; LLVM IR from erayzesen/QuarkPhysics :: QuarkPhysics/qmanifold.ll (ZN9QManifold26SolveFrictionAndVelocitiesEv)

; 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.QVector = type { float, float }
%"class.std::vector.7" = type { %"struct.std::_Vector_base.8" }
%"struct.std::_Vector_base.8" = type { %"struct.std::_Vector_base<QParticle *, std::allocator<QParticle *>>::_Vector_impl" }
%"struct.std::_Vector_base<QParticle *, std::allocator<QParticle *>>::_Vector_impl" = type { %"struct.std::_Vector_base<QParticle *, std::allocator<QParticle *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<QParticle *, std::allocator<QParticle *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.QManifold = type { %struct.QVector, float, float, i8, ptr, ptr, %"class.std::vector" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<QCollision::Contact *, std::allocator<QCollision::Contact *>>::_Vector_impl" }
%"struct.std::_Vector_base<QCollision::Contact *, std::allocator<QCollision::Contact *>>::_Vector_impl" = type { %"struct.std::_Vector_base<QCollision::Contact *, std::allocator<QCollision::Contact *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<QCollision::Contact *, std::allocator<QCollision::Contact *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.QBody = type <{ ptr, float, float, ptr, %struct.QVector, %struct.QVector, float, float, %class.QAABB, i32, i8, i8, i8, i8, float, i32, i8, [3 x i8], float, i8, i8, [2 x i8], %struct.QVector, float, float, float, float, float, i32, i32, i8, i8, i8, i8, i32, i32, i32, i8, [3 x i8], %"class.std::function", %"class.std::function", %"class.std::function.0", i8, [7 x i8], %"class.std::vector.2", i32, i8, [3 x i8] }>
%class.QAABB = type { %struct.QVector, %struct.QVector, %struct.QVector, float }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }
%"class.std::function.0" = type { %"class.std::_Function_base", ptr }
%"class.std::vector.2" = type { %"struct.std::_Vector_base.3" }
%"struct.std::_Vector_base.3" = type { %"struct.std::_Vector_base<QMesh *, std::allocator<QMesh *>>::_Vector_impl" }
%"struct.std::_Vector_base<QMesh *, std::allocator<QMesh *>>::_Vector_impl" = type { %"struct.std::_Vector_base<QMesh *, std::allocator<QMesh *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<QMesh *, std::allocator<QMesh *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.QCollision::Contact" = type <{ %struct.QVector, ptr, %struct.QVector, float, [4 x i8], %"class.std::vector.7", i8, [7 x i8] }>

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZN7QVector4ZeroEv() #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZN9QManifold19GetRelativeVelocityEP9QParticleSt6vectorIS1_SaIS1_EE7QVectorS5_(ptr noundef nonnull align 8 dereferenceable(64), ptr noundef, ptr noundef, <2 x float>, <2 x float>) #0 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN9QParticle12GetOwnerMeshEv(ptr noundef nonnull align 8 dereferenceable(290)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5QMesh12GetOwnerBodyEv(ptr noundef nonnull align 8 dereferenceable(256)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_Zmi7QVectorS_(<2 x float>, <2 x float>) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293)) #3 align 2

; 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) #4

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIP9QParticleSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local <2 x float> @_ZN9QParticle17GetGlobalPositionEv(ptr noundef nonnull align 8 dereferenceable(290)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_Zmlf7QVector(float noundef, <2 x float>) #0

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK7QVectorngEv(ptr noundef nonnull align 4 dereferenceable(8)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIPN10QCollision7ContactESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN10QCollision7ContactESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_Zml7QVectorf(<2 x float>, float noundef) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN5QBody11GetBodyTypeEv(ptr noundef nonnull align 8 dereferenceable(293)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIP9QParticleSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7QVectorC2Ev(ptr noundef nonnull align 4 dereferenceable(8)) unnamed_addr #5 align 2

declare void @_ZN9QParticle27ApplyForceToParticleSegmentEPS_S0_7QVectorS1_(ptr noundef, ptr noundef, <2 x float>, <2 x float>) #6

declare noundef ptr @_ZN9QParticle10ApplyForceE7QVector(ptr noundef nonnull align 8 dereferenceable(290), <2 x float>) #6

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN9QManifold26SolveFrictionAndVelocitiesEv(ptr noundef nonnull align 8 dereferenceable(64) %0) #0 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca i8, align 1
  %4 = alloca i8, align 1
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca %struct.QVector, align 4
  %13 = alloca %struct.QVector, align 4
  %14 = alloca %struct.QVector, align 4
  %15 = alloca %struct.QVector, align 4
  %16 = alloca %struct.QVector, align 4
  %17 = alloca %struct.QVector, align 4
  %18 = alloca %struct.QVector, align 4
  %19 = alloca float, align 4
  %20 = alloca %struct.QVector, align 4
  %21 = alloca %struct.QVector, align 4
  %22 = alloca %"class.std::vector.7", align 8
  %23 = alloca %struct.QVector, align 4
  %24 = alloca ptr, align 8
  %25 = alloca i32, align 4
  %26 = alloca %struct.QVector, align 4
  %27 = alloca %struct.QVector, align 4
  %28 = alloca %struct.QVector, align 4
  %29 = alloca %struct.QVector, align 4
  %30 = alloca %struct.QVector, align 4
  %31 = alloca %struct.QVector, align 4
  %32 = alloca %struct.QVector, align 4
  %33 = alloca %struct.QVector, align 4
  %34 = alloca %struct.QVector, align 4
  %35 = alloca %struct.QVector, align 4
  %36 = alloca %struct.QVector, align 4
  %37 = alloca %struct.QVector, align 4
  %38 = alloca %struct.QVector, align 4
  %39 = alloca float, align 4
  %40 = alloca float, align 4
  %41 = alloca %struct.QVector, align 4
  %42 = alloca %struct.QVector, align 4
  %43 = alloca %struct.QVector, align 4
  %44 = alloca %struct.QVector, align 4
  %45 = alloca %struct.QVector, align 4
  %46 = alloca %struct.QVector, align 4
  %47 = alloca %struct.QVector, align 4
  %48 = alloca %"class.std::vector.7", align 8
  %49 = alloca %struct.QVector, align 4
  %50 = alloca %struct.QVector, align 4
  %51 = alloca %struct.QVector, align 4
  %52 = alloca %struct.QVector, align 4
  %53 = alloca %struct.QVector, align 4
  %54 = alloca %struct.QVector, align 4
  %55 = alloca float, align 4
  %56 = alloca float, align 4
  %57 = alloca %struct.QVector, align 4
  %58 = alloca %struct.QVector, align 4
  %59 = alloca %struct.QVector, align 4
  %60 = alloca %struct.QVector, align 4
  %61 = alloca %struct.QVector, align 4
  %62 = alloca %struct.QVector, align 4
  %63 = alloca %struct.QVector, align 4
  %64 = alloca %struct.QVector, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %65 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 1, ptr %3) #8
  %66 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 4
  %67 = load ptr, ptr %66, align 8, !tbaa !9
  %68 = getelementptr inbounds %class.QBody, ptr %67, i32 0, i32 30
  %69 = load i8, ptr %68, align 4, !tbaa !18, !range !32, !noundef !33
  %70 = trunc i8 %69 to i1
  %71 = zext i1 %70 to i32
  %72 = icmp eq i32 %71, 0
  br i1 %72, label %73, label %79

73:                                               ; preds = %1
  %74 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 4
  %75 = load ptr, ptr %74, align 8, !tbaa !9
  %76 = getelementptr inbounds %class.QBody, ptr %75, i32 0, i32 9
  %77 = load i32, ptr %76, align 4, !tbaa !34
  %78 = icmp ne i32 %77, 1
  br label %79

79:                                               ; preds = %73, %1
  %80 = phi i1 [ false, %1 ], [ %78, %73 ]
  %81 = zext i1 %80 to i8
  store i8 %81, ptr %3, align 1, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 1, ptr %4) #8
  %82 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 5
  %83 = load ptr, ptr %82, align 8, !tbaa !36
  %84 = getelementptr inbounds %class.QBody, ptr %83, i32 0, i32 30
  %85 = load i8, ptr %84, align 4, !tbaa !18, !range !32, !noundef !33
  %86 = trunc i8 %85 to i1
  %87 = zext i1 %86 to i32
  %88 = icmp eq i32 %87, 0
  br i1 %88, label %89, label %95

89:                                               ; preds = %79
  %90 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 5
  %91 = load ptr, ptr %90, align 8, !tbaa !36
  %92 = getelementptr inbounds %class.QBody, ptr %91, i32 0, i32 9
  %93 = load i32, ptr %92, align 4, !tbaa !34
  %94 = icmp ne i32 %93, 1
  br label %95

95:                                               ; preds = %89, %79
  %96 = phi i1 [ false, %79 ], [ %94, %89 ]
  %97 = zext i1 %96 to i8
  store i8 %97, ptr %4, align 1, !tbaa !35
  %98 = load i8, ptr %3, align 1, !tbaa !35, !range !32, !noundef !33
  %99 = trunc i8 %98 to i1
  br i1 %99, label %104, label %100

100:                                              ; preds = %95
  %101 = load i8, ptr %4, align 1, !tbaa !35, !range !32, !noundef !33
  %102 = trunc i8 %101 to i1
  br i1 %102, label %104, label %103

103:                                              ; preds = %100
  store i32 1, ptr %5, align 4
  br label %446

104:                                              ; preds = %100, %95
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #8
  store i32 0, ptr %6, align 4, !tbaa !37
  br label %105

105:                                              ; preds = %441, %104
  %106 = load i32, ptr %6, align 4, !tbaa !37
  %107 = sext i32 %106 to i64
  %108 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 6
  %109 = call noundef i64 @_ZNKSt6vectorIPN10QCollision7ContactESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %108) #8
  %110 = icmp ult i64 %107, %109
  br i1 %110, label %112, label %111

111:                                              ; preds = %105
  store i32 2, ptr %5, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #8
  br label %445

112:                                              ; preds = %105
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #8
  %113 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 6
  %114 = load i32, ptr %6, align 4, !tbaa !37
  %115 = sext i32 %114 to i64
  %116 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN10QCollision7ContactESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %113, i64 noundef %115) #8
  %117 = load ptr, ptr %116, align 8, !tbaa !5
  store ptr %117, ptr %7, align 8, !tbaa !5
  %118 = load ptr, ptr %7, align 8, !tbaa !5
  %119 = getelementptr inbounds %"struct.QCollision::Contact", ptr %118, i32 0, i32 6
  %120 = load i8, ptr %119, align 8, !tbaa !38, !range !32, !noundef !33
  %121 = trunc i8 %120 to i1
  %122 = zext i1 %121 to i32
  %123 = icmp eq i32 %122, 0
  br i1 %123, label %124, label %125

124:                                              ; preds = %112
  store i32 4, ptr %5, align 4
  br label %438

125:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #8
  %126 = load ptr, ptr %7, align 8, !tbaa !5
  %127 = getelementptr inbounds %"struct.QCollision::Contact", ptr %126, i32 0, i32 5
  %128 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %127, i64 noundef 0) #8
  %129 = load ptr, ptr %128, align 8, !tbaa !5
  %130 = call noundef ptr @_ZN9QParticle12GetOwnerMeshEv(ptr noundef nonnull align 8 dereferenceable(290) %129)
  %131 = call noundef ptr @_ZN5QMesh12GetOwnerBodyEv(ptr noundef nonnull align 8 dereferenceable(256) %130)
  store ptr %131, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #8
  %132 = load ptr, ptr %7, align 8, !tbaa !5
  %133 = getelementptr inbounds %"struct.QCollision::Contact", ptr %132, i32 0, i32 1
  %134 = load ptr, ptr %133, align 8, !tbaa !44
  %135 = call noundef ptr @_ZN9QParticle12GetOwnerMeshEv(ptr noundef nonnull align 8 dereferenceable(290) %134)
  %136 = call noundef ptr @_ZN5QMesh12GetOwnerBodyEv(ptr noundef nonnull align 8 dereferenceable(256) %135)
  store ptr %136, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #8
  store ptr null, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #8
  store ptr null, ptr %11, align 8, !tbaa !5
  %137 = load ptr, ptr %8, align 8, !tbaa !5
  %138 = call noundef i32 @_ZN5QBody11GetBodyTypeEv(ptr noundef nonnull align 8 dereferenceable(293) %137)
  %139 = icmp eq i32 %138, 0
  br i1 %139, label %140, label %142

140:                                              ; preds = %125
  %141 = load ptr, ptr %8, align 8, !tbaa !5
  store ptr %141, ptr %10, align 8, !tbaa !5
  br label %142

142:                                              ; preds = %140, %125
  %143 = load ptr, ptr %9, align 8, !tbaa !5
  %144 = call noundef i32 @_ZN5QBody11GetBodyTypeEv(ptr noundef nonnull align 8 dereferenceable(293) %143)
  %145 = icmp eq i32 %144, 0
  br i1 %145, label %146, label %148

146:                                              ; preds = %142
  %147 = load ptr, ptr %9, align 8, !tbaa !5
  store ptr %147, ptr %11, align 8, !tbaa !5
  br label %148

148:                                              ; preds = %146, %142
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #8
  %149 = load ptr, ptr %7, align 8, !tbaa !5
  %150 = getelementptr inbounds %"struct.QCollision::Contact", ptr %149, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %13, ptr align 8 %150, i64 8, i1 false), !tbaa.struct !45
  %151 = load ptr, ptr %8, align 8, !tbaa !5
  %152 = call <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293) %151)
  store <2 x float> %152, ptr %14, align 4
  %153 = load <2 x float>, ptr %13, align 4
  %154 = load <2 x float>, ptr %14, align 4
  %155 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %153, <2 x float> %154)
  store <2 x float> %155, ptr %12, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  %156 = load ptr, ptr %7, align 8, !tbaa !5
  %157 = getelementptr inbounds %"struct.QCollision::Contact", ptr %156, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %16, ptr align 8 %157, i64 8, i1 false), !tbaa.struct !45
  %158 = load ptr, ptr %9, align 8, !tbaa !5
  %159 = call <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293) %158)
  store <2 x float> %159, ptr %17, align 4
  %160 = load <2 x float>, ptr %16, align 4
  %161 = load <2 x float>, ptr %17, align 4
  %162 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %160, <2 x float> %161)
  store <2 x float> %162, ptr %15, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #8
  call void @_ZN7QVectorC2Ev(ptr noundef nonnull align 4 dereferenceable(8) %18)
  %163 = load i32, ptr %6, align 4, !tbaa !37
  %164 = icmp eq i32 %163, 0
  br i1 %164, label %165, label %304

165:                                              ; preds = %148
  %166 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 1
  %167 = load float, ptr %166, align 8, !tbaa !47
  %168 = fcmp ogt float %167, 0.000000e+00
  br i1 %168, label %169, label %304

169:                                              ; preds = %165
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #8
  %170 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 0
  %171 = load ptr, ptr %7, align 8, !tbaa !5
  %172 = getelementptr inbounds %"struct.QCollision::Contact", ptr %171, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %20, ptr align 8 %172, i64 8, i1 false), !tbaa.struct !45
  %173 = load <2 x float>, ptr %20, align 4
  %174 = call noundef float @_ZNK7QVector3DotES_(ptr noundef nonnull align 4 dereferenceable(8) %170, <2 x float> %173)
  store float %174, ptr %19, align 4, !tbaa !46
  %175 = load float, ptr %19, align 4, !tbaa !46
  %176 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 1
  %177 = load float, ptr %176, align 8, !tbaa !47
  %178 = fmul float %177, 2.000000e+00
  %179 = fcmp ogt float %175, %178
  br i1 %179, label %180, label %303

180:                                              ; preds = %169
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  %181 = load ptr, ptr %7, align 8, !tbaa !5
  %182 = getelementptr inbounds %"struct.QCollision::Contact", ptr %181, i32 0, i32 1
  %183 = load ptr, ptr %182, align 8, !tbaa !44
  %184 = load ptr, ptr %7, align 8, !tbaa !5
  %185 = getelementptr inbounds %"struct.QCollision::Contact", ptr %184, i32 0, i32 5
  call void @_ZNSt6vectorIP9QParticleSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %22, ptr noundef nonnull align 8 dereferenceable(24) %185)
  %186 = invoke <2 x float> @_ZN7QVector4ZeroEv()
          to label %187 unwind label %242

187:                                              ; preds = %180
  store <2 x float> %186, ptr %23, align 4
  %188 = invoke <2 x float> @_ZN7QVector4ZeroEv()
          to label %189 unwind label %242

189:                                              ; preds = %187
  store <2 x float> %188, ptr %26, align 4
  %190 = load <2 x float>, ptr %23, align 4
  %191 = load <2 x float>, ptr %26, align 4
  %192 = invoke <2 x float> @_ZN9QManifold19GetRelativeVelocityEP9QParticleSt6vectorIS1_SaIS1_EE7QVectorS5_(ptr noundef nonnull align 8 dereferenceable(64) %65, ptr noundef %183, ptr noundef %22, <2 x float> %190, <2 x float> %191)
          to label %193 unwind label %242

193:                                              ; preds = %189
  store <2 x float> %192, ptr %21, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %18, ptr align 4 %21, i64 8, i1 false), !tbaa.struct !45
  call void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %28, ptr align 4 %18, i64 8, i1 false), !tbaa.struct !45
  %194 = load ptr, ptr %7, align 8, !tbaa !5
  %195 = getelementptr inbounds %"struct.QCollision::Contact", ptr %194, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %30, ptr align 8 %195, i64 8, i1 false), !tbaa.struct !45
  %196 = load <2 x float>, ptr %30, align 4
  %197 = call noundef float @_ZNK7QVector3DotES_(ptr noundef nonnull align 4 dereferenceable(8) %18, <2 x float> %196)
  %198 = load ptr, ptr %7, align 8, !tbaa !5
  %199 = getelementptr inbounds %"struct.QCollision::Contact", ptr %198, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %31, ptr align 8 %199, i64 8, i1 false), !tbaa.struct !45
  %200 = load <2 x float>, ptr %31, align 4
  %201 = call <2 x float> @_Zmlf7QVector(float noundef %197, <2 x float> %200)
  store <2 x float> %201, ptr %29, align 4
  %202 = load <2 x float>, ptr %28, align 4
  %203 = load <2 x float>, ptr %29, align 4
  %204 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %202, <2 x float> %203)
  store <2 x float> %204, ptr %27, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  %205 = load float, ptr %19, align 4, !tbaa !46
  %206 = load ptr, ptr %7, align 8, !tbaa !5
  %207 = getelementptr inbounds %"struct.QCollision::Contact", ptr %206, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %35, ptr align 8 %207, i64 8, i1 false), !tbaa.struct !45
  %208 = load <2 x float>, ptr %35, align 4
  %209 = call <2 x float> @_Zmlf7QVector(float noundef %205, <2 x float> %208)
  store <2 x float> %209, ptr %34, align 4
  %210 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 1
  %211 = load float, ptr %210, align 8, !tbaa !47
  %212 = load <2 x float>, ptr %34, align 4
  %213 = call <2 x float> @_Zml7QVectorf(<2 x float> %212, float noundef %211)
  store <2 x float> %213, ptr %33, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %36, ptr align 4 %27, i64 8, i1 false), !tbaa.struct !45
  %214 = load <2 x float>, ptr %33, align 4
  %215 = load <2 x float>, ptr %36, align 4
  %216 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %214, <2 x float> %215)
  store <2 x float> %216, ptr %32, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #8
  %217 = call <2 x float> @_ZNK7QVectorngEv(ptr noundef nonnull align 4 dereferenceable(8) %32)
  store <2 x float> %217, ptr %37, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #8
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %38, ptr align 4 %32, i64 8, i1 false), !tbaa.struct !45
  %218 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 3
  %219 = load i8, ptr %218, align 8, !tbaa !48, !range !32, !noundef !33
  %220 = trunc i8 %219 to i1
  %221 = zext i1 %220 to i32
  %222 = icmp eq i32 %221, 0
  br i1 %222, label %223, label %246

223:                                              ; preds = %193
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #8
  %224 = load ptr, ptr %9, align 8, !tbaa !5
  %225 = load ptr, ptr %224, align 8, !tbaa !49
  %226 = getelementptr inbounds ptr, ptr %225, i64 8
  %227 = load ptr, ptr %226, align 8
  %228 = call noundef float %227(ptr noundef nonnull align 8 dereferenceable(293) %224)
  %229 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 2
  %230 = load float, ptr %229, align 4, !tbaa !51
  %231 = fmul float %228, %230
  store float %231, ptr %39, align 4, !tbaa !46
  %232 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8) %37, ptr noundef nonnull align 4 dereferenceable(4) %39)
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #8
  %233 = load ptr, ptr %8, align 8, !tbaa !5
  %234 = load ptr, ptr %233, align 8, !tbaa !49
  %235 = getelementptr inbounds ptr, ptr %234, i64 8
  %236 = load ptr, ptr %235, align 8
  %237 = call noundef float %236(ptr noundef nonnull align 8 dereferenceable(293) %233)
  %238 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 2
  %239 = load float, ptr %238, align 4, !tbaa !51
  %240 = fmul float %237, %239
  store float %240, ptr %40, align 4, !tbaa !46
  %241 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8) %38, ptr noundef nonnull align 4 dereferenceable(4) %40)
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #8
  br label %246

242:                                              ; preds = %189, %187, %180
  %243 = landingpad { ptr, i32 }
          cleanup
  %244 = extractvalue { ptr, i32 } %243, 0
  store ptr %244, ptr %24, align 8
  %245 = extractvalue { ptr, i32 } %243, 1
  store i32 %245, ptr %25, align 4
  call void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  br label %444

246:                                              ; preds = %223, %193
  %247 = load ptr, ptr %10, align 8, !tbaa !5
  %248 = icmp ne ptr %247, null
  br i1 %248, label %249, label %273

249:                                              ; preds = %246
  %250 = load ptr, ptr %9, align 8, !tbaa !5
  %251 = load ptr, ptr %8, align 8, !tbaa !5
  %252 = load ptr, ptr %250, align 8, !tbaa !49
  %253 = getelementptr inbounds ptr, ptr %252, i64 2
  %254 = load ptr, ptr %253, align 8
  %255 = call noundef zeroext i1 %254(ptr noundef nonnull align 8 dereferenceable(293) %250, ptr noundef %251)
  br i1 %255, label %256, label %272

256:                                              ; preds = %249
  %257 = load ptr, ptr %8, align 8, !tbaa !5
  %258 = getelementptr inbounds %class.QBody, ptr %257, i32 0, i32 30
  %259 = load i8, ptr %258, align 4, !tbaa !18, !range !32, !noundef !33
  %260 = trunc i8 %259 to i1
  %261 = zext i1 %260 to i32
  %262 = icmp eq i32 %261, 0
  br i1 %262, label %263, label %272

263:                                              ; preds = %256
  %264 = load ptr, ptr %10, align 8, !tbaa !5
  %265 = load ptr, ptr %8, align 8, !tbaa !5
  %266 = call <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293) %265)
  store <2 x float> %266, ptr %42, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %43, ptr align 4 %37, i64 8, i1 false), !tbaa.struct !45
  %267 = load <2 x float>, ptr %42, align 4
  %268 = load <2 x float>, ptr %43, align 4
  %269 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %267, <2 x float> %268)
  store <2 x float> %269, ptr %41, align 4
  %270 = load <2 x float>, ptr %41, align 4
  %271 = call noundef ptr @_ZN5QBody19SetPreviousPositionE7QVector(ptr noundef nonnull align 8 dereferenceable(293) %264, <2 x float> %270)
  br label %272

272:                                              ; preds = %263, %256, %249
  br label %274

273:                                              ; preds = %246
  br label %274

274:                                              ; preds = %273, %272
  %275 = load ptr, ptr %11, align 8, !tbaa !5
  %276 = icmp ne ptr %275, null
  br i1 %276, label %277, label %301

277:                                              ; preds = %274
  %278 = load ptr, ptr %8, align 8, !tbaa !5
  %279 = load ptr, ptr %9, align 8, !tbaa !5
  %280 = load ptr, ptr %278, align 8, !tbaa !49
  %281 = getelementptr inbounds ptr, ptr %280, i64 2
  %282 = load ptr, ptr %281, align 8
  %283 = call noundef zeroext i1 %282(ptr noundef nonnull align 8 dereferenceable(293) %278, ptr noundef %279)
  br i1 %283, label %284, label %300

284:                                              ; preds = %277
  %285 = load ptr, ptr %9, align 8, !tbaa !5
  %286 = getelementptr inbounds %class.QBody, ptr %285, i32 0, i32 30
  %287 = load i8, ptr %286, align 4, !tbaa !18, !range !32, !noundef !33
  %288 = trunc i8 %287 to i1
  %289 = zext i1 %288 to i32
  %290 = icmp eq i32 %289, 0
  br i1 %290, label %291, label %300

291:                                              ; preds = %284
  %292 = load ptr, ptr %11, align 8, !tbaa !5
  %293 = load ptr, ptr %9, align 8, !tbaa !5
  %294 = call <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293) %293)
  store <2 x float> %294, ptr %45, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %46, ptr align 4 %38, i64 8, i1 false), !tbaa.struct !45
  %295 = load <2 x float>, ptr %45, align 4
  %296 = load <2 x float>, ptr %46, align 4
  %297 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %295, <2 x float> %296)
  store <2 x float> %297, ptr %44, align 4
  %298 = load <2 x float>, ptr %44, align 4
  %299 = call noundef ptr @_ZN5QBody19SetPreviousPositionE7QVector(ptr noundef nonnull align 8 dereferenceable(293) %292, <2 x float> %298)
  br label %300

300:                                              ; preds = %291, %284, %277
  br label %302

301:                                              ; preds = %274
  br label %302

302:                                              ; preds = %301, %300
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  br label %303

303:                                              ; preds = %302, %169
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  br label %304

304:                                              ; preds = %303, %165, %148
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #8
  %305 = load ptr, ptr %7, align 8, !tbaa !5
  %306 = getelementptr inbounds %"struct.QCollision::Contact", ptr %305, i32 0, i32 1
  %307 = load ptr, ptr %306, align 8, !tbaa !44
  %308 = load ptr, ptr %7, align 8, !tbaa !5
  %309 = getelementptr inbounds %"struct.QCollision::Contact", ptr %308, i32 0, i32 5
  call void @_ZNSt6vectorIP9QParticleSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %48, ptr noundef nonnull align 8 dereferenceable(24) %309)
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %49, ptr align 4 %12, i64 8, i1 false), !tbaa.struct !45
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %50, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !45
  %310 = load <2 x float>, ptr %49, align 4
  %311 = load <2 x float>, ptr %50, align 4
  %312 = invoke <2 x float> @_ZN9QManifold19GetRelativeVelocityEP9QParticleSt6vectorIS1_SaIS1_EE7QVectorS5_(ptr noundef nonnull align 8 dereferenceable(64) %65, ptr noundef %307, ptr noundef %48, <2 x float> %310, <2 x float> %311)
          to label %313 unwind label %347

313:                                              ; preds = %304
  store <2 x float> %312, ptr %47, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %18, ptr align 4 %47, i64 8, i1 false), !tbaa.struct !45
  call void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %48) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #8
  %314 = load ptr, ptr %9, align 8, !tbaa !5
  %315 = load ptr, ptr %8, align 8, !tbaa !5
  %316 = load ptr, ptr %7, align 8, !tbaa !5
  %317 = getelementptr inbounds %"struct.QCollision::Contact", ptr %316, i32 0, i32 2
  %318 = load ptr, ptr %7, align 8, !tbaa !5
  %319 = getelementptr inbounds %"struct.QCollision::Contact", ptr %318, i32 0, i32 3
  %320 = load float, ptr %319, align 8, !tbaa !52
  %321 = call <2 x float> @_ZN5QBody15ComputeFrictionEPS_S0_R7QVectorfS2_(ptr noundef %314, ptr noundef %315, ptr noundef nonnull align 4 dereferenceable(8) %317, float noundef %320, ptr noundef nonnull align 4 dereferenceable(8) %18)
  store <2 x float> %321, ptr %51, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #8
  call void @_ZN7QVectorC2Ev(ptr noundef nonnull align 4 dereferenceable(8) %52)
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #8
  call void @_ZN7QVectorC2Ev(ptr noundef nonnull align 4 dereferenceable(8) %53)
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %52, ptr align 4 %51, i64 8, i1 false), !tbaa.struct !45
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #8
  %322 = call <2 x float> @_ZNK7QVectorngEv(ptr noundef nonnull align 4 dereferenceable(8) %51)
  store <2 x float> %322, ptr %54, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %53, ptr align 4 %54, i64 8, i1 false), !tbaa.struct !45
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #8
  %323 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 3
  %324 = load i8, ptr %323, align 8, !tbaa !48, !range !32, !noundef !33
  %325 = trunc i8 %324 to i1
  %326 = zext i1 %325 to i32
  %327 = icmp eq i32 %326, 0
  br i1 %327, label %328, label %351

328:                                              ; preds = %313
  call void @llvm.lifetime.start.p0(i64 4, ptr %55) #8
  %329 = load ptr, ptr %9, align 8, !tbaa !5
  %330 = load ptr, ptr %329, align 8, !tbaa !49
  %331 = getelementptr inbounds ptr, ptr %330, i64 8
  %332 = load ptr, ptr %331, align 8
  %333 = call noundef float %332(ptr noundef nonnull align 8 dereferenceable(293) %329)
  %334 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 2
  %335 = load float, ptr %334, align 4, !tbaa !51
  %336 = fmul float %333, %335
  store float %336, ptr %55, align 4, !tbaa !46
  %337 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8) %52, ptr noundef nonnull align 4 dereferenceable(4) %55)
  call void @llvm.lifetime.end.p0(i64 4, ptr %55) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %56) #8
  %338 = load ptr, ptr %8, align 8, !tbaa !5
  %339 = load ptr, ptr %338, align 8, !tbaa !49
  %340 = getelementptr inbounds ptr, ptr %339, i64 8
  %341 = load ptr, ptr %340, align 8
  %342 = call noundef float %341(ptr noundef nonnull align 8 dereferenceable(293) %338)
  %343 = getelementptr inbounds %class.QManifold, ptr %65, i32 0, i32 2
  %344 = load float, ptr %343, align 4, !tbaa !51
  %345 = fmul float %342, %344
  store float %345, ptr %56, align 4, !tbaa !46
  %346 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8) %53, ptr noundef nonnull align 4 dereferenceable(4) %56)
  call void @llvm.lifetime.end.p0(i64 4, ptr %56) #8
  br label %351

347:                                              ; preds = %304
  %348 = landingpad { ptr, i32 }
          cleanup
  %349 = extractvalue { ptr, i32 } %348, 0
  store ptr %349, ptr %24, align 8
  %350 = extractvalue { ptr, i32 } %348, 1
  store i32 %350, ptr %25, align 4
  call void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %48) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #8
  br label %444

351:                                              ; preds = %328, %313
  %352 = load ptr, ptr %9, align 8, !tbaa !5
  %353 = load ptr, ptr %8, align 8, !tbaa !5
  %354 = load ptr, ptr %352, align 8, !tbaa !49
  %355 = getelementptr inbounds ptr, ptr %354, i64 2
  %356 = load ptr, ptr %355, align 8
  %357 = call noundef zeroext i1 %356(ptr noundef nonnull align 8 dereferenceable(293) %352, ptr noundef %353)
  br i1 %357, label %358, label %405

358:                                              ; preds = %351
  %359 = load ptr, ptr %8, align 8, !tbaa !5
  %360 = getelementptr inbounds %class.QBody, ptr %359, i32 0, i32 30
  %361 = load i8, ptr %360, align 4, !tbaa !18, !range !32, !noundef !33
  %362 = trunc i8 %361 to i1
  %363 = zext i1 %362 to i32
  %364 = icmp ne i32 %363, 1
  br i1 %364, label %365, label %405

365:                                              ; preds = %358
  %366 = load ptr, ptr %10, align 8, !tbaa !5
  %367 = icmp ne ptr %366, null
  br i1 %367, label %368, label %376

368:                                              ; preds = %365
  %369 = load ptr, ptr %10, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %57, ptr align 4 %52, i64 8, i1 false), !tbaa.struct !45
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %58, ptr align 4 %12, i64 8, i1 false), !tbaa.struct !45
  %370 = load <2 x float>, ptr %57, align 4
  %371 = load <2 x float>, ptr %58, align 4
  %372 = load ptr, ptr %369, align 8, !tbaa !49
  %373 = getelementptr inbounds ptr, ptr %372, i64 10
  %374 = load ptr, ptr %373, align 8
  %375 = call noundef ptr %374(ptr noundef nonnull align 8 dereferenceable(308) %369, <2 x float> %370, <2 x float> %371, i1 noundef zeroext true)
  br label %404

376:                                              ; preds = %365
  %377 = load ptr, ptr %7, align 8, !tbaa !5
  %378 = getelementptr inbounds %"struct.QCollision::Contact", ptr %377, i32 0, i32 5
  %379 = call noundef i64 @_ZNKSt6vectorIP9QParticleSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %378) #8
  %380 = icmp eq i64 %379, 2
  br i1 %380, label %381, label %396

381:                                              ; preds = %376
  %382 = load ptr, ptr %7, align 8, !tbaa !5
  %383 = getelementptr inbounds %"struct.QCollision::Contact", ptr %382, i32 0, i32 5
  %384 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %383, i64 noundef 0) #8
  %385 = load ptr, ptr %384, align 8, !tbaa !5
  %386 = load ptr, ptr %7, align 8, !tbaa !5
  %387 = getelementptr inbounds %"struct.QCollision::Contact", ptr %386, i32 0, i32 5
  %388 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %387, i64 noundef 1) #8
  %389 = load ptr, ptr %388, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %59, ptr align 4 %52, i64 8, i1 false), !tbaa.struct !45
  %390 = load ptr, ptr %7, align 8, !tbaa !5
  %391 = getelementptr inbounds %"struct.QCollision::Contact", ptr %390, i32 0, i32 1
  %392 = load ptr, ptr %391, align 8, !tbaa !44
  %393 = call <2 x float> @_ZN9QParticle17GetGlobalPositionEv(ptr noundef nonnull align 8 dereferenceable(290) %392)
  store <2 x float> %393, ptr %60, align 4
  %394 = load <2 x float>, ptr %59, align 4
  %395 = load <2 x float>, ptr %60, align 4
  call void @_ZN9QParticle27ApplyForceToParticleSegmentEPS_S0_7QVectorS1_(ptr noundef %385, ptr noundef %389, <2 x float> %394, <2 x float> %395)
  br label %403

396:                                              ; preds = %376
  %397 = load ptr, ptr %7, align 8, !tbaa !5
  %398 = getelementptr inbounds %"struct.QCollision::Contact", ptr %397, i32 0, i32 5
  %399 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %398, i64 noundef 0) #8
  %400 = load ptr, ptr %399, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %61, ptr align 4 %52, i64 8, i1 false), !tbaa.struct !45
  %401 = load <2 x float>, ptr %61, align 4
  %402 = call noundef ptr @_ZN9QParticle10ApplyForceE7QVector(ptr noundef nonnull align 8 dereferenceable(290) %400, <2 x float> %401)
  br label %403

403:                                              ; preds = %396, %381
  br label %404

404:                                              ; preds = %403, %368
  br label %405

405:                                              ; preds = %404, %358, %351
  %406 = load ptr, ptr %8, align 8, !tbaa !5
  %407 = load ptr, ptr %9, align 8, !tbaa !5
  %408 = load ptr, ptr %406, align 8, !tbaa !49
  %409 = getelementptr inbounds ptr, ptr %408, i64 2
  %410 = load ptr, ptr %409, align 8
  %411 = call noundef zeroext i1 %410(ptr noundef nonnull align 8 dereferenceable(293) %406, ptr noundef %407)
  br i1 %411, label %412, label %437

412:                                              ; preds = %405
  %413 = load ptr, ptr %9, align 8, !tbaa !5
  %414 = getelementptr inbounds %class.QBody, ptr %413, i32 0, i32 30
  %415 = load i8, ptr %414, align 4, !tbaa !18, !range !32, !noundef !33
  %416 = trunc i8 %415 to i1
  %417 = zext i1 %416 to i32
  %418 = icmp ne i32 %417, 1
  br i1 %418, label %419, label %437

419:                                              ; preds = %412
  %420 = load ptr, ptr %11, align 8, !tbaa !5
  %421 = icmp ne ptr %420, null
  br i1 %421, label %422, label %430

422:                                              ; preds = %419
  %423 = load ptr, ptr %11, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %62, ptr align 4 %53, i64 8, i1 false), !tbaa.struct !45
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %63, ptr align 4 %15, i64 8, i1 false), !tbaa.struct !45
  %424 = load <2 x float>, ptr %62, align 4
  %425 = load <2 x float>, ptr %63, align 4
  %426 = load ptr, ptr %423, align 8, !tbaa !49
  %427 = getelementptr inbounds ptr, ptr %426, i64 10
  %428 = load ptr, ptr %427, align 8
  %429 = call noundef ptr %428(ptr noundef nonnull align 8 dereferenceable(308) %423, <2 x float> %424, <2 x float> %425, i1 noundef zeroext true)
  br label %436

430:                                              ; preds = %419
  %431 = load ptr, ptr %7, align 8, !tbaa !5
  %432 = getelementptr inbounds %"struct.QCollision::Contact", ptr %431, i32 0, i32 1
  %433 = load ptr, ptr %432, align 8, !tbaa !44
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %64, ptr align 4 %53, i64 8, i1 false), !tbaa.struct !45
  %434 = load <2 x float>, ptr %64, align 4
  %435 = call noundef ptr @_ZN9QParticle10ApplyForceE7QVector(ptr noundef nonnull align 8 dereferenceable(290) %433, <2 x float> %434)
  br label %436

436:                                              ; preds = %430, %422
  br label %437

437:                                              ; preds = %436, %412, %405
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #8
  store i32 0, ptr %5, align 4
  br label %438

438:                                              ; preds = %437, %124
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #8
  %439 = load i32, ptr %5, align 4
  switch i32 %439, label %454 [
    i32 0, label %440
    i32 4, label %441
  ]

440:                                              ; preds = %438
  br label %441

441:                                              ; preds = %440, %438
  %442 = load i32, ptr %6, align 4, !tbaa !37
  %443 = add nsw i32 %442, 1
  store i32 %443, ptr %6, align 4, !tbaa !37
  br label %105, !llvm.loop !53

444:                                              ; preds = %347, %242
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %4) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %3) #8
  br label %449

445:                                              ; preds = %111
  store i32 0, ptr %5, align 4
  br label %446

446:                                              ; preds = %445, %103
  call void @llvm.lifetime.end.p0(i64 1, ptr %4) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %3) #8
  %447 = load i32, ptr %5, align 4
  switch i32 %447, label %454 [
    i32 0, label %448
    i32 1, label %448
  ]

448:                                              ; preds = %446, %446
  ret void

449:                                              ; preds = %444
  %450 = load ptr, ptr %24, align 8
  %451 = load i32, ptr %25, align 4
  %452 = insertvalue { ptr, i32 } poison, ptr %450, 0
  %453 = insertvalue { ptr, i32 } %452, i32 %451, 1
  resume { ptr, i32 } %453

454:                                              ; preds = %446, %438
  unreachable
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK7QVector3DotES_(ptr noundef nonnull align 4 dereferenceable(8), <2 x float>) #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5QBody19SetPreviousPositionE7QVector(ptr noundef nonnull align 8 dereferenceable(293), <2 x float>) #3 align 2

declare <2 x float> @_ZN5QBody15ComputeFrictionEPS_S0_R7QVectorfS2_(ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(8), float noundef, ptr noundef nonnull align 4 dereferenceable(8)) #6

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind 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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { 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 #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"="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 #8 = { 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 24}
!10 = !{!"_ZTS9QManifold", !11, i64 0, !12, i64 8, !12, i64 12, !13, i64 16, !6, i64 24, !6, i64 32, !14, i64 40}
!11 = !{!"_ZTS7QVector", !12, i64 0, !12, i64 4}
!12 = !{!"float", !7, i64 0}
!13 = !{!"bool", !7, i64 0}
!14 = !{!"_ZTSSt6vectorIPN10QCollision7ContactESaIS2_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseIPN10QCollision7ContactESaIS2_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIPN10QCollision7ContactESaIS2_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseIPN10QCollision7ContactESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!18 = !{!19, !13, i64 140}
!19 = !{!"_ZTS5QBody", !12, i64 8, !12, i64 12, !6, i64 16, !11, i64 24, !11, i64 32, !12, i64 40, !12, i64 44, !20, i64 48, !21, i64 76, !13, i64 80, !13, i64 81, !13, i64 82, !12, i64 84, !22, i64 88, !13, i64 92, !12, i64 96, !13, i64 100, !13, i64 101, !11, i64 104, !12, i64 112, !12, i64 116, !12, i64 120, !12, i64 124, !12, i64 128, !23, i64 132, !23, i64 136, !13, i64 140, !13, i64 141, !13, i64 142, !23, i64 144, !23, i64 148, !23, i64 152, !13, i64 156, !24, i64 160, !24, i64 192, !26, i64 224, !13, i64 256, !27, i64 264, !31, i64 288, !13, i64 292}
!20 = !{!"_ZTS5QAABB", !11, i64 0, !11, i64 8, !11, i64 16, !12, i64 24}
!21 = !{!"_ZTSN5QBody5ModesE", !7, i64 0}
!22 = !{!"_ZTSN5QBody9BodyTypesE", !7, i64 0}
!23 = !{!"int", !7, i64 0}
!24 = !{!"_ZTSSt8functionIFvP5QBodyEE", !25, i64 0, !6, i64 24}
!25 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!26 = !{!"_ZTSSt8functionIFbP5QBodyNS0_13CollisionInfoEEE", !25, i64 0, !6, i64 24}
!27 = !{!"_ZTSSt6vectorIP5QMeshSaIS1_EE", !28, i64 0}
!28 = !{!"_ZTSSt12_Vector_baseIP5QMeshSaIS1_EE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseIP5QMeshSaIS1_EE12_Vector_implE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseIP5QMeshSaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!31 = !{!"_ZTSN5QBody16SimulationModelsE", !7, i64 0}
!32 = !{i8 0, i8 2}
!33 = !{}
!34 = !{!19, !21, i64 76}
!35 = !{!13, !13, i64 0}
!36 = !{!10, !6, i64 32}
!37 = !{!23, !23, i64 0}
!38 = !{!39, !13, i64 56}
!39 = !{!"_ZTSN10QCollision7ContactE", !11, i64 0, !6, i64 8, !11, i64 16, !12, i64 24, !40, i64 32, !13, i64 56}
!40 = !{!"_ZTSSt6vectorIP9QParticleSaIS1_EE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIP9QParticleSaIS1_EE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIP9QParticleSaIS1_EE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIP9QParticleSaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!44 = !{!39, !6, i64 8}
!45 = !{i64 0, i64 4, !46, i64 4, i64 4, !46}
!46 = !{!12, !12, i64 0}
!47 = !{!10, !12, i64 8}
!48 = !{!10, !13, i64 16}
!49 = !{!50, !50, i64 0}
!50 = !{!"vtable pointer", !8, i64 0}
!51 = !{!10, !12, i64 12}
!52 = !{!39, !12, i64 24}
!53 = distinct !{!53, !54}
!54 = !{!"llvm.loop.mustprogress"}


; 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.QVector = type { float, float }
%"class.std::vector.7" = type { %"struct.std::_Vector_base.8" }
%"struct.std::_Vector_base.8" = type { %"struct.std::_Vector_base<QParticle *, std::allocator<QParticle *>>::_Vector_impl" }
%"struct.std::_Vector_base<QParticle *, std::allocator<QParticle *>>::_Vector_impl" = type { %"struct.std::_Vector_base<QParticle *, std::allocator<QParticle *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<QParticle *, std::allocator<QParticle *>>::_Vector_impl_data" = type { ptr, ptr, ptr }

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZN7QVector4ZeroEv() local_unnamed_addr #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZN9QManifold19GetRelativeVelocityEP9QParticleSt6vectorIS1_SaIS1_EE7QVectorS5_(ptr noundef nonnull align 8 dereferenceable(64), ptr noundef, ptr noundef, <2 x float>, <2 x float>) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN9QParticle12GetOwnerMeshEv(ptr noundef nonnull align 8 dereferenceable(290)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5QMesh12GetOwnerBodyEv(ptr noundef nonnull align 8 dereferenceable(256)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_Zmi7QVectorS_(<2 x float>, <2 x float>) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIP9QParticleSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local <2 x float> @_ZN9QParticle17GetGlobalPositionEv(ptr noundef nonnull align 8 dereferenceable(290)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_Zmlf7QVector(float noundef, <2 x float>) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK7QVectorngEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIPN10QCollision7ContactESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN10QCollision7ContactESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_Zml7QVectorf(<2 x float>, float noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN5QBody11GetBodyTypeEv(ptr noundef nonnull align 8 dereferenceable(293)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIP9QParticleSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7QVectorC2Ev(ptr noundef nonnull align 4 dereferenceable(8)) unnamed_addr #4 align 2

declare void @_ZN9QParticle27ApplyForceToParticleSegmentEPS_S0_7QVectorS1_(ptr noundef, ptr noundef, <2 x float>, <2 x float>) local_unnamed_addr #5

declare noundef ptr @_ZN9QParticle10ApplyForceE7QVector(ptr noundef nonnull align 8 dereferenceable(290), <2 x float>) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN9QManifold26SolveFrictionAndVelocitiesEv(ptr noundef nonnull align 8 dereferenceable(64) %0) local_unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %struct.QVector, align 8
  %3 = alloca %"class.std::vector.7", align 8
  %4 = alloca %struct.QVector, align 8
  %5 = alloca %struct.QVector, align 8
  %6 = alloca %struct.QVector, align 8
  %7 = alloca float, align 4
  %8 = alloca float, align 4
  %9 = alloca %"class.std::vector.7", align 8
  %10 = alloca %struct.QVector, align 8
  %11 = alloca %struct.QVector, align 8
  %12 = alloca %struct.QVector, align 8
  %13 = alloca float, align 4
  %14 = alloca float, align 4
  %15 = getelementptr inbounds i8, ptr %0, i64 24
  %16 = load ptr, ptr %15, align 8, !tbaa !5
  %17 = getelementptr inbounds i8, ptr %16, i64 140
  %18 = load i8, ptr %17, align 4, !tbaa !17, !range !31, !noundef !32
  %19 = icmp eq i8 %18, 0
  br i1 %19, label %20, label %24

20:                                               ; preds = %1
  %21 = getelementptr inbounds i8, ptr %16, i64 76
  %22 = load i32, ptr %21, align 4, !tbaa !33
  %23 = icmp ne i32 %22, 1
  br label %24

24:                                               ; preds = %20, %1
  %25 = phi i1 [ false, %1 ], [ %23, %20 ]
  %26 = getelementptr inbounds i8, ptr %0, i64 32
  %27 = load ptr, ptr %26, align 8, !tbaa !34
  %28 = getelementptr inbounds i8, ptr %27, i64 140
  %29 = load i8, ptr %28, align 4, !tbaa !17, !range !31, !noundef !32
  %30 = icmp eq i8 %29, 0
  br i1 %30, label %31, label %35

31:                                               ; preds = %24
  %32 = getelementptr inbounds i8, ptr %27, i64 76
  %33 = load i32, ptr %32, align 4, !tbaa !33
  %34 = icmp ne i32 %33, 1
  br label %35

35:                                               ; preds = %31, %24
  %36 = phi i1 [ false, %24 ], [ %34, %31 ]
  %brmerge = select i1 %25, i1 true, i1 %36
  br i1 %brmerge, label %.preheader, label %.loopexit

.preheader:                                       ; preds = %35
  %37 = getelementptr inbounds i8, ptr %0, i64 40
  %38 = tail call noundef i64 @_ZNKSt6vectorIPN10QCollision7ContactESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %37) #7
  %.not117 = icmp eq i64 %38, 0
  br i1 %.not117, label %.loopexit, label %.lr.ph

.lr.ph:                                           ; preds = %.preheader
  %39 = getelementptr inbounds i8, ptr %0, i64 8
  %40 = getelementptr inbounds i8, ptr %0, i64 16
  %41 = getelementptr inbounds i8, ptr %0, i64 12
  br label %42

42:                                               ; preds = %.lr.ph, %213
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %213 ]
  %43 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN10QCollision7ContactESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %37, i64 noundef %indvars.iv) #7
  %44 = load ptr, ptr %43, align 8, !tbaa !35
  %45 = getelementptr inbounds i8, ptr %44, i64 56
  %46 = load i8, ptr %45, align 8, !tbaa !36, !range !31, !noundef !32
  %47 = icmp eq i8 %46, 0
  br i1 %47, label %213, label %48

48:                                               ; preds = %42
  %49 = getelementptr inbounds i8, ptr %44, i64 32
  %50 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef 0) #7
  %51 = load ptr, ptr %50, align 8, !tbaa !35
  %52 = call noundef ptr @_ZN9QParticle12GetOwnerMeshEv(ptr noundef nonnull align 8 dereferenceable(290) %51)
  %53 = call noundef ptr @_ZN5QMesh12GetOwnerBodyEv(ptr noundef nonnull align 8 dereferenceable(256) %52)
  %54 = getelementptr inbounds i8, ptr %44, i64 8
  %55 = load ptr, ptr %54, align 8, !tbaa !42
  %56 = call noundef ptr @_ZN9QParticle12GetOwnerMeshEv(ptr noundef nonnull align 8 dereferenceable(290) %55)
  %57 = call noundef ptr @_ZN5QMesh12GetOwnerBodyEv(ptr noundef nonnull align 8 dereferenceable(256) %56)
  %58 = call noundef i32 @_ZN5QBody11GetBodyTypeEv(ptr noundef nonnull align 8 dereferenceable(293) %53)
  %59 = icmp eq i32 %58, 0
  %spec.select = select i1 %59, ptr %53, ptr null
  %60 = call noundef i32 @_ZN5QBody11GetBodyTypeEv(ptr noundef nonnull align 8 dereferenceable(293) %57)
  %61 = icmp eq i32 %60, 0
  %.0104 = select i1 %61, ptr %57, ptr null
  %.sroa.038.0.copyload = load <2 x float>, ptr %44, align 8
  %62 = call <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293) %53)
  %63 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %.sroa.038.0.copyload, <2 x float> %62)
  %.sroa.034.0.copyload = load <2 x float>, ptr %44, align 8
  %64 = call <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293) %57)
  %65 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %.sroa.034.0.copyload, <2 x float> %64)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #7
  call void @_ZN7QVectorC2Ev(ptr noundef nonnull align 4 dereferenceable(8) %2)
  %66 = icmp eq i64 %indvars.iv, 0
  %67 = load float, ptr %39, align 8
  %68 = fcmp ogt float %67, 0.000000e+00
  %or.cond = select i1 %66, i1 %68, i1 false
  br i1 %or.cond, label %69, label %140

69:                                               ; preds = %48
  %70 = getelementptr inbounds i8, ptr %44, i64 16
  %.sroa.030.0.copyload = load <2 x float>, ptr %70, align 8
  %71 = call noundef float @_ZNK7QVector3DotES_(ptr noundef nonnull align 4 dereferenceable(8) %0, <2 x float> %.sroa.030.0.copyload)
  %72 = load float, ptr %39, align 8, !tbaa !43
  %73 = fmul float %72, 2.000000e+00
  %74 = fcmp ogt float %71, %73
  br i1 %74, label %75, label %140

75:                                               ; preds = %69
  %76 = load ptr, ptr %54, align 8, !tbaa !42
  call void @_ZNSt6vectorIP9QParticleSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %3, ptr noundef nonnull align 8 dereferenceable(24) %49)
  %77 = invoke <2 x float> @_ZN7QVector4ZeroEv()
          to label %78 unwind label %109

78:                                               ; preds = %75
  %79 = invoke <2 x float> @_ZN7QVector4ZeroEv()
          to label %80 unwind label %109

80:                                               ; preds = %78
  %81 = invoke <2 x float> @_ZN9QManifold19GetRelativeVelocityEP9QParticleSt6vectorIS1_SaIS1_EE7QVectorS5_(ptr noundef nonnull align 8 dereferenceable(64) %0, ptr noundef %76, ptr noundef nonnull %3, <2 x float> %77, <2 x float> %79)
          to label %82 unwind label %109

82:                                               ; preds = %80
  store <2 x float> %81, ptr %2, align 8
  call void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %3) #7
  %.sroa.025.0.copyload = load <2 x float>, ptr %2, align 8
  %.sroa.023.0.copyload = load <2 x float>, ptr %70, align 8
  %83 = call noundef float @_ZNK7QVector3DotES_(ptr noundef nonnull align 4 dereferenceable(8) %2, <2 x float> %.sroa.023.0.copyload)
  %.sroa.022.0.copyload = load <2 x float>, ptr %70, align 8
  %84 = call <2 x float> @_Zmlf7QVector(float noundef %83, <2 x float> %.sroa.022.0.copyload)
  %85 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %.sroa.025.0.copyload, <2 x float> %84)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %.sroa.019.0.copyload = load <2 x float>, ptr %70, align 8
  %86 = call <2 x float> @_Zmlf7QVector(float noundef %71, <2 x float> %.sroa.019.0.copyload)
  %87 = load float, ptr %39, align 8, !tbaa !43
  %88 = call <2 x float> @_Zml7QVectorf(<2 x float> %86, float noundef %87)
  %89 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %88, <2 x float> %85)
  store <2 x float> %89, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  %90 = call <2 x float> @_ZNK7QVectorngEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  store <2 x float> %90, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #7
  %91 = load i64, ptr %4, align 8
  store i64 %91, ptr %6, align 8
  %92 = load i8, ptr %40, align 8, !tbaa !44, !range !31, !noundef !32
  %93 = icmp eq i8 %92, 0
  br i1 %93, label %94, label %111

94:                                               ; preds = %82
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %7) #7
  %95 = load ptr, ptr %57, align 8, !tbaa !45
  %96 = getelementptr inbounds i8, ptr %95, i64 64
  %97 = load ptr, ptr %96, align 8
  %98 = call noundef float %97(ptr noundef nonnull align 8 dereferenceable(293) %57)
  %99 = load float, ptr %41, align 4, !tbaa !47
  %100 = fmul float %98, %99
  store float %100, ptr %7, align 4, !tbaa !48
  %101 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(4) %7)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #7
  %102 = load ptr, ptr %53, align 8, !tbaa !45
  %103 = getelementptr inbounds i8, ptr %102, i64 64
  %104 = load ptr, ptr %103, align 8
  %105 = call noundef float %104(ptr noundef nonnull align 8 dereferenceable(293) %53)
  %106 = load float, ptr %41, align 4, !tbaa !47
  %107 = fmul float %105, %106
  store float %107, ptr %8, align 4, !tbaa !48
  %108 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(4) %8)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #7
  br label %111

109:                                              ; preds = %80, %78, %75
  %110 = landingpad { ptr, i32 }
          cleanup
  br label %216

111:                                              ; preds = %94, %82
  %.not = icmp eq ptr %spec.select, null
  br i1 %.not, label %125, label %112

112:                                              ; preds = %111
  %113 = load ptr, ptr %57, align 8, !tbaa !45
  %114 = getelementptr inbounds i8, ptr %113, i64 16
  %115 = load ptr, ptr %114, align 8
  %116 = call noundef zeroext i1 %115(ptr noundef nonnull align 8 dereferenceable(293) %57, ptr noundef nonnull %53)
  br i1 %116, label %117, label %125

117:                                              ; preds = %112
  %118 = getelementptr inbounds i8, ptr %53, i64 140
  %119 = load i8, ptr %118, align 4, !tbaa !17, !range !31, !noundef !32
  %120 = icmp eq i8 %119, 0
  br i1 %120, label %121, label %125

121:                                              ; preds = %117
  %122 = call <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293) %53)
  %.sroa.015.0.copyload = load <2 x float>, ptr %5, align 8
  %123 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %122, <2 x float> %.sroa.015.0.copyload)
  %124 = call noundef ptr @_ZN5QBody19SetPreviousPositionE7QVector(ptr noundef nonnull align 8 dereferenceable(293) %spec.select, <2 x float> %123)
  br label %125

125:                                              ; preds = %111, %112, %117, %121
  %.not109 = icmp eq ptr %.0104, null
  br i1 %.not109, label %139, label %126

126:                                              ; preds = %125
  %127 = load ptr, ptr %53, align 8, !tbaa !45
  %128 = getelementptr inbounds i8, ptr %127, i64 16
  %129 = load ptr, ptr %128, align 8
  %130 = call noundef zeroext i1 %129(ptr noundef nonnull align 8 dereferenceable(293) %53, ptr noundef nonnull %57)
  br i1 %130, label %131, label %139

131:                                              ; preds = %126
  %132 = getelementptr inbounds i8, ptr %57, i64 140
  %133 = load i8, ptr %132, align 4, !tbaa !17, !range !31, !noundef !32
  %134 = icmp eq i8 %133, 0
  br i1 %134, label %135, label %139

135:                                              ; preds = %131
  %136 = call <2 x float> @_ZN5QBody11GetPositionEv(ptr noundef nonnull align 8 dereferenceable(293) %57)
  %.sroa.012.0.copyload = load <2 x float>, ptr %6, align 8
  %137 = call <2 x float> @_Zmi7QVectorS_(<2 x float> %136, <2 x float> %.sroa.012.0.copyload)
  %138 = call noundef ptr @_ZN5QBody19SetPreviousPositionE7QVector(ptr noundef nonnull align 8 dereferenceable(293) %.0104, <2 x float> %137)
  br label %139

139:                                              ; preds = %125, %126, %131, %135
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  br label %140

140:                                              ; preds = %69, %139, %48
  %141 = load ptr, ptr %54, align 8, !tbaa !42
  call void @_ZNSt6vectorIP9QParticleSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(24) %49)
  %142 = invoke <2 x float> @_ZN9QManifold19GetRelativeVelocityEP9QParticleSt6vectorIS1_SaIS1_EE7QVectorS5_(ptr noundef nonnull align 8 dereferenceable(64) %0, ptr noundef %141, ptr noundef nonnull %9, <2 x float> %63, <2 x float> %65)
          to label %143 unwind label %167

143:                                              ; preds = %140
  store <2 x float> %142, ptr %2, align 8
  call void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #7
  %144 = getelementptr inbounds i8, ptr %44, i64 16
  %145 = getelementptr inbounds i8, ptr %44, i64 24
  %146 = load float, ptr %145, align 8, !tbaa !49
  %147 = call <2 x float> @_ZN5QBody15ComputeFrictionEPS_S0_R7QVectorfS2_(ptr noundef nonnull %57, ptr noundef nonnull %53, ptr noundef nonnull align 4 dereferenceable(8) %144, float noundef %146, ptr noundef nonnull align 4 dereferenceable(8) %2)
  store <2 x float> %147, ptr %10, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #7
  call void @_ZN7QVectorC2Ev(ptr noundef nonnull align 4 dereferenceable(8) %11)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #7
  call void @_ZN7QVectorC2Ev(ptr noundef nonnull align 4 dereferenceable(8) %12)
  %148 = load i64, ptr %10, align 8
  store i64 %148, ptr %11, align 8
  %149 = call <2 x float> @_ZNK7QVectorngEv(ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %149, ptr %12, align 8
  %150 = load i8, ptr %40, align 8, !tbaa !44, !range !31, !noundef !32
  %151 = icmp eq i8 %150, 0
  br i1 %151, label %152, label %169

152:                                              ; preds = %143
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %13) #7
  %153 = load ptr, ptr %57, align 8, !tbaa !45
  %154 = getelementptr inbounds i8, ptr %153, i64 64
  %155 = load ptr, ptr %154, align 8
  %156 = call noundef float %155(ptr noundef nonnull align 8 dereferenceable(293) %57)
  %157 = load float, ptr %41, align 4, !tbaa !47
  %158 = fmul float %156, %157
  store float %158, ptr %13, align 4, !tbaa !48
  %159 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(4) %13)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %14) #7
  %160 = load ptr, ptr %53, align 8, !tbaa !45
  %161 = getelementptr inbounds i8, ptr %160, i64 64
  %162 = load ptr, ptr %161, align 8
  %163 = call noundef float %162(ptr noundef nonnull align 8 dereferenceable(293) %53)
  %164 = load float, ptr %41, align 4, !tbaa !47
  %165 = fmul float %163, %164
  store float %165, ptr %14, align 4, !tbaa !48
  %166 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7QVectormLERKf(ptr noundef nonnull align 4 dereferenceable(8) %12, ptr noundef nonnull align 4 dereferenceable(4) %14)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #7
  br label %169

167:                                              ; preds = %140
  %168 = landingpad { ptr, i32 }
          cleanup
  br label %216

169:                                              ; preds = %152, %143
  %170 = load ptr, ptr %57, align 8, !tbaa !45
  %171 = getelementptr inbounds i8, ptr %170, i64 16
  %172 = load ptr, ptr %171, align 8
  %173 = call noundef zeroext i1 %172(ptr noundef nonnull align 8 dereferenceable(293) %57, ptr noundef nonnull %53)
  br i1 %173, label %174, label %195

174:                                              ; preds = %169
  %175 = getelementptr inbounds i8, ptr %53, i64 140
  %176 = load i8, ptr %175, align 4, !tbaa !17, !range !31, !noundef !32
  %.not111.not = icmp eq i8 %176, 0
  br i1 %.not111.not, label %177, label %195

177:                                              ; preds = %174
  %.not112 = icmp eq ptr %spec.select, null
  br i1 %.not112, label %183, label %178

178:                                              ; preds = %177
  %.sroa.07.0.copyload = load <2 x float>, ptr %11, align 8
  %179 = load ptr, ptr %spec.select, align 8, !tbaa !45
  %180 = getelementptr inbounds i8, ptr %179, i64 80
  %181 = load ptr, ptr %180, align 8
  %182 = call noundef ptr %181(ptr noundef nonnull align 8 dereferenceable(308) %spec.select, <2 x float> %.sroa.07.0.copyload, <2 x float> %63, i1 noundef zeroext true)
  br label %195

183:                                              ; preds = %177
  %184 = call noundef i64 @_ZNKSt6vectorIP9QParticleSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %49) #7
  %185 = icmp eq i64 %184, 2
  %186 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef 0) #7
  %187 = load ptr, ptr %186, align 8, !tbaa !35
  br i1 %185, label %188, label %193

188:                                              ; preds = %183
  %189 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP9QParticleSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef 1) #7
  %190 = load ptr, ptr %189, align 8, !tbaa !35
  %.sroa.05.0.copyload = load <2 x float>, ptr %11, align 8
  %191 = load ptr, ptr %54, align 8, !tbaa !42
  %192 = call <2 x float> @_ZN9QParticle17GetGlobalPositionEv(ptr noundef nonnull align 8 dereferenceable(290) %191)
  call void @_ZN9QParticle27ApplyForceToParticleSegmentEPS_S0_7QVectorS1_(ptr noundef %187, ptr noundef %190, <2 x float> %.sroa.05.0.copyload, <2 x float> %192)
  br label %195

193:                                              ; preds = %183
  %.sroa.03.0.copyload = load <2 x float>, ptr %11, align 8
  %194 = call noundef ptr @_ZN9QParticle10ApplyForceE7QVector(ptr noundef nonnull align 8 dereferenceable(290) %187, <2 x float> %.sroa.03.0.copyload)
  br label %195

195:                                              ; preds = %178, %193, %188, %174, %169
  %196 = load ptr, ptr %53, align 8, !tbaa !45
  %197 = getelementptr inbounds i8, ptr %196, i64 16
  %198 = load ptr, ptr %197, align 8
  %199 = call noundef zeroext i1 %198(ptr noundef nonnull align 8 dereferenceable(293) %53, ptr noundef nonnull %57)
  br i1 %199, label %200, label %212

200:                                              ; preds = %195
  %201 = getelementptr inbounds i8, ptr %57, i64 140
  %202 = load i8, ptr %201, align 4, !tbaa !17, !range !31, !noundef !32
  %.not113.not = icmp eq i8 %202, 0
  br i1 %.not113.not, label %203, label %212

203:                                              ; preds = %200
  %.not114 = icmp eq ptr %.0104, null
  br i1 %.not114, label %209, label %204

204:                                              ; preds = %203
  %.sroa.02.0.copyload = load <2 x float>, ptr %12, align 8
  %205 = load ptr, ptr %.0104, align 8, !tbaa !45
  %206 = getelementptr inbounds i8, ptr %205, i64 80
  %207 = load ptr, ptr %206, align 8
  %208 = call noundef ptr %207(ptr noundef nonnull align 8 dereferenceable(308) %.0104, <2 x float> %.sroa.02.0.copyload, <2 x float> %65, i1 noundef zeroext true)
  br label %212

209:                                              ; preds = %203
  %210 = load ptr, ptr %54, align 8, !tbaa !42
  %.sroa.0.0.copyload = load <2 x float>, ptr %12, align 8
  %211 = call noundef ptr @_ZN9QParticle10ApplyForceE7QVector(ptr noundef nonnull align 8 dereferenceable(290) %210, <2 x float> %.sroa.0.0.copyload)
  br label %212

212:                                              ; preds = %204, %209, %200, %195
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #7
  br label %213

213:                                              ; preds = %42, %212
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %214 = call noundef i64 @_ZNKSt6vectorIPN10QCollision7ContactESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %37) #7
  %215 = icmp ugt i64 %214, %indvars.iv.next
  br i1 %215, label %42, label %.loopexit, !llvm.loop !50

216:                                              ; preds = %167, %109
  %.sink = phi ptr [ %9, %167 ], [ %3, %109 ]
  %.pn = phi { ptr, i32 } [ %168, %167 ], [ %110, %109 ]
  call void @_ZNSt6vectorIP9QParticleSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %.sink) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #7
  resume { ptr, i32 } %.pn

.loopexit:                                        ; preds = %213, %.preheader, %35
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK7QVector3DotES_(ptr noundef nonnull align 4 dereferenceable(8), <2 x float>) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5QBody19SetPreviousPositionE7QVector(ptr noundef nonnull align 8 dereferenceable(293), <2 x float>) local_unnamed_addr #3 align 2

declare <2 x float> @_ZN5QBody15ComputeFrictionEPS_S0_R7QVectorfS2_(ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(8), float noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nounwind 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 = { "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 nounwind uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !12, i64 24}
!6 = !{!"_ZTS9QManifold", !7, i64 0, !8, i64 8, !8, i64 12, !11, i64 16, !12, i64 24, !12, i64 32, !13, i64 40}
!7 = !{!"_ZTS7QVector", !8, i64 0, !8, i64 4}
!8 = !{!"float", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"bool", !9, i64 0}
!12 = !{!"any pointer", !9, i64 0}
!13 = !{!"_ZTSSt6vectorIPN10QCollision7ContactESaIS2_EE", !14, i64 0}
!14 = !{!"_ZTSSt12_Vector_baseIPN10QCollision7ContactESaIS2_EE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIPN10QCollision7ContactESaIS2_EE12_Vector_implE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIPN10QCollision7ContactESaIS2_EE17_Vector_impl_dataE", !12, i64 0, !12, i64 8, !12, i64 16}
!17 = !{!18, !11, i64 140}
!18 = !{!"_ZTS5QBody", !8, i64 8, !8, i64 12, !12, i64 16, !7, i64 24, !7, i64 32, !8, i64 40, !8, i64 44, !19, i64 48, !20, i64 76, !11, i64 80, !11, i64 81, !11, i64 82, !8, i64 84, !21, i64 88, !11, i64 92, !8, i64 96, !11, i64 100, !11, i64 101, !7, i64 104, !8, i64 112, !8, i64 116, !8, i64 120, !8, i64 124, !8, i64 128, !22, i64 132, !22, i64 136, !11, i64 140, !11, i64 141, !11, i64 142, !22, i64 144, !22, i64 148, !22, i64 152, !11, i64 156, !23, i64 160, !23, i64 192, !25, i64 224, !11, i64 256, !26, i64 264, !30, i64 288, !11, i64 292}
!19 = !{!"_ZTS5QAABB", !7, i64 0, !7, i64 8, !7, i64 16, !8, i64 24}
!20 = !{!"_ZTSN5QBody5ModesE", !9, i64 0}
!21 = !{!"_ZTSN5QBody9BodyTypesE", !9, i64 0}
!22 = !{!"int", !9, i64 0}
!23 = !{!"_ZTSSt8functionIFvP5QBodyEE", !24, i64 0, !12, i64 24}
!24 = !{!"_ZTSSt14_Function_base", !9, i64 0, !12, i64 16}
!25 = !{!"_ZTSSt8functionIFbP5QBodyNS0_13CollisionInfoEEE", !24, i64 0, !12, i64 24}
!26 = !{!"_ZTSSt6vectorIP5QMeshSaIS1_EE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseIP5QMeshSaIS1_EE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIP5QMeshSaIS1_EE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseIP5QMeshSaIS1_EE17_Vector_impl_dataE", !12, i64 0, !12, i64 8, !12, i64 16}
!30 = !{!"_ZTSN5QBody16SimulationModelsE", !9, i64 0}
!31 = !{i8 0, i8 2}
!32 = !{}
!33 = !{!18, !20, i64 76}
!34 = !{!6, !12, i64 32}
!35 = !{!12, !12, i64 0}
!36 = !{!37, !11, i64 56}
!37 = !{!"_ZTSN10QCollision7ContactE", !7, i64 0, !12, i64 8, !7, i64 16, !8, i64 24, !38, i64 32, !11, i64 56}
!38 = !{!"_ZTSSt6vectorIP9QParticleSaIS1_EE", !39, i64 0}
!39 = !{!"_ZTSSt12_Vector_baseIP9QParticleSaIS1_EE", !40, i64 0}
!40 = !{!"_ZTSNSt12_Vector_baseIP9QParticleSaIS1_EE12_Vector_implE", !41, i64 0}
!41 = !{!"_ZTSNSt12_Vector_baseIP9QParticleSaIS1_EE17_Vector_impl_dataE", !12, i64 0, !12, i64 8, !12, i64 16}
!42 = !{!37, !12, i64 8}
!43 = !{!6, !8, i64 8}
!44 = !{!6, !11, i64 16}
!45 = !{!46, !46, i64 0}
!46 = !{!"vtable pointer", !10, i64 0}
!47 = !{!6, !8, i64 12}
!48 = !{!8, !8, i64 0}
!49 = !{!37, !8, i64 24}
!50 = distinct !{!50, !51}
!51 = !{!"llvm.loop.mustprogress"}


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