              ; preds = %69
  br label %170

168:                                              ; preds = %69
  call void @__assert_fail(ptr noundef @.str.2, ptr noundef @.str.1, i32 noundef 184, ptr noundef @__PRETTY_FUNCTION__._ZN15b2ContactSolver29InitializeVelocityConstraintsEv) #12
  unreachable

169:                                              ; No predecessors!
  br label %170

170:                                              ; preds = %169, %167
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #11
  call void @_ZN11b2TransformC2Ev(ptr noundef nonnull align 4 dereferenceable(16) %26)
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #11
  call void @_ZN11b2TransformC2Ev(ptr noundef nonnull align 4 dereferenceable(16) %27)
  %171 = getelementptr inbounds %struct.b2Transform, ptr %26, i32 0, i32 1
  %172 = load float, ptr %19, align 4, !tbaa !20
  call void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8) %171, float noundef %172)
  %173 = getelementptr inbounds %struct.b2Transform, ptr %27, i32 0, i32 1
  %174 = load float, ptr %23, align 4, !tbaa !20
  call void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8) %173, float noundef %174)
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #11
  %175 = getelementptr inbounds %struct.b2Transform, ptr %26, i32 0, i32 1
  %176 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %175, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %176, ptr %29, align 4
  %177 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %18, ptr noundef nonnull align 4 dereferenceable(8) %29)
  store <2 x float> %177, ptr %28, align 4
  %178 = getelementptr inbounds %struct.b2Transform, ptr %26, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %178, ptr align 4 %28, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #11
  %179 = getelementptr inbounds %struct.b2Transform, ptr %27, i32 0, i32 1
  %180 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %179, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %180, ptr %31, align 4
  %181 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %22, ptr noundef nonnull align 4 dereferenceable(8) %31)
  store <2 x float> %181, ptr %30, align 4
  %182 = getelementptr inbounds %struct.b2Transform, ptr %27, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %182, ptr align 4 %30, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #11
  call void @llvm.lifetime.start.p0(i64 32, ptr %32) #11
  call void @_ZN15b2WorldManifoldC2Ev(ptr noundef nonnull align 4 dereferenceable(32) %32)
  %183 = load ptr, ptr %9, align 8, !tbaa !5
  %184 = load float, ptr %7, align 4, !tbaa !20
  %185 = load float, ptr %8, align 4, !tbaa !20
  call void @_ZN15b2WorldManifold10InitializeEPK10b2ManifoldRK11b2TransformfS5_f(ptr noundef nonnull align 4 dereferenceable(32) %32, ptr noundef %183, ptr noundef nonnull align 4 dereferenceable(16) %26, float noundef %184, ptr noundef nonnull align 4 dereferenceable(16) %27, float noundef %185)
  %186 = getelementptr inbounds %struct.b2WorldManifold, ptr %32, i32 0, i32 0
  %187 = load ptr, ptr %5, align 8, !tbaa !5
  %188 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %187, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %188, ptr align 4 %186, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #11
  %189 = load ptr, ptr %5, align 8, !tbaa !5
  %190 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %189, i32 0, i32 1
  %191 = call <2 x float> @_Z7b2CrossRK6b2Vec2f(ptr noundef nonnull align 4 dereferenceable(8) %190, float noundef 1.000000e+00)
  store <2 x float> %191, ptr %33, align 4
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #11
  %192 = load ptr, ptr %5, align 8, !tbaa !5
  %193 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %192, i32 0, i32 14
  %194 = load i32, ptr %193, align 8, !tbaa !40
  store i32 %194, ptr %34, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #11
  store i32 0, ptr %35, align 4, !tbaa !9
  br label %195

195:                                              ; preds = %315, %170
  %196 = load i32, ptr %35, align 4, !tbaa !9
  %197 = load i32, ptr %34, align 4, !tbaa !9
  %198 = icmp slt i32 %196, %197
  br i1 %198, label %200, label %199

199:                                              ; preds = %195
  store i32 5, ptr %4, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #11
  br label %318

200:                                              ; preds = %195
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #11
  %201 = load ptr, ptr %5, align 8, !tbaa !5
  %202 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %201, i32 0, i32 0
  %203 = getelementptr inbounds [2 x %struct.b2VelocityConstraintPoint], ptr %202, i64 0, i64 0
  %204 = load i32, ptr %35, align 4, !tbaa !9
  %205 = sext i32 %204 to i64
  %206 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %203, i64 %205
  store ptr %206, ptr %36, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #11
  %207 = getelementptr inbounds %struct.b2WorldManifold, ptr %32, i32 0, i32 1
  %208 = load i32, ptr %35, align 4, !tbaa !9
  %209 = sext i32 %208 to i64
  %210 = getelementptr inbounds [2 x %struct.b2Vec2], ptr %207, i64 0, i64 %209
  %211 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %210, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %211, ptr %37, align 4
  %212 = load ptr, ptr %36, align 8, !tbaa !5
  %213 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %212, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %213, ptr align 4 %37, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #11
  %214 = getelementptr inbounds %struct.b2WorldManifold, ptr %32, i32 0, i32 1
  %215 = load i32, ptr %35, align 4, !tbaa !9
  %216 = sext i32 %215 to i64
  %217 = getelementptr inbounds [2 x %struct.b2Vec2], ptr %214, i64 0, i64 %216
  %218 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %217, ptr noundef nonnull align 4 dereferenceable(8) %22)
  store <2 x float> %218, ptr %38, align 4
  %219 = load ptr, ptr %36, align 8, !tbaa !5
  %220 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %219, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %220, ptr align 4 %38, i64 8, i1 false), !tbaa.struct !31
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #11
  %221 = load ptr, ptr %36, align 8, !tbaa !5
  %222 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %221, i32 0, i32 0
  %223 = load ptr, ptr %5, align 8, !tbaa !5
  %224 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %223, i32 0, i32 1
  %225 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %222, ptr noundef nonnull align 4 dereferenceable(8) %224)
  store float %225, ptr %39, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #11
  %226 = load ptr, ptr %36, align 8, !tbaa !5
  %227 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %226, i32 0, i32 1
  %228 = load ptr, ptr %5, align 8, !tbaa !5
  %229 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %228, i32 0, i32 1
  %230 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %227, ptr noundef nonnull align 4 dereferenceable(8) %229)
  store float %230, ptr %40, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #11
  %231 = load float, ptr %12, align 4, !tbaa !20
  %232 = load float, ptr %13, align 4, !tbaa !20
  %233 = fadd float %231, %232
  %234 = load float, ptr %14, align 4, !tbaa !20
  %235 = load float, ptr %39, align 4, !tbaa !20
  %236 = fmul float %234, %235
  %237 = load float, ptr %39, align 4, !tbaa !20
  %238 = call float @llvm.fmuladd.f32(float %236, float %237, float %233)
  %239 = load float, ptr %15, align 4, !tbaa !20
  %240 = load float, ptr %40, align 4, !tbaa !20
  %241 = fmul float %239, %240
  %242 = load float, ptr %40, align 4, !tbaa !20
  %243 = call float @llvm.fmuladd.f32(float %241, float %242, float %238)
  store float %243, ptr %41, align 4, !tbaa !20
  %244 = load float, ptr %41, align 4, !tbaa !20
  %245 = fcmp ogt float %244, 0.000000e+00
  br i1 %245, label %246, label %249

246:                                              ; preds = %200
  %247 = load float, ptr %41, align 4, !tbaa !20
  %248 = fdiv float 1.000000e+00, %247
  br label %250

249:                                              ; preds = %200
  br label %250

250:                                              ; preds = %249, %246
  %251 = phi float [ %248, %246 ], [ 0.000000e+00, %249 ]
  %252 = load ptr, ptr %36, align 8, !tbaa !5
  %253 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %252, i32 0, i32 3
  store float %251, ptr %253, align 4, !tbaa !41
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #11
  %254 = load ptr, ptr %36, align 8, !tbaa !5
  %255 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %254, i32 0, i32 0
  %256 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %255, ptr noundef nonnull align 4 dereferenceable(8) %33)
  store float %256, ptr %42, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #11
  %257 = load ptr, ptr %36, align 8, !tbaa !5
  %258 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %257, i32 0, i32 1
  %259 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %258, ptr noundef nonnull align 4 dereferenceable(8) %33)
  store float %259, ptr %43, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #11
  %260 = load float, ptr %12, align 4, !tbaa !20
  %261 = load float, ptr %13, align 4, !tbaa !20
  %262 = fadd float %260, %261
  %263 = load float, ptr %14, align 4, !tbaa !20
  %264 = load float, ptr %42, align 4, !tbaa !20
  %265 = fmul float %263, %264
  %266 = load float, ptr %42, align 4, !tbaa !20
  %267 = call float @llvm.fmuladd.f32(float %265, float %266, float %262)
  %268 = load float, ptr %15, align 4, !tbaa !20
  %269 = load float, ptr %43, align 4, !tbaa !20
  %270 = fmul float %268, %269
  %271 = load float, ptr %43, align 4, !tbaa !20
  %272 = call float @llvm.fmuladd.f32(float %270, float %271, float %267)
  store float %272, ptr %44, align 4, !tbaa !20
  %273 = load float, ptr %44, align 4, !tbaa !20
  %274 = fcmp ogt float %273, 0.000000e+00
  br i1 %274, label %275, label %278

275:                                              ; preds = %250
  %276 = load float, ptr %44, align 4, !tbaa !20
  %277 = fdiv float 1.000000e+00, %276
  br label %279

278:                                              ; preds = %250
  br label %279

279:                                              ; preds = %278, %275
  %280 = phi float [ %277, %275 ], [ 0.000000e+00, %278 ]
  %281 = load ptr, ptr %36, align 8, !tbaa !5
  %282 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %281, i32 0, i32 5
  store float %280, ptr %282, align 4, !tbaa !43
  %283 = load ptr, ptr %36, align 8, !tbaa !5
  %284 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %283, i32 0, i32 6
  store float 0.000000e+00, ptr %284, align 4, !tbaa !44
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #11
  %285 = load ptr, ptr %5, align 8, !tbaa !5
  %286 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %285, i32 0, i32 1
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #11
  %287 = load float, ptr %25, align 4, !tbaa !20
  %288 = load ptr, ptr %36, align 8, !tbaa !5
  %289 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %288, i32 0, i32 1
  %290 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %287, ptr noundef nonnull align 4 dereferenceable(8) %289)
  store <2 x float> %290, ptr %48, align 4
  %291 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %24, ptr noundef nonnull align 4 dereferenceable(8) %48)
  store <2 x float> %291, ptr %47, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #11
  %292 = load float, ptr %21, align 4, !tbaa !20
  %293 = load ptr, ptr %36, align 8, !tbaa !5
  %294 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %293, i32 0, i32 0
  %295 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %292, ptr noundef nonnull align 4 dereferenceable(8) %294)
  store <2 x float> %295, ptr %50, align 4
  %296 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %20, ptr noundef nonnull align 4 dereferenceable(8) %50)
  store <2 x float> %296, ptr %49, align 4
  %297 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %47, ptr noundef nonnull align 4 dereferenceable(8) %49)
  store <2 x float> %297, ptr %46, align 4
  %298 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %286, ptr noundef nonnull align 4 dereferenceable(8) %46)
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #11
  store float %298, ptr %45, align 4, !tbaa !20
  %299 = load float, ptr %45, align 4, !tbaa !20
  %300 = load ptr, ptr %5, align 8, !tbaa !5
  %301 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %300, i32 0, i32 12
  %302 = load float, ptr %301, align 8, !tbaa !45
  %303 = fneg float %302
  %304 = fcmp olt float %299, %303
  br i1 %304, label %305, label %314

305:                                              ; preds = %279
  %306 = load ptr, ptr %5, align 8, !tbaa !5
  %307 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %306, i32 0, i32 11
  %308 = load float, ptr %307, align 4, !tbaa !46
  %309 = fneg float %308
  %310 = load float, ptr %45, align 4, !tbaa !20
  %311 = fmul float %309, %310
  %312 = load ptr, ptr %36, align 8, !tbaa !5
  %313 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %312, i32 0, i32 6
  store float %311, ptr %313, align 4, !tbaa !44
  br label %314

314:                                              ; preds = %305, %279
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #11
  br label %315

315:                                              ; preds = %314
  %316 = load i32, ptr %35, align 4, !tbaa !9
  %317 = add nsw i32 %316, 1
  store i32 %317, ptr %35, align 4, !tbaa !9
  br label %195, !llvm.loop !47

318:                                              ; preds = %199
  %319 = load i32, ptr %34, align 4, !tbaa !9
  %320 = icmp eq i32 %319, 2
  br i1 %320, label %321, label %428

321:                                              ; preds = %318
  %322 = load i8, ptr @g_blockSolve, align 1, !tbaa !49, !range !51, !noundef !52
  %323 = trunc i8 %322 to i1
  br i1 %323, label %324, label %428

324:                                              ; preds = %321
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #11
  %325 = load ptr, ptr %5, align 8, !tbaa !5
  %326 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %325, i32 0, i32 0
  %327 = getelementptr inbounds [2 x %struct.b2VelocityConstraintPoint], ptr %326, i64 0, i64 0
  %328 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %327, i64 0
  store ptr %328, ptr %51, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #11
  %329 = load ptr, ptr %5, align 8, !tbaa !5
  %330 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %329, i32 0, i32 0
  %331 = getelementptr inbounds [2 x %struct.b2VelocityConstraintPoint], ptr %330, i64 0, i64 0
  %332 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %331, i64 1
  store ptr %332, ptr %52, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %53) #11
  %333 = load ptr, ptr %51, align 8, !tbaa !5
  %334 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %333, i32 0, i32 0
  %335 = load ptr, ptr %5, align 8, !tbaa !5
  %336 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %335, i32 0, i32 1
  %337 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %334, ptr noundef nonnull align 4 dereferenceable(8) %336)
  store float %337, ptr %53, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %54) #11
  %338 = load ptr, ptr %51, align 8, !tbaa !5
  %339 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %338, i32 0, i32 1
  %340 = load ptr, ptr %5, align 8, !tbaa !5
  %341 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %340, i32 0, i32 1
  %342 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %339, ptr noundef nonnull align 4 dereferenceable(8) %341)
  store float %342, ptr %54, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %55) #11
  %343 = load ptr, ptr %52, align 8, !tbaa !5
  %344 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %343, i32 0, i32 0
  %345 = load ptr, ptr %5, align 8, !tbaa !5
  %346 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %345, i32 0, i32 1
  %347 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %344, ptr noundef nonnull align 4 dereferenceable(8) %346)
  store float %347, ptr %55, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %56) #11
  %348 = load ptr, ptr %52, align 8, !tbaa !5
  %349 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %348, i32 0, i32 1
  %350 = load ptr, ptr %5, align 8, !tbaa !5
  %351 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %350, i32 0, i32 1
  %352 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %349, ptr noundef nonnull align 4 dereferenceable(8) %351)
  store float %352, ptr %56, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %57) #11
  %353 = load float, ptr %12, align 4, !tbaa !20
  %354 = load float, ptr %13, align 4, !tbaa !20
  %355 = fadd float %353, %354
  %356 = load float, ptr %14, align 4, !tbaa !20
  %357 = load float, ptr %53, align 4, !tbaa !20
  %358 = fmul float %356, %357
  %359 = load float, ptr %53, align 4, !tbaa !20
  %360 = call float @llvm.fmuladd.f32(float %358, float %359, float %355)
  %361 = load float, ptr %15, align 4, !tbaa !20
  %362 = load float, ptr %54, align 4, !tbaa !20
  %363 = fmul float %361, %362
  %364 = load float, ptr %54, align 4, !tbaa !20
  %365 = call float @llvm.fmuladd.f32(float %363, float %364, float %360)
  store float %365, ptr %57, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %58) #11
  %366 = load float, ptr %12, align 4, !tbaa !20
  %367 = load float, ptr %13, align 4, !tbaa !20
  %368 = fadd float %366, %367
  %369 = load float, ptr %14, align 4, !tbaa !20
  %370 = load float, ptr %55, align 4, !tbaa !20
  %371 = fmul float %369, %370
  %372 = load float, ptr %55, align 4, !tbaa !20
  %373 = call float @llvm.fmuladd.f32(float %371, float %372, float %368)
  %374 = load float, ptr %15, align 4, !tbaa !20
  %375 = load float, ptr %56, align 4, !tbaa !20
  %376 = fmul float %374, %375
  %377 = load float, ptr %56, align 4, !tbaa !20
  %378 = call float @llvm.fmuladd.f32(float %376, float %377, float %373)
  store float %378, ptr %58, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %59) #11
  %379 = load float, ptr %12, align 4, !tbaa !20
  %380 = load float, ptr %13, align 4, !tbaa !20
  %381 = fadd float %379, %380
  %382 = load float, ptr %14, align 4, !tbaa !20
  %383 = load float, ptr %53, align 4, !tbaa !20
  %384 = fmul float %382, %383
  %385 = load float, ptr %55, align 4, !tbaa !20
  %386 = call float @llvm.fmuladd.f32(float %384, float %385, float %381)
  %387 = load float, ptr %15, align 4, !tbaa !20
  %388 = load float, ptr %54, align 4, !tbaa !20
  %389 = fmul float %387, %388
  %390 = load float, ptr %56, align 4, !tbaa !20
  %391 = call float @llvm.fmuladd.f32(float %389, float %390, float %386)
  store float %391, ptr %59, align 4, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 4, ptr %60) #11
  store float 1.000000e+03, ptr %60, align 4, !tbaa !20
  %392 = load float, ptr %57, align 4, !tbaa !20
  %393 = load float, ptr %57, align 4, !tbaa !20
  %394 = fmul float %392, %393
  %395 = load float, ptr %57, align 4, !tbaa !20
  %396 = load float, ptr %58, align 4, !tbaa !20
  %397 = load float, ptr %59, align 4, !tbaa !20
  %398 = load float, ptr %59, align 4, !tbaa !20
  %399 = fmul float %397, %398
  %400 = fneg float %399
  %401 = call float @llvm.fmuladd.f32(float %395, float %396, float %400)
  %402 = fmul float 1.000000e+03, %401
  %403 = fcmp olt float %394, %402
  br i1 %403, label %404, label %424

404:                                              ; preds = %324
  %405 = load ptr, ptr %5, align 8, !tbaa !5
  %406 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %405, i32 0, i32 3
  %407 = getelementptr inbounds %struct.b2Mat22, ptr %406, i32 0, i32 0
  %408 = load float, ptr %57, align 4, !tbaa !20
  %409 = load float, ptr %59, align 4, !tbaa !20
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %407, float noundef %408, float noundef %409)
  %410 = load ptr, ptr %5, align 8, !tbaa !5
  %411 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %410, i32 0, i32 3
  %412 = getelementptr inbounds %struct.b2Mat22, ptr %411, i32 0, i32 1
  %413 = load float, ptr %59, align 4, !tbaa !20
  %414 = load float, ptr %58, align 4, !tbaa !20
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %412, float noundef %413, float noundef %414)
  call void @llvm.lifetime.start.p0(i64 16, ptr %61) #11
  %415 = load ptr, ptr %5, align 8, !tbaa !5
  %416 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %415, i32 0, i32 3
  %417 = call { <2 x float>, <2 x float> } @_ZNK7b2Mat2210GetInverseEv(ptr noundef nonnull align 4 dereferenceable(16) %416)
  %418 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %61, i32 0, i32 0
  %419 = extractvalue { <2 x float>, <2 x float> } %417, 0
  store <2 x float> %419, ptr %418, align 4
  %420 = getelementptr inbounds { <2 x float>, <2 x float> }, ptr %61, i32 0, i32 1
  %421 = extractvalue { <2 x float>, <2 x float> } %417, 1
  store <2 x float> %421, ptr %420, align 4
  %422 = load ptr, ptr %5, align 8, !tbaa !5
  %423 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %422, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %423, ptr align 4 %61, i64 16, i1 false), !tbaa.struct !53
  call void @llvm.lifetime.end.p0(i64 16, ptr %61) #11
  br label %427

424:                                              ; preds = %324
  %425 = load ptr, ptr %5, align 8, !tbaa !5
  %426 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %425, i32 0, i32 14
  store i32 1, ptr %426, align 8, !tbaa !40
  br label %427

427:                                              ; preds = %424, %404
  call void @llvm.lifetime.end.p0(i64 4, ptr %60) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %59) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %58) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %56) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %55) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %53) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #11
  br label %428

428:                                              ; preds = %427, %321, %318
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #11
  call void @llvm.lifetime.end.p0(i64 32, ptr %32) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #11
  br label %429

429:                                              ; preds = %428
  %430 = load i32, ptr %3, align 4, !tbaa !9
  %431 = add nsw i32 %430, 1
  store i32 %431, ptr %3, align 4, !tbaa !9
  br label %63, !llvm.loop !54

432:                                              ; preds = %68
  ret void
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11b2TransformC2Ev(ptr noundef nonnull align 4 dereferenceable(16)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #6

; 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)) #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN15b2WorldManifoldC2Ev(ptr noundef nonnull align 4 dereferenceable(32)) unnamed_addr #7 align 2

declare void @_ZN15b2WorldManifold10InitializeEPK10b2ManifoldRK11b2TransformfS5_f(ptr noundef nonnull align 4 dereferenceable(32), ptr noundef, ptr noundef nonnull align 4 dereferenceable(16), float noundef, ptr noundef nonnull align 4 dereferenceable(16), float noundef) #8

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossRK6b2Vec2f(ptr noundef nonnull align 4 dereferenceable(8), float noundef) #6

; 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)) #9

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #10

; 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)) #9

; 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)) #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZNK7b2Mat2210GetInverseEv(ptr noundef nonnull align 4 dereferenceable(16)) #4 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { noreturn nounwind "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 = { 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 #5 = { 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 = { 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 #7 = { inlinehint 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 #8 = { "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 = { 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 #10 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #11 = { nounwind }
attributes #12 = { noreturn 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, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 40}
!12 = !{!"_ZTS15b2ContactSolver", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !10, i64 40}
!13 = !{!12, !6, i64 32}
!14 = !{!12, !6, i64 24}
!15 = !{!16, !18, i64 76}
!16 = !{!"_ZTS27b2ContactPositionConstraint", !7, i64 0, !17, i64 16, !17, i64 24, !10, i64 32, !10, i64 36, !18, i64 40, !18, i64 44, !17, i64 48, !17, i64 56, !18, i64 64, !18, i64 68, !19, i64 72, !18, i64 76, !18, i64 80, !10, i64 84}
!17 = !{!"_ZTS6b2Vec2", !18, i64 0, !18, i64 4}
!18 = !{!"float", !7, i64 0}
!19 = !{!"_ZTSN10b2Manifold4TypeE", !7, i64 0}
!20 = !{!18, !18, i64 0}
!21 = !{!16, !18, i64 80}
!22 = !{!23, !6, i64 160}
!23 = !{!"_ZTS27b2ContactVelocityConstraint", !7, i64 0, !17, i64 72, !24, i64 80, !24, i64 96, !10, i64 112, !10, i64 116, !18, i64 120, !18, i64 124, !18, i64 128, !18, i64 132, !18, i64 136, !18, i64 140, !18, i64 144, !18, i64 148, !10, i64 152, !6, i64 160}
!24 = !{!"_ZTS7b2Mat22", !17, i64 0, !17, i64 8}
!25 = !{!23, !10, i64 112}
!26 = !{!23, !10, i64 116}
!27 = !{!23, !18, i64 120}
!28 = !{!23, !18, i64 124}
!29 = !{!23, !18, i64 128}
!30 = !{!23, !18, i64 132}
!31 = !{i64 0, i64 4, !20, i64 4, i64 4, !20}
!32 = !{!12, !6, i64 0}
!33 = !{!34, !18, i64 8}
!34 = !{!"_ZTS10b2Position", !17, i64 0, !18, i64 8}
!35 = !{!12, !6, i64 8}
!36 = !{!37, !18, i64 8}
!37 = !{!"_ZTS10b2Velocity", !17, i64 0, !18, i64 8}
!38 = !{!39, !10, i64 60}
!39 = !{!"_ZTS10b2Manifold", !7, i64 0, !17, i64 40, !17, i64 48, !19, i64 56, !10, i64 60}
!40 = !{!23, !10, i64 152}
!41 = !{!42, !18, i64 20}
!42 = !{!"_ZTS25b2VelocityConstraintPoint", !17, i64 0, !17, i64 8, !18, i64 16, !18, i64 20, !18, i64 24, !18, i64 28, !18, i64 32}
!43 = !{!42, !18, i64 28}
!44 = !{!42, !18, i64 32}
!45 = !{!23, !18, i64 144}
!46 = !{!23, !18, i64 140}
!47 = distinct !{!47, !48}
!48 = !{!"llvm.loop.mustprogress"}
!49 = !{!50, !50, i64 0}
!50 = !{!"bool", !7, i64 0}
!51 = !{i8 0, i8 2}
!52 = !{}
!53 = !{i64 0, i64 4, !20, i64 4, i64 4, !20, i64 8, i64 4, !20, i64 12, i64 4, !20}
!54 = distinct !{!54, !48}


; 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.b2Transform = type { %struct.b2Vec2, %struct.b2Rot }
%struct.b2Rot = type { float, float }
%struct.b2WorldManifold = type { %struct.b2Vec2, [2 x %struct.b2Vec2], [2 x float] }
%struct.b2ContactVelocityConstraint = type { [2 x %struct.b2VelocityConstraintPoint], %struct.b2Vec2, %struct.b2Mat22, %struct.b2Mat22, i32, i32, float, float, float, float, float, float, float, float, i32, ptr }
%struct.b2VelocityConstraintPoint = type { %struct.b2Vec2, %struct.b2Vec2, float, float, float, float, float }
%struct.b2Mat22 = type { %struct.b2Vec2, %struct.b2Vec2 }
%struct.b2ContactPositionConstraint = type { [2 x %struct.b2Vec2], %struct.b2Vec2, %struct.b2Vec2, i32, i32, float, float, %struct.b2Vec2, %struct.b2Vec2, float, float, i32, float, float, i32 }
%struct.b2Position = type { %struct.b2Vec2, float }
%struct.b2Velocity = type { %struct.b2Vec2, float }

@g_blockSolve = external dso_local local_unnamed_addr global i8, align 1
@.str.1 = external hidden unnamed_addr constant [92 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [25 x i8], align 1
@__PRETTY_FUNCTION__._ZN15b2ContactSolver29InitializeVelocityConstraintsEv = external hidden unnamed_addr constant [54 x i8], align 1

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

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #1

; 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
define dso_local void @_ZN15b2ContactSolver29InitializeVelocityConstraintsEv(ptr nocapture noundef nonnull readonly align 8 dereferenceable(44) %0) local_unnamed_addr #2 align 2 {
  %2 = alloca %struct.b2Vec2, align 8
  %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.b2Vec2, align 8
  %8 = alloca %struct.b2Transform, align 8
  %9 = alloca %struct.b2Transform, align 8
  %10 = alloca %struct.b2Vec2, align 8
  %11 = alloca %struct.b2Vec2, align 8
  %12 = alloca %struct.b2WorldManifold, 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 = getelementptr inbounds i8, ptr %0, i64 40
  %20 = load i32, ptr %19, align 8, !tbaa !5
  %21 = icmp sgt i32 %20, 0
  br i1 %21, label %.lr.ph140, label %._crit_edge141

.lr.ph140:                                        ; preds = %1
  %22 = getelementptr inbounds i8, ptr %0, i64 32
  %23 = getelementptr inbounds i8, ptr %0, i64 24
  %24 = getelementptr inbounds i8, ptr %0, i64 8
  %25 = getelementptr inbounds i8, ptr %8, i64 8
  %26 = getelementptr inbounds i8, ptr %9, i64 8
  %27 = getelementptr inbounds i8, ptr %12, i64 8
  br label %28

._crit_edge141:                                   ; preds = %._crit_edge.thread, %1
  ret void

28:                                               ; preds = %.lr.ph140, %._crit_edge.thread
  %indvars.iv143 = phi i64 [ 0, %.lr.ph140 ], [ %indvars.iv.next144, %._crit_edge.thread ]
  %29 = load ptr, ptr %22, align 8, !tbaa !11
  %30 = getelementptr inbounds %struct.b2ContactVelocityConstraint, ptr %29, i64 %indvars.iv143
  %31 = load ptr, ptr %23, align 8, !tbaa !12
  %32 = getelementptr inbounds %struct.b2ContactPositionConstraint, ptr %31, i64 %indvars.iv143
  %33 = getelementptr inbounds i8, ptr %32, i64 76
  %34 = load float, ptr %33, align 4, !tbaa !13
  %35 = getelementptr inbounds i8, ptr %32, i64 80
  %36 = load float, ptr %35, align 4, !tbaa !18
  %37 = getelementptr inbounds i8, ptr %30, i64 160
  %38 = load ptr, ptr %37, align 8, !tbaa !19
  %39 = getelementptr inbounds i8, ptr %30, i64 112
  %40 = load i32, ptr %39, align 8, !tbaa !22
  %41 = getelementptr inbounds i8, ptr %30, i64 116
  %42 = load i32, ptr %41, align 4, !tbaa !23
  %43 = getelementptr inbounds i8, ptr %30, i64 120
  %44 = load float, ptr %43, align 8, !tbaa !24
  %45 = getelementptr inbounds i8, ptr %30, i64 124
  %46 = load float, ptr %45, align 4, !tbaa !25
  %47 = getelementptr inbounds i8, ptr %30, i64 128
  %48 = load float, ptr %47, align 8, !tbaa !26
  %49 = getelementptr inbounds i8, ptr %30, i64 132
  %50 = load float, ptr %49, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #10
  %51 = getelementptr inbounds i8, ptr %32, i64 48
  %52 = load i64, ptr %51, align 4
  store i64 %52, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #10
  %53 = getelementptr inbounds i8, ptr %32, i64 56
  %54 = load i64, ptr %53, align 4
  store i64 %54, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #10
  %55 = load ptr, ptr %0, align 8, !tbaa !28
  %56 = sext i32 %40 to i64
  %57 = getelementptr inbounds %struct.b2Position, ptr %55, i64 %56
  %58 = load i64, ptr %57, align 4
  store i64 %58, ptr %4, align 8
  %59 = getelementptr inbounds %struct.b2Position, ptr %55, i64 %56, i32 1
  %60 = load float, ptr %59, align 4, !tbaa !29
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #10
  %61 = load ptr, ptr %24, align 8, !tbaa !31
  %62 = getelementptr inbounds %struct.b2Velocity, ptr %61, i64 %56
  %63 = load i64, ptr %62, align 4
  store i64 %63, ptr %5, align 8
  %64 = getelementptr inbounds %struct.b2Velocity, ptr %61, i64 %56, i32 1
  %65 = load float, ptr %64, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #10
  %66 = sext i32 %42 to i64
  %67 = getelementptr inbounds %struct.b2Position, ptr %55, i64 %66
  %68 = load i64, ptr %67, align 4
  store i64 %68, ptr %6, align 8
  %69 = getelementptr inbounds %struct.b2Position, ptr %55, i64 %66, i32 1
  %70 = load float, ptr %69, align 4, !tbaa !29
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #10
  %71 = getelementptr inbounds %struct.b2Velocity, ptr %61, i64 %66
  %72 = load i64, ptr %71, align 4
  store i64 %72, ptr %7, align 8
  %73 = getelementptr inbounds %struct.b2Velocity, ptr %61, i64 %66, i32 1
  %74 = load float, ptr %73, align 4, !tbaa !32
  %75 = getelementptr inbounds i8, ptr %38, i64 60
  %76 = load i32, ptr %75, align 4, !tbaa !34
  %77 = icmp sgt i32 %76, 0
  br i1 %77, label %79, label %78

78:                                               ; preds = %28
  call void @__assert_fail(ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.1, i32 noundef 184, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN15b2ContactSolver29InitializeVelocityConstraintsEv) #11
  unreachable

79:                                               ; preds = %28
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #10
  call void @_ZN11b2TransformC2Ev(ptr noundef nonnull align 4 dereferenceable(16) %8)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #10
  call void @_ZN11b2TransformC2Ev(ptr noundef nonnull align 4 dereferenceable(16) %9)
  call void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8) %25, float noundef %60)
  call void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8) %26, float noundef %70)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #10
  %80 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %25, ptr noundef nonnull align 4 dereferenceable(8) %2)
  store <2 x float> %80, ptr %10, align 8
  %81 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %81, ptr %8, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #10
  %82 = call <2 x float> @_Z5b2MulRK5b2RotRK6b2Vec2(ptr noundef nonnull align 4 dereferenceable(8) %26, ptr noundef nonnull align 4 dereferenceable(8) %3)
  store <2 x float> %82, ptr %11, align 8
  %83 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %83, ptr %9, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #10
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %12) #10
  call void @_ZN15b2WorldManifoldC2Ev(ptr noundef nonnull align 4 dereferenceable(32) %12)
  call void @_ZN15b2WorldManifold10InitializeEPK10b2ManifoldRK11b2TransformfS5_f(ptr noundef nonnull align 4 dereferenceable(32) %12, ptr noundef nonnull %38, ptr noundef nonnull align 4 dereferenceable(16) %8, float noundef %34, ptr noundef nonnull align 4 dereferenceable(16) %9, float noundef %36)
  %84 = getelementptr inbounds i8, ptr %30, i64 72
  %85 = load i64, ptr %12, align 8
  store i64 %85, ptr %84, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #10
  %86 = call <2 x float> @_Z7b2CrossRK6b2Vec2f(ptr noundef nonnull align 4 dereferenceable(8) %84, float noundef 1.000000e+00)
  store <2 x float> %86, ptr %13, align 8
  %87 = getelementptr inbounds i8, ptr %30, i64 152
  %88 = load i32, ptr %87, align 8, !tbaa !36
  %89 = icmp sgt i32 %88, 0
  br i1 %89, label %.lr.ph, label %._crit_edge.thread

.lr.ph:                                           ; preds = %79
  %90 = fadd float %44, %46
  %91 = getelementptr inbounds i8, ptr %30, i64 144
  %92 = getelementptr inbounds i8, ptr %30, i64 140
  %wide.trip.count = zext nneg i32 %88 to i64
  br label %94

._crit_edge:                                      ; preds = %134
  %93 = icmp eq i32 %88, 2
  br i1 %93, label %135, label %._crit_edge.thread

94:                                               ; preds = %.lr.ph, %134
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %134 ]
  %95 = getelementptr inbounds %struct.b2VelocityConstraintPoint, ptr %30, i64 %indvars.iv
  %96 = getelementptr inbounds [2 x %struct.b2Vec2], ptr %27, i64 0, i64 %indvars.iv
  %97 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %96, ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %97, ptr %95, align 4
  %98 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %96, ptr noundef nonnull align 4 dereferenceable(8) %6)
  %99 = getelementptr inbounds i8, ptr %95, i64 8
  store <2 x float> %98, ptr %99, align 4
  %100 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %95, ptr noundef nonnull align 4 dereferenceable(8) %84)
  %101 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %99, ptr noundef nonnull align 4 dereferenceable(8) %84)
  %102 = fmul float %48, %100
  %103 = call float @llvm.fmuladd.f32(float %102, float %100, float %90)
  %104 = fmul float %50, %101
  %105 = call float @llvm.fmuladd.f32(float %104, float %101, float %103)
  %106 = fcmp ogt float %105, 0.000000e+00
  %107 = fdiv float 1.000000e+00, %105
  %108 = select i1 %106, float %107, float 0.000000e+00
  %109 = getelementptr inbounds i8, ptr %95, i64 20
  store float %108, ptr %109, align 4, !tbaa !37
  %110 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %95, ptr noundef nonnull align 4 dereferenceable(8) %13)
  %111 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %99, ptr noundef nonnull align 4 dereferenceable(8) %13)
  %112 = fmul float %48, %110
  %113 = call float @llvm.fmuladd.f32(float %112, float %110, float %90)
  %114 = fmul float %50, %111
  %115 = call float @llvm.fmuladd.f32(float %114, float %111, float %113)
  %116 = fcmp ogt float %115, 0.000000e+00
  %117 = fdiv float 1.000000e+00, %115
  %118 = select i1 %116, float %117, float 0.000000e+00
  %119 = getelementptr inbounds i8, ptr %95, i64 28
  store float %118, ptr %119, align 4, !tbaa !39
  %120 = getelementptr inbounds i8, ptr %95, i64 32
  store float 0.000000e+00, ptr %120, align 4, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #10
  %121 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %74, ptr noundef nonnull align 4 dereferenceable(8) %99)
  store <2 x float> %121, ptr %16, align 8
  %122 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %122, ptr %15, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #10
  %123 = call <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef %65, ptr noundef nonnull align 4 dereferenceable(8) %95)
  store <2 x float> %123, ptr %18, align 8
  %124 = call <2 x float> @_ZplRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %124, ptr %17, align 8
  %125 = call <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %17)
  store <2 x float> %125, ptr %14, align 8
  %126 = call noundef float @_Z5b2DotRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %84, ptr noundef nonnull align 4 dereferenceable(8) %14)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #10
  %127 = load float, ptr %91, align 8, !tbaa !41
  %128 = fneg float %127
  %129 = fcmp olt float %126, %128
  br i1 %129, label %130, label %134

130:                                              ; preds = %94
  %131 = load float, ptr %92, align 4, !tbaa !42
  %132 = fneg float %131
  %133 = fmul float %126, %132
  store float %133, ptr %120, align 4, !tbaa !40
  br label %134

134:                                              ; preds = %130, %94
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %94, !llvm.loop !43

135:                                              ; preds = %._crit_edge
  %136 = load i8, ptr @g_blockSolve, align 1, !tbaa !45, !range !47, !noundef !48
  %137 = trunc nuw i8 %136 to i1
  br i1 %137, label %138, label %._crit_edge.thread

138:                                              ; preds = %135
  %139 = getelementptr inbounds i8, ptr %30, i64 36
  %140 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %30, ptr noundef nonnull align 4 dereferenceable(8) %84)
  %141 = getelementptr inbounds i8, ptr %30, i64 8
  %142 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %141, ptr noundef nonnull align 4 dereferenceable(8) %84)
  %143 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %139, ptr noundef nonnull align 4 dereferenceable(8) %84)
  %144 = getelementptr inbounds i8, ptr %30, i64 44
  %145 = call noundef float @_Z7b2CrossRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8) %144, ptr noundef nonnull align 4 dereferenceable(8) %84)
  %146 = fadd float %44, %46
  %147 = fmul float %48, %140
  %148 = call float @llvm.fmuladd.f32(float %147, float %140, float %146)
  %149 = fmul float %50, %142
  %150 = call float @llvm.fmuladd.f32(float %149, float %142, float %148)
  %151 = fmul float %48, %143
  %152 = call float @llvm.fmuladd.f32(float %151, float %143, float %146)
  %153 = fmul float %50, %145
  %154 = call float @llvm.fmuladd.f32(float %153, float %145, float %152)
  %155 = call float @llvm.fmuladd.f32(float %147, float %143, float %146)
  %156 = call float @llvm.fmuladd.f32(float %149, float %145, float %155)
  %157 = fmul float %150, %150
  %158 = fneg float %156
  %159 = fmul float %156, %158
  %160 = call float @llvm.fmuladd.f32(float %150, float %154, float %159)
  %161 = fmul float %160, 1.000000e+03
  %162 = fcmp olt float %157, %161
  br i1 %162, label %163, label %170

163:                                              ; preds = %138
  %164 = getelementptr inbounds i8, ptr %30, i64 96
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %164, float noundef %150, float noundef %156)
  %165 = getelementptr inbounds i8, ptr %30, i64 104
  call void @_ZN6b2Vec23SetEff(ptr noundef nonnull align 4 dereferenceable(8) %165, float noundef %156, float noundef %154)
  %166 = call { <2 x float>, <2 x float> } @_ZNK7b2Mat2210GetInverseEv(ptr noundef nonnull align 4 dereferenceable(16) %164)
  %167 = extractvalue { <2 x float>, <2 x float> } %166, 0
  %168 = extractvalue { <2 x float>, <2 x float> } %166, 1
  %169 = getelementptr inbounds i8, ptr %30, i64 80
  store <2 x float> %167, ptr %169, align 8
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %30, i64 88
  store <2 x float> %168, ptr %.sroa.4.0..sroa_idx, align 8
  br label %._crit_edge.thread

170:                                              ; preds = %138
  store i32 1, ptr %87, align 8, !tbaa !36
  br label %._crit_edge.thread

._crit_edge.thread:                               ; preds = %79, %163, %170, %135, %._crit_edge
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #10
  %indvars.iv.next144 = add nuw nsw i64 %indvars.iv143, 1
  %171 = load i32, ptr %19, align 8, !tbaa !5
  %172 = sext i32 %171 to i64
  %173 = icmp slt i64 %indvars.iv.next144, %172
  br i1 %173, label %28, label %._crit_edge141, !llvm.loop !49
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11b2TransformC2Ev(ptr noundef nonnull align 4 dereferenceable(16)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5b2Rot3SetEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZmiRK6b2Vec2S1_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5

; 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 #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN15b2WorldManifoldC2Ev(ptr noundef nonnull align 4 dereferenceable(32)) unnamed_addr #6 align 2

declare void @_ZN15b2WorldManifold10InitializeEPK10b2ManifoldRK11b2TransformfS5_f(ptr noundef nonnull align 4 dereferenceable(32), ptr noundef, ptr noundef nonnull align 4 dereferenceable(16), float noundef, ptr noundef nonnull align 4 dereferenceable(16), float noundef) local_unnamed_addr #7

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossRK6b2Vec2f(ptr noundef nonnull align 4 dereferenceable(8), float noundef) local_unnamed_addr #5

; 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 #8

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #9

; 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 #8

; 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 #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_Z7b2CrossfRK6b2Vec2(float noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #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 #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { <2 x float>, <2 x float> } @_ZNK7b2Mat2210GetInverseEv(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #3 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { noreturn nounwind "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 = { 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 #4 = { 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 = { 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 = { inlinehint 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 #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 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #10 = { nounwind }
attributes #11 = { noreturn 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 40}
!6 = !{!"_ZTS15b2ContactSolver", !7, i64 0, !7, i64 8, !7, i64 16, !7, i64 24, !7, i64 32, !10, i64 40}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"int", !8, i64 0}
!11 = !{!6, !7, i64 32}
!12 = !{!6, !7, i64 24}
!13 = !{!14, !16, i64 76}
!14 = !{!"_ZTS27b2ContactPositionConstraint", !8, i64 0, !15, i64 16, !15, i64 24, !10, i64 32, !10, i64 36, !16, i64 40, !16, i64 44, !15, i64 48, !15, i64 56, !16, i64 64, !16, i64 68, !17, i64 72, !16, i64 76, !16, i64 80, !10, i64 84}
!15 = !{!"_ZTS6b2Vec2", !16, i64 0, !16, i64 4}
!16 = !{!"float", !8, i64 0}
!17 = !{!"_ZTSN10b2Manifold4TypeE", !8, i64 0}
!18 = !{!14, !16, i64 80}
!19 = !{!20, !7, i64 160}
!20 = !{!"_ZTS27b2ContactVelocityConstraint", !8, i64 0, !15, i64 72, !21, i64 80, !21, i64 96, !10, i64 112, !10, i64 116, !16, i64 120, !16, i64 124, !16, i64 128, !16, i64 132, !16, i64 136, !16, i64 140, !16, i64 144, !16, i64 148, !10, i64 152, !7, i64 160}
!21 = !{!"_ZTS7b2Mat22", !15, i64 0, !15, i64 8}
!22 = !{!20, !10, i64 112}
!23 = !{!20, !10, i64 116}
!24 = !{!20, !16, i64 120}
!25 = !{!20, !16, i64 124}
!26 = !{!20, !16, i64 128}
!27 = !{!20, !16, i64 132}
!28 = !{!6, !7, i64 0}
!29 = !{!30, !16, i64 8}
!30 = !{!"_ZTS10b2Position", !15, i64 0, !16, i64 8}
!31 = !{!6, !7, i64 8}
!32 = !{!33, !16, i64 8}
!33 = !{!"_ZTS10b2Velocity", !15, i64 0, !16, i64 8}
!34 = !{!35, !10, i64 60}
!35 = !{!"_ZTS10b2Manifold", !8, i64 0, !15, i64 40, !15, i64 48, !17, i64 56, !10, i64 60}
!36 = !{!20, !10, i64 152}
!37 = !{!38, !16, i64 20}
!38 = !{!"_ZTS25b2VelocityConstraintPoint", !15, i64 0, !15, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!39 = !{!38, !16, i64 28}
!40 = !{!38, !16, i64 32}
!41 = !{!20, !16, i64 144}
!42 = !{!20, !16, i64 140}
!43 = distinct !{!43, !44}
!44 = !{!"llvm.loop.mustprogress"}
!45 = !{!46, !46, i64 0}
!46 = !{!"bool", !8, i64 0}
!47 = !{i8 0, i8 2}
!48 = !{}
!49 = distinct !{!49, !44}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass