; LLVM IR from jrouwe/JoltPhysics :: Jolt/Physics/Constraints (HingeConstraint)

; 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.JPH::AssertLastParam" = type { i8 }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.4 }
%union.anon.4 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::HingeConstraint" = type { %"class.JPH::TwoBodyConstraint", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Quat", i8, float, float, %"class.JPH::SpringSettings", float, %"class.JPH::MotorSettings", i32, float, float, float, %"class.JPH::Vec3", %"class.JPH::PointConstraintPart", %"class.JPH::HingeRotationConstraintPart", %"class.JPH::AngleConstraintPart", %"class.JPH::AngleConstraintPart" }
%"class.JPH::TwoBodyConstraint" = type { %"class.JPH::Constraint", ptr, ptr }
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.3", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.3" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::SpringSettings" = type { i8, %union.anon.2, float }
%union.anon.2 = type { float }
%"class.JPH::MotorSettings" = type { %"class.JPH::SpringSettings", float, float, float, float }
%"class.JPH::PointConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3" }
%"class.JPH::HingeRotationConstraintPart" = type <{ %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Matrix", %"class.JPH::Vector", [8 x i8] }>
%"class.JPH::Matrix" = type { [2 x %"class.JPH::Vector"] }
%"class.JPH::Vector" = type { [2 x float] }
%"class.JPH::AngleConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }
%"class.JPH::HingeConstraintSettings" = type <{ %"class.JPH::TwoBodyConstraintSettings", i32, [4 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, %"class.JPH::SpringSettings", float, %"class.JPH::MotorSettings", [12 x i8] }>
%"class.JPH::TwoBodyConstraintSettings" = type { %"class.JPH::ConstraintSettings" }
%"class.JPH::ConstraintSettings" = type { %"class.JPH::SerializableObject", %"class.JPH::RefTarget", i8, i32, i32, i32, float, i64 }
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget" = type { %"struct.std::atomic" }

@_ZTVN3JPH15HingeConstraintE = external dso_local unnamed_addr constant { [20 x ptr] }, align 8
@.str.1 = external hidden unnamed_addr constant [101 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [97 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [43 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

declare i32 @__gxx_personality_v0(...)

; 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 @_ZN3JPH15HingeConstraintC2ERNS_4BodyES2_RKNS_23HingeConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(832) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(208) %3) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca %"struct.JPH::AssertLastParam", align 1
  %12 = alloca %"class.JPH::Quat", align 16
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca %"class.JPH::Vec3", align 16
  %15 = alloca %"class.JPH::Vec3", align 16
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = alloca %"class.JPH::Mat44", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca %"class.JPH::Vec3", align 16
  %23 = alloca %"class.JPH::Vec3", align 16
  %24 = alloca %"class.JPH::Vec3", align 16
  %25 = alloca %"class.JPH::Vec3", align 16
  %26 = alloca %"class.JPH::Mat44", align 16
  %27 = alloca %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::Vec3", align 16
  %29 = alloca %"class.JPH::Vec3", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"class.JPH::Vec3", align 16
  %33 = alloca %"class.JPH::Vec3", align 16
  %34 = alloca %"class.JPH::Vec3", align 16
  %35 = alloca %"class.JPH::Quat", align 16
  %36 = alloca %"class.JPH::Quat", align 16
  %37 = alloca %"class.JPH::Quat", align 16
  %38 = alloca %"class.JPH::Quat", align 16
  %39 = alloca %"class.JPH::Quat", align 16
  %40 = alloca %"class.JPH::Quat", align 16
  %41 = alloca %"class.JPH::Vec3", align 16
  %42 = alloca %"class.JPH::Vec3", align 16
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store ptr %3, ptr %8, align 8, !tbaa !5
  %43 = load ptr, ptr %5, align 8
  %44 = load ptr, ptr %6, align 8, !tbaa !5
  %45 = load ptr, ptr %7, align 8, !tbaa !5
  %46 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48) %43, ptr noundef nonnull align 16 dereferenceable(122) %44, ptr noundef nonnull align 16 dereferenceable(122) %45, ptr noundef nonnull align 8 dereferenceable(40) %46)
  store ptr getelementptr inbounds inrange(-16, 144) ({ [20 x ptr] }, ptr @_ZTVN3JPH15HingeConstraintE, i32 0, i32 0, i32 2), ptr %43, align 16, !tbaa !9
  %47 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 1
  %48 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 2
  %49 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 3
  %50 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 4
  %51 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 5
  %52 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 6
  %53 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 7
  %54 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 11
  call void @_ZN3JPH14SpringSettingsC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %54) #9
  %55 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 12
  %56 = load ptr, ptr %8, align 8, !tbaa !5
  %57 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %56, i32 0, i32 12
  %58 = load float, ptr %57, align 4, !tbaa !11
  store float %58, ptr %55, align 8, !tbaa !28
  %59 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 13
  %60 = load ptr, ptr %8, align 8, !tbaa !5
  %61 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %60, i32 0, i32 13
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %59, ptr align 8 %61, i64 28, i1 false), !tbaa.struct !43
  %62 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 14
  store i32 0, ptr %62, align 8, !tbaa !47
  %63 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 15
  store float 0.000000e+00, ptr %63, align 4, !tbaa !48
  %64 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 16
  store float 0.000000e+00, ptr %64, align 16, !tbaa !49
  %65 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 17
  store float 0.000000e+00, ptr %65, align 4, !tbaa !50
  %66 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 18
  %67 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 19
  invoke void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240) %67)
          to label %68 unwind label %91

68:                                               ; preds = %4
  %69 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 20
  invoke void @_ZN3JPH27HingeRotationConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(232) %69)
          to label %70 unwind label %91

70:                                               ; preds = %68
  %71 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 21
  call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %71) #9
  %72 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 22
  call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %72) #9
  br label %73

73:                                               ; preds = %70
  %74 = load ptr, ptr %8, align 8, !tbaa !5
  %75 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %74, i32 0, i32 9
  %76 = load float, ptr %75, align 16, !tbaa !51
  %77 = load ptr, ptr %8, align 8, !tbaa !5
  %78 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %77, i32 0, i32 10
  %79 = load float, ptr %78, align 4, !tbaa !52
  %80 = fcmp une float %76, %79
  br i1 %80, label %95, label %81

81:                                               ; preds = %73
  %82 = load ptr, ptr %8, align 8, !tbaa !5
  %83 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %82, i32 0, i32 11
  %84 = getelementptr inbounds %"class.JPH::SpringSettings", ptr %83, i32 0, i32 1
  %85 = load float, ptr %84, align 4, !tbaa !45
  %86 = fcmp ogt float %85, 0.000000e+00
  br i1 %86, label %95, label %87

87:                                               ; preds = %81
  %88 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef @.str.1, ptr noundef @.str.2, i32 noundef 83, ptr noundef @.str.3)
          to label %89 unwind label %91

89:                                               ; preds = %87
  br i1 %88, label %90, label %95

90:                                               ; preds = %89
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !53
  br label %95

91:                                               ; preds = %388, %97, %87, %68, %4
  %92 = landingpad { ptr, i32 }
          cleanup
  %93 = extractvalue { ptr, i32 } %92, 0
  store ptr %93, ptr %9, align 8
  %94 = extractvalue { ptr, i32 } %92, 1
  store i32 %94, ptr %10, align 4
  br label %392

95:                                               ; preds = %90, %89, %81, %73
  br label %96

96:                                               ; preds = %95
  br label %97

97:                                               ; preds = %96
  %98 = load ptr, ptr %8, align 8, !tbaa !5
  %99 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %98, i32 0, i32 9
  %100 = load float, ptr %99, align 16, !tbaa !51
  %101 = load ptr, ptr %8, align 8, !tbaa !5
  %102 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %101, i32 0, i32 10
  %103 = load float, ptr %102, align 4, !tbaa !52
  invoke void @_ZN3JPH15HingeConstraint9SetLimitsEff(ptr noundef nonnull align 16 dereferenceable(832) %43, float noundef %100, float noundef %103)
          to label %104 unwind label %91

104:                                              ; preds = %97
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #9
  %105 = load ptr, ptr %8, align 8, !tbaa !5
  %106 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %105, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %13, ptr align 16 %106, i64 16, i1 false), !tbaa.struct !54
  %107 = load ptr, ptr %8, align 8, !tbaa !5
  %108 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %107, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %14, ptr align 16 %108, i64 16, i1 false), !tbaa.struct !54
  %109 = load ptr, ptr %8, align 8, !tbaa !5
  %110 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %109, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %15, ptr align 16 %110, i64 16, i1 false), !tbaa.struct !54
  %111 = load ptr, ptr %8, align 8, !tbaa !5
  %112 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %111, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %16, ptr align 16 %112, i64 16, i1 false), !tbaa.struct !54
  %113 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 0
  %114 = load double, ptr %113, align 16
  %115 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 1
  %116 = load double, ptr %115, align 8
  %117 = getelementptr inbounds { double, double }, ptr %14, i32 0, i32 0
  %118 = load double, ptr %117, align 16
  %119 = getelementptr inbounds { double, double }, ptr %14, i32 0, i32 1
  %120 = load double, ptr %119, align 8
  %121 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 0
  %122 = load double, ptr %121, align 16
  %123 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 1
  %124 = load double, ptr %123, align 8
  %125 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 0
  %126 = load double, ptr %125, align 16
  %127 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 1
  %128 = load double, ptr %127, align 8
  %129 = invoke { double, double } @_ZN3JPH27RotationEulerConstraintPart27sGetInvInitialOrientationXZENS_4Vec3ES1_S1_S1_(double %114, double %116, double %118, double %120, double %122, double %124, double %126, double %128)
          to label %130 unwind label %327

130:                                              ; preds = %104
  %131 = getelementptr inbounds %"class.JPH::Quat", ptr %12, i32 0, i32 0
  %132 = getelementptr inbounds %"class.JPH::Vec4", ptr %131, i32 0, i32 0
  %133 = getelementptr inbounds %union.anon.4, ptr %132, i32 0, i32 0
  %134 = getelementptr inbounds { double, double }, ptr %133, i32 0, i32 0
  %135 = extractvalue { double, double } %129, 0
  store double %135, ptr %134, align 16
  %136 = getelementptr inbounds { double, double }, ptr %133, i32 0, i32 1
  %137 = extractvalue { double, double } %129, 1
  store double %137, ptr %136, align 8
  %138 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %138, ptr align 16 %12, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #9
  %139 = load ptr, ptr %8, align 8, !tbaa !5
  %140 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %139, i32 0, i32 1
  %141 = load i32, ptr %140, align 8, !tbaa !55
  %142 = icmp eq i32 %141, 1
  br i1 %142, label %143, label %369

143:                                              ; preds = %130
  call void @llvm.lifetime.start.p0(i64 64, ptr %17) #9
  %144 = load ptr, ptr %6, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %17, ptr noundef nonnull align 16 dereferenceable(122) %144)
          to label %145 unwind label %331

145:                                              ; preds = %143
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #9
  %146 = load ptr, ptr %8, align 8, !tbaa !5
  %147 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %146, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %19, ptr align 16 %147, i64 16, i1 false), !tbaa.struct !54
  %148 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 0
  %149 = load double, ptr %148, align 16
  %150 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 1
  %151 = load double, ptr %150, align 8
  %152 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %17, double %149, double %151)
          to label %153 unwind label %335

153:                                              ; preds = %145
  %154 = getelementptr inbounds %"class.JPH::Vec3", ptr %18, i32 0, i32 0
  %155 = getelementptr inbounds %union.anon, ptr %154, i32 0, i32 0
  %156 = getelementptr inbounds { double, double }, ptr %155, i32 0, i32 0
  %157 = extractvalue { double, double } %152, 0
  store double %157, ptr %156, align 16
  %158 = getelementptr inbounds { double, double }, ptr %155, i32 0, i32 1
  %159 = extractvalue { double, double } %152, 1
  store double %159, ptr %158, align 8
  %160 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %160, ptr align 16 %18, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #9
  %161 = load ptr, ptr %8, align 8, !tbaa !5
  %162 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %161, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %22, ptr align 16 %162, i64 16, i1 false), !tbaa.struct !54
  %163 = getelementptr inbounds { double, double }, ptr %22, i32 0, i32 0
  %164 = load double, ptr %163, align 16
  %165 = getelementptr inbounds { double, double }, ptr %22, i32 0, i32 1
  %166 = load double, ptr %165, align 8
  %167 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %17, double %164, double %166)
          to label %168 unwind label %339

168:                                              ; preds = %153
  %169 = getelementptr inbounds %"class.JPH::Vec3", ptr %21, i32 0, i32 0
  %170 = getelementptr inbounds %union.anon, ptr %169, i32 0, i32 0
  %171 = getelementptr inbounds { double, double }, ptr %170, i32 0, i32 0
  %172 = extractvalue { double, double } %167, 0
  store double %172, ptr %171, align 16
  %173 = getelementptr inbounds { double, double }, ptr %170, i32 0, i32 1
  %174 = extractvalue { double, double } %167, 1
  store double %174, ptr %173, align 8
  %175 = invoke { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %21)
          to label %176 unwind label %339

176:                                              ; preds = %168
  %177 = getelementptr inbounds %"class.JPH::Vec3", ptr %20, i32 0, i32 0
  %178 = getelementptr inbounds %union.anon, ptr %177, i32 0, i32 0
  %179 = getelementptr inbounds { double, double }, ptr %178, i32 0, i32 0
  %180 = extractvalue { double, double } %175, 0
  store double %180, ptr %179, align 16
  %181 = getelementptr inbounds { double, double }, ptr %178, i32 0, i32 1
  %182 = extractvalue { double, double } %175, 1
  store double %182, ptr %181, align 8
  %183 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %183, ptr align 16 %20, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #9
  %184 = load ptr, ptr %8, align 8, !tbaa !5
  %185 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %184, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %25, ptr align 16 %185, i64 16, i1 false), !tbaa.struct !54
  %186 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 0
  %187 = load double, ptr %186, align 16
  %188 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 1
  %189 = load double, ptr %188, align 8
  %190 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %17, double %187, double %189)
          to label %191 unwind label %343

191:                                              ; preds = %176
  %192 = getelementptr inbounds %"class.JPH::Vec3", ptr %24, i32 0, i32 0
  %193 = getelementptr inbounds %union.anon, ptr %192, i32 0, i32 0
  %194 = getelementptr inbounds { double, double }, ptr %193, i32 0, i32 0
  %195 = extractvalue { double, double } %190, 0
  store double %195, ptr %194, align 16
  %196 = getelementptr inbounds { double, double }, ptr %193, i32 0, i32 1
  %197 = extractvalue { double, double } %190, 1
  store double %197, ptr %196, align 8
  %198 = invoke { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %24)
          to label %199 unwind label %343

199:                                              ; preds = %191
  %200 = getelementptr inbounds %"class.JPH::Vec3", ptr %23, i32 0, i32 0
  %201 = getelementptr inbounds %union.anon, ptr %200, i32 0, i32 0
  %202 = getelementptr inbounds { double, double }, ptr %201, i32 0, i32 0
  %203 = extractvalue { double, double } %198, 0
  store double %203, ptr %202, align 16
  %204 = getelementptr inbounds { double, double }, ptr %201, i32 0, i32 1
  %205 = extractvalue { double, double } %198, 1
  store double %205, ptr %204, align 8
  %206 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %206, ptr align 16 %23, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr %26) #9
  %207 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %26, ptr noundef nonnull align 16 dereferenceable(122) %207)
          to label %208 unwind label %347

208:                                              ; preds = %199
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #9
  %209 = load ptr, ptr %8, align 8, !tbaa !5
  %210 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %209, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %28, ptr align 16 %210, i64 16, i1 false), !tbaa.struct !54
  %211 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 0
  %212 = load double, ptr %211, align 16
  %213 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 1
  %214 = load double, ptr %213, align 8
  %215 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %26, double %212, double %214)
          to label %216 unwind label %351

216:                                              ; preds = %208
  %217 = getelementptr inbounds %"class.JPH::Vec3", ptr %27, i32 0, i32 0
  %218 = getelementptr inbounds %union.anon, ptr %217, i32 0, i32 0
  %219 = getelementptr inbounds { double, double }, ptr %218, i32 0, i32 0
  %220 = extractvalue { double, double } %215, 0
  store double %220, ptr %219, align 16
  %221 = getelementptr inbounds { double, double }, ptr %218, i32 0, i32 1
  %222 = extractvalue { double, double } %215, 1
  store double %222, ptr %221, align 8
  %223 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %223, ptr align 16 %27, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #9
  %224 = load ptr, ptr %8, align 8, !tbaa !5
  %225 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %224, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %31, ptr align 16 %225, i64 16, i1 false), !tbaa.struct !54
  %226 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %227 = load double, ptr %226, align 16
  %228 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %229 = load double, ptr %228, align 8
  %230 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %26, double %227, double %229)
          to label %231 unwind label %355

231:                                              ; preds = %216
  %232 = getelementptr inbounds %"class.JPH::Vec3", ptr %30, i32 0, i32 0
  %233 = getelementptr inbounds %union.anon, ptr %232, i32 0, i32 0
  %234 = getelementptr inbounds { double, double }, ptr %233, i32 0, i32 0
  %235 = extractvalue { double, double } %230, 0
  store double %235, ptr %234, align 16
  %236 = getelementptr inbounds { double, double }, ptr %233, i32 0, i32 1
  %237 = extractvalue { double, double } %230, 1
  store double %237, ptr %236, align 8
  %238 = invoke { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %30)
          to label %239 unwind label %355

239:                                              ; preds = %231
  %240 = getelementptr inbounds %"class.JPH::Vec3", ptr %29, i32 0, i32 0
  %241 = getelementptr inbounds %union.anon, ptr %240, i32 0, i32 0
  %242 = getelementptr inbounds { double, double }, ptr %241, i32 0, i32 0
  %243 = extractvalue { double, double } %238, 0
  store double %243, ptr %242, align 16
  %244 = getelementptr inbounds { double, double }, ptr %241, i32 0, i32 1
  %245 = extractvalue { double, double } %238, 1
  store double %245, ptr %244, align 8
  %246 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %246, ptr align 16 %29, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #9
  %247 = load ptr, ptr %8, align 8, !tbaa !5
  %248 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %247, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %248, i64 16, i1 false), !tbaa.struct !54
  %249 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 0
  %250 = load double, ptr %249, align 16
  %251 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 1
  %252 = load double, ptr %251, align 8
  %253 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %26, double %250, double %252)
          to label %254 unwind label %359

254:                                              ; preds = %239
  %255 = getelementptr inbounds %"class.JPH::Vec3", ptr %33, i32 0, i32 0
  %256 = getelementptr inbounds %union.anon, ptr %255, i32 0, i32 0
  %257 = getelementptr inbounds { double, double }, ptr %256, i32 0, i32 0
  %258 = extractvalue { double, double } %253, 0
  store double %258, ptr %257, align 16
  %259 = getelementptr inbounds { double, double }, ptr %256, i32 0, i32 1
  %260 = extractvalue { double, double } %253, 1
  store double %260, ptr %259, align 8
  %261 = invoke { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %33)
          to label %262 unwind label %359

262:                                              ; preds = %254
  %263 = getelementptr inbounds %"class.JPH::Vec3", ptr %32, i32 0, i32 0
  %264 = getelementptr inbounds %union.anon, ptr %263, i32 0, i32 0
  %265 = getelementptr inbounds { double, double }, ptr %264, i32 0, i32 0
  %266 = extractvalue { double, double } %261, 0
  store double %266, ptr %265, align 16
  %267 = getelementptr inbounds { double, double }, ptr %264, i32 0, i32 1
  %268 = extractvalue { double, double } %261, 1
  store double %268, ptr %267, align 8
  %269 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %269, ptr align 16 %32, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %36) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #9
  %270 = load ptr, ptr %7, align 8, !tbaa !5
  %271 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %270)
          to label %272 unwind label %363

272:                                              ; preds = %262
  %273 = getelementptr inbounds %"class.JPH::Quat", ptr %38, i32 0, i32 0
  %274 = getelementptr inbounds %"class.JPH::Vec4", ptr %273, i32 0, i32 0
  %275 = getelementptr inbounds %union.anon.4, ptr %274, i32 0, i32 0
  %276 = getelementptr inbounds { double, double }, ptr %275, i32 0, i32 0
  %277 = extractvalue { double, double } %271, 0
  store double %277, ptr %276, align 16
  %278 = getelementptr inbounds { double, double }, ptr %275, i32 0, i32 1
  %279 = extractvalue { double, double } %271, 1
  store double %279, ptr %278, align 8
  %280 = invoke { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %38)
          to label %281 unwind label %363

281:                                              ; preds = %272
  %282 = getelementptr inbounds %"class.JPH::Quat", ptr %37, i32 0, i32 0
  %283 = getelementptr inbounds %"class.JPH::Vec4", ptr %282, i32 0, i32 0
  %284 = getelementptr inbounds %union.anon.4, ptr %283, i32 0, i32 0
  %285 = getelementptr inbounds { double, double }, ptr %284, i32 0, i32 0
  %286 = extractvalue { double, double } %280, 0
  store double %286, ptr %285, align 16
  %287 = getelementptr inbounds { double, double }, ptr %284, i32 0, i32 1
  %288 = extractvalue { double, double } %280, 1
  store double %288, ptr %287, align 8
  %289 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %39, ptr align 16 %289, i64 16, i1 false), !tbaa.struct !54
  %290 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 0
  %291 = load double, ptr %290, align 16
  %292 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 1
  %293 = load double, ptr %292, align 8
  %294 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %37, double %291, double %293)
          to label %295 unwind label %363

295:                                              ; preds = %281
  %296 = getelementptr inbounds %"class.JPH::Quat", ptr %36, i32 0, i32 0
  %297 = getelementptr inbounds %"class.JPH::Vec4", ptr %296, i32 0, i32 0
  %298 = getelementptr inbounds %union.anon.4, ptr %297, i32 0, i32 0
  %299 = getelementptr inbounds { double, double }, ptr %298, i32 0, i32 0
  %300 = extractvalue { double, double } %294, 0
  store double %300, ptr %299, align 16
  %301 = getelementptr inbounds { double, double }, ptr %298, i32 0, i32 1
  %302 = extractvalue { double, double } %294, 1
  store double %302, ptr %301, align 8
  %303 = load ptr, ptr %6, align 8, !tbaa !5
  %304 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %303)
          to label %305 unwind label %363

305:                                              ; preds = %295
  %306 = getelementptr inbounds %"class.JPH::Quat", ptr %40, i32 0, i32 0
  %307 = getelementptr inbounds %"class.JPH::Vec4", ptr %306, i32 0, i32 0
  %308 = getelementptr inbounds %union.anon.4, ptr %307, i32 0, i32 0
  %309 = getelementptr inbounds { double, double }, ptr %308, i32 0, i32 0
  %310 = extractvalue { double, double } %304, 0
  store double %310, ptr %309, align 16
  %311 = getelementptr inbounds { double, double }, ptr %308, i32 0, i32 1
  %312 = extractvalue { double, double } %304, 1
  store double %312, ptr %311, align 8
  %313 = getelementptr inbounds { double, double }, ptr %40, i32 0, i32 0
  %314 = load double, ptr %313, align 16
  %315 = getelementptr inbounds { double, double }, ptr %40, i32 0, i32 1
  %316 = load double, ptr %315, align 8
  %317 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %36, double %314, double %316)
          to label %318 unwind label %363

318:                                              ; preds = %305
  %319 = getelementptr inbounds %"class.JPH::Quat", ptr %35, i32 0, i32 0
  %320 = getelementptr inbounds %"class.JPH::Vec4", ptr %319, i32 0, i32 0
  %321 = getelementptr inbounds %union.anon.4, ptr %320, i32 0, i32 0
  %322 = getelementptr inbounds { double, double }, ptr %321, i32 0, i32 0
  %323 = extractvalue { double, double } %317, 0
  store double %323, ptr %322, align 16
  %324 = getelementptr inbounds { double, double }, ptr %321, i32 0, i32 1
  %325 = extractvalue { double, double } %317, 1
  store double %325, ptr %324, align 8
  %326 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %326, ptr align 16 %35, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %17) #9
  br label %388

327:                                              ; preds = %104
  %328 = landingpad { ptr, i32 }
          cleanup
  %329 = extractvalue { ptr, i32 } %328, 0
  store ptr %329, ptr %9, align 8
  %330 = extractvalue { ptr, i32 } %328, 1
  store i32 %330, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #9
  br label %392

331:                                              ; preds = %143
  %332 = landingpad { ptr, i32 }
          cleanup
  %333 = extractvalue { ptr, i32 } %332, 0
  store ptr %333, ptr %9, align 8
  %334 = extractvalue { ptr, i32 } %332, 1
  store i32 %334, ptr %10, align 4
  br label %368

335:                                              ; preds = %145
  %336 = landingpad { ptr, i32 }
          cleanup
  %337 = extractvalue { ptr, i32 } %336, 0
  store ptr %337, ptr %9, align 8
  %338 = extractvalue { ptr, i32 } %336, 1
  store i32 %338, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #9
  br label %368

339:                                              ; preds = %168, %153
  %340 = landingpad { ptr, i32 }
          cleanup
  %341 = extractvalue { ptr, i32 } %340, 0
  store ptr %341, ptr %9, align 8
  %342 = extractvalue { ptr, i32 } %340, 1
  store i32 %342, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #9
  br label %368

343:                                              ; preds = %191, %176
  %344 = landingpad { ptr, i32 }
          cleanup
  %345 = extractvalue { ptr, i32 } %344, 0
  store ptr %345, ptr %9, align 8
  %346 = extractvalue { ptr, i32 } %344, 1
  store i32 %346, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #9
  br label %368

347:                                              ; preds = %199
  %348 = landingpad { ptr, i32 }
          cleanup
  %349 = extractvalue { ptr, i32 } %348, 0
  store ptr %349, ptr %9, align 8
  %350 = extractvalue { ptr, i32 } %348, 1
  store i32 %350, ptr %10, align 4
  br label %367

351:                                              ; preds = %208
  %352 = landingpad { ptr, i32 }
          cleanup
  %353 = extractvalue { ptr, i32 } %352, 0
  store ptr %353, ptr %9, align 8
  %354 = extractvalue { ptr, i32 } %352, 1
  store i32 %354, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #9
  br label %367

355:                                              ; preds = %231, %216
  %356 = landingpad { ptr, i32 }
          cleanup
  %357 = extractvalue { ptr, i32 } %356, 0
  store ptr %357, ptr %9, align 8
  %358 = extractvalue { ptr, i32 } %356, 1
  store i32 %358, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #9
  br label %367

359:                                              ; preds = %254, %239
  %360 = landingpad { ptr, i32 }
          cleanup
  %361 = extractvalue { ptr, i32 } %360, 0
  store ptr %361, ptr %9, align 8
  %362 = extractvalue { ptr, i32 } %360, 1
  store i32 %362, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #9
  br label %367

363:                                              ; preds = %305, %295, %281, %272, %262
  %364 = landingpad { ptr, i32 }
          cleanup
  %365 = extractvalue { ptr, i32 } %364, 0
  store ptr %365, ptr %9, align 8
  %366 = extractvalue { ptr, i32 } %364, 1
  store i32 %366, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #9
  br label %367

367:                                              ; preds = %363, %359, %355, %351, %347
  call void @llvm.lifetime.end.p0(i64 64, ptr %26) #9
  br label %368

368:                                              ; preds = %367, %343, %339, %335, %331
  call void @llvm.lifetime.end.p0(i64 64, ptr %17) #9
  br label %392

369:                                              ; preds = %130
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #9
  %370 = load ptr, ptr %8, align 8, !tbaa !5
  %371 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %370, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %371, i64 16, i1 false), !tbaa.struct !54
  %372 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %372, ptr align 16 %41, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #9
  %373 = load ptr, ptr %8, align 8, !tbaa !5
  %374 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %373, i32 0, i32 4
  %375 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %375, ptr align 16 %374, i64 16, i1 false), !tbaa.struct !54
  %376 = load ptr, ptr %8, align 8, !tbaa !5
  %377 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %376, i32 0, i32 5
  %378 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %378, ptr align 16 %377, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #9
  %379 = load ptr, ptr %8, align 8, !tbaa !5
  %380 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %379, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %42, ptr align 16 %380, i64 16, i1 false), !tbaa.struct !54
  %381 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %381, ptr align 16 %42, i64 16, i1 false), !tbaa.struct !54
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #9
  %382 = load ptr, ptr %8, align 8, !tbaa !5
  %383 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %382, i32 0, i32 7
  %384 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %384, ptr align 16 %383, i64 16, i1 false), !tbaa.struct !54
  %385 = load ptr, ptr %8, align 8, !tbaa !5
  %386 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %385, i32 0, i32 8
  %387 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %43, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %387, ptr align 16 %386, i64 16, i1 false), !tbaa.struct !54
  br label %388

388:                                              ; preds = %369, %318
  %389 = load ptr, ptr %8, align 8, !tbaa !5
  %390 = getelementptr inbounds %"class.JPH::HingeConstraintSettings", ptr %389, i32 0, i32 11
  invoke void @_ZN3JPH15HingeConstraint23SetLimitsSpringSettingsERKNS_14SpringSettingsE(ptr noundef nonnull align 16 dereferenceable(832) %43, ptr noundef nonnull align 4 dereferenceable(12) %390)
          to label %391 unwind label %91

391:                                              ; preds = %388
  ret void

392:                                              ; preds = %368, %327, %91
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(48) %43) #9
  br label %393

393:                                              ; preds = %392
  %394 = load ptr, ptr %9, align 8
  %395 = load i32, ptr %10, align 4
  %396 = insertvalue { ptr, i32 } poison, ptr %394, 0
  %397 = insertvalue { ptr, i32 } %396, i32 %395, 1
  resume { ptr, i32 } %397
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH14SpringSettingsC2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #2 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) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27HingeRotationConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(232)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH15HingeConstraint9SetLimitsEff(ptr noundef nonnull align 16 dereferenceable(832), float noundef, float noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH27RotationEulerConstraintPart27sGetInvInitialOrientationXZENS_4Vec3ES1_S1_S1_(double, double, double, double, double, double, double, double) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) #8 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122)) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16)) #8 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15HingeConstraint23SetLimitsSpringSettingsERKNS_14SpringSettingsE(ptr noundef nonnull align 16 dereferenceable(832), ptr noundef nonnull align 4 dereferenceable(12)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 #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 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 #7 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "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 = { alwaysinline 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 #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}
!11 = !{!12, !21, i64 164}
!12 = !{!"_ZTSN3JPH23HingeConstraintSettingsE", !13, i64 0, !23, i64 40, !24, i64 48, !24, i64 64, !24, i64 80, !24, i64 96, !24, i64 112, !24, i64 128, !21, i64 144, !21, i64 148, !25, i64 152, !21, i64 164, !27, i64 168}
!13 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !14, i64 0}
!14 = !{!"_ZTSN3JPH18ConstraintSettingsE", !15, i64 0, !16, i64 8, !20, i64 12, !19, i64 16, !19, i64 20, !19, i64 24, !21, i64 28, !22, i64 32}
!15 = !{!"_ZTSN3JPH18SerializableObjectE"}
!16 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !17, i64 0}
!17 = !{!"_ZTSSt6atomicIjE", !18, i64 0}
!18 = !{!"_ZTSSt13__atomic_baseIjE", !19, i64 0}
!19 = !{!"int", !7, i64 0}
!20 = !{!"bool", !7, i64 0}
!21 = !{!"float", !7, i64 0}
!22 = !{!"long", !7, i64 0}
!23 = !{!"_ZTSN3JPH16EConstraintSpaceE", !7, i64 0}
!24 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!25 = !{!"_ZTSN3JPH14SpringSettingsE", !26, i64 0, !7, i64 4, !21, i64 8}
!26 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!27 = !{!"_ZTSN3JPH13MotorSettingsE", !25, i64 0, !21, i64 12, !21, i64 16, !21, i64 20, !21, i64 24}
!28 = !{!29, !21, i64 184}
!29 = !{!"_ZTSN3JPH15HingeConstraintE", !30, i64 0, !24, i64 48, !24, i64 64, !24, i64 80, !24, i64 96, !24, i64 112, !24, i64 128, !33, i64 144, !20, i64 160, !21, i64 164, !21, i64 168, !25, i64 172, !21, i64 184, !27, i64 188, !35, i64 216, !21, i64 220, !21, i64 224, !21, i64 228, !24, i64 240, !36, i64 256, !38, i64 496, !41, i64 736, !41, i64 784}
!30 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !31, i64 0, !6, i64 32, !6, i64 40}
!31 = !{!"_ZTSN3JPH10ConstraintE", !32, i64 8, !19, i64 12, !19, i64 16, !7, i64 20, !7, i64 21, !20, i64 22, !22, i64 24}
!32 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !17, i64 0}
!33 = !{!"_ZTSN3JPH4QuatE", !34, i64 0}
!34 = !{!"_ZTSN3JPH4Vec4E", !7, i64 0}
!35 = !{!"_ZTSN3JPH11EMotorStateE", !7, i64 0}
!36 = !{!"_ZTSN3JPH19PointConstraintPartE", !24, i64 0, !24, i64 16, !37, i64 32, !37, i64 96, !37, i64 160, !24, i64 224}
!37 = !{!"_ZTSN3JPH5Mat44E", !7, i64 0}
!38 = !{!"_ZTSN3JPH27HingeRotationConstraintPartE", !24, i64 0, !24, i64 16, !24, i64 32, !37, i64 48, !37, i64 112, !24, i64 176, !24, i64 192, !39, i64 208, !40, i64 224}
!39 = !{!"_ZTSN3JPH6MatrixILj2ELj2EEE", !7, i64 0}
!40 = !{!"_ZTSN3JPH6VectorILj2EEE", !7, i64 0}
!41 = !{!"_ZTSN3JPH19AngleConstraintPartE", !24, i64 0, !24, i64 16, !21, i64 32, !42, i64 36, !21, i64 44}
!42 = !{!"_ZTSN3JPH10SpringPartE", !21, i64 0, !21, i64 4}
!43 = !{i64 0, i64 1, !44, i64 4, i64 4, !45, i64 8, i64 4, !46, i64 12, i64 4, !46, i64 16, i64 4, !46, i64 20, i64 4, !46, i64 24, i64 4, !46}
!44 = !{!26, !26, i64 0}
!45 = !{!7, !7, i64 0}
!46 = !{!21, !21, i64 0}
!47 = !{!29, !35, i64 216}
!48 = !{!29, !21, i64 220}
!49 = !{!29, !21, i64 224}
!50 = !{!29, !21, i64 228}
!51 = !{!12, !21, i64 144}
!52 = !{!12, !21, i64 148}
!53 = !{i64 2158323534}
!54 = !{i64 0, i64 16, !45}
!55 = !{!12, !23, i64 40}


; 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"

%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.4 }
%union.anon.4 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }

@_ZTVN3JPH15HingeConstraintE = external dso_local unnamed_addr constant { [20 x ptr] }, align 8
@.str.1 = external hidden unnamed_addr constant [101 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [97 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [43 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

declare i32 @__gxx_personality_v0(...)

; 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 @_ZN3JPH15HingeConstraintC2ERNS_4BodyES2_RKNS_23HingeConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(832) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(208) %3) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.JPH::Mat44", align 16
  %6 = alloca %"class.JPH::Vec3", align 16
  %7 = alloca %"class.JPH::Vec3", align 16
  %8 = alloca %"class.JPH::Mat44", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Vec3", align 16
  %11 = alloca %"class.JPH::Quat", align 16
  %12 = alloca %"class.JPH::Quat", align 16
  %13 = alloca %"class.JPH::Quat", align 16
  tail call void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 8 dereferenceable(40) %3)
  store ptr getelementptr inbounds inrange(-16, 144) (i8, ptr @_ZTVN3JPH15HingeConstraintE, i64 16), ptr %0, align 16, !tbaa !5
  %14 = getelementptr inbounds i8, ptr %0, i64 172
  tail call void @_ZN3JPH14SpringSettingsC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %14) #10
  %15 = getelementptr inbounds i8, ptr %0, i64 184
  %16 = getelementptr inbounds i8, ptr %3, i64 164
  %17 = load float, ptr %16, align 4, !tbaa !8
  store float %17, ptr %15, align 8, !tbaa !26
  %18 = getelementptr inbounds i8, ptr %0, i64 188
  %19 = getelementptr inbounds i8, ptr %3, i64 168
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(28) %18, ptr noundef nonnull align 8 dereferenceable(28) %19, i64 28, i1 false), !tbaa.struct !42
  %20 = getelementptr inbounds i8, ptr %0, i64 216
  %21 = getelementptr inbounds i8, ptr %0, i64 256
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(16) %20, i8 0, i64 16, i1 false)
  invoke void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240) %21)
          to label %22 unwind label %39

22:                                               ; preds = %4
  %23 = getelementptr inbounds i8, ptr %0, i64 496
  invoke void @_ZN3JPH27HingeRotationConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(232) %23)
          to label %24 unwind label %39

24:                                               ; preds = %22
  %25 = getelementptr inbounds i8, ptr %0, i64 736
  tail call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %25) #10
  %26 = getelementptr inbounds i8, ptr %0, i64 784
  tail call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %26) #10
  %27 = getelementptr inbounds i8, ptr %3, i64 144
  %28 = load float, ptr %27, align 16, !tbaa !46
  %29 = getelementptr inbounds i8, ptr %3, i64 148
  %30 = load float, ptr %29, align 4, !tbaa !47
  %31 = fcmp une float %28, %30
  %32 = getelementptr inbounds i8, ptr %3, i64 156
  %33 = load float, ptr %32, align 4
  %34 = fcmp ogt float %33, 0.000000e+00
  %or.cond = select i1 %31, i1 true, i1 %34
  br i1 %or.cond, label %41, label %35

35:                                               ; preds = %24
  %36 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, i32 noundef 83, ptr noundef nonnull @.str.3)
          to label %37 unwind label %39

37:                                               ; preds = %35
  br i1 %36, label %38, label %41

38:                                               ; preds = %37
  tail call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #10, !srcloc !48
  br label %41

39:                                               ; preds = %41, %35, %22, %4
  %40 = landingpad { ptr, i32 }
          cleanup
  br label %168

41:                                               ; preds = %38, %37, %24
  %42 = load float, ptr %27, align 16, !tbaa !46
  %43 = load float, ptr %29, align 4, !tbaa !47
  invoke void @_ZN3JPH15HingeConstraint9SetLimitsEff(ptr noundef nonnull align 16 dereferenceable(832) %0, float noundef %42, float noundef %43)
          to label %44 unwind label %39

44:                                               ; preds = %41
  %45 = getelementptr inbounds i8, ptr %3, i64 80
  %.sroa.038.0.copyload = load double, ptr %45, align 16
  %.sroa.239.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 88
  %.sroa.239.0.copyload = load double, ptr %.sroa.239.0..sroa_idx, align 8, !tbaa !44
  %46 = getelementptr inbounds i8, ptr %3, i64 64
  %.sroa.036.0.copyload = load double, ptr %46, align 16
  %.sroa.237.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 72
  %.sroa.237.0.copyload = load double, ptr %.sroa.237.0..sroa_idx, align 8, !tbaa !44
  %47 = getelementptr inbounds i8, ptr %3, i64 128
  %.sroa.034.0.copyload = load double, ptr %47, align 16
  %.sroa.235.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 136
  %.sroa.235.0.copyload = load double, ptr %.sroa.235.0..sroa_idx, align 8, !tbaa !44
  %48 = getelementptr inbounds i8, ptr %3, i64 112
  %.sroa.032.0.copyload = load double, ptr %48, align 16
  %.sroa.233.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 120
  %.sroa.233.0.copyload = load double, ptr %.sroa.233.0..sroa_idx, align 8, !tbaa !44
  %49 = invoke { double, double } @_ZN3JPH27RotationEulerConstraintPart27sGetInvInitialOrientationXZENS_4Vec3ES1_S1_S1_(double %.sroa.038.0.copyload, double %.sroa.239.0.copyload, double %.sroa.036.0.copyload, double %.sroa.237.0.copyload, double %.sroa.034.0.copyload, double %.sroa.235.0.copyload, double %.sroa.032.0.copyload, double %.sroa.233.0.copyload)
          to label %50 unwind label %135

50:                                               ; preds = %44
  %51 = extractvalue { double, double } %49, 0
  %52 = extractvalue { double, double } %49, 1
  %53 = getelementptr inbounds i8, ptr %0, i64 144
  store double %51, ptr %53, align 16
  %.sroa.541.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 152
  store double %52, ptr %.sroa.541.0..sroa_idx, align 8, !tbaa !44
  %54 = getelementptr inbounds i8, ptr %3, i64 40
  %55 = load i32, ptr %54, align 8, !tbaa !49
  %56 = icmp eq i32 %55, 1
  br i1 %56, label %57, label %157

57:                                               ; preds = %50
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %5) #10
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %5, ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %58 unwind label %137

58:                                               ; preds = %57
  %59 = getelementptr inbounds i8, ptr %3, i64 48
  %.sroa.028.0.copyload = load double, ptr %59, align 16
  %.sroa.229.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  %.sroa.229.0.copyload = load double, ptr %.sroa.229.0..sroa_idx, align 8, !tbaa !44
  %60 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.028.0.copyload, double %.sroa.229.0.copyload)
          to label %61 unwind label %139

61:                                               ; preds = %58
  %62 = extractvalue { double, double } %60, 0
  %63 = extractvalue { double, double } %60, 1
  %64 = getelementptr inbounds i8, ptr %0, i64 48
  store double %62, ptr %64, align 16
  %.sroa.531.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 56
  store double %63, ptr %.sroa.531.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #10
  %.sroa.024.0.copyload = load double, ptr %46, align 16
  %.sroa.225.0.copyload = load double, ptr %.sroa.237.0..sroa_idx, align 8, !tbaa !44
  %65 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.024.0.copyload, double %.sroa.225.0.copyload)
          to label %66 unwind label %141

66:                                               ; preds = %61
  %67 = extractvalue { double, double } %65, 0
  store double %67, ptr %6, align 16
  %68 = getelementptr inbounds i8, ptr %6, i64 8
  %69 = extractvalue { double, double } %65, 1
  store double %69, ptr %68, align 8
  %70 = invoke { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %6)
          to label %71 unwind label %141

71:                                               ; preds = %66
  %72 = extractvalue { double, double } %70, 0
  %73 = extractvalue { double, double } %70, 1
  %74 = getelementptr inbounds i8, ptr %0, i64 80
  store double %72, ptr %74, align 16
  %.sroa.527.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 88
  store double %73, ptr %.sroa.527.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #10
  %.sroa.020.0.copyload = load double, ptr %45, align 16
  %.sroa.221.0.copyload = load double, ptr %.sroa.239.0..sroa_idx, align 8, !tbaa !44
  %75 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.020.0.copyload, double %.sroa.221.0.copyload)
          to label %76 unwind label %143

76:                                               ; preds = %71
  %77 = extractvalue { double, double } %75, 0
  store double %77, ptr %7, align 16
  %78 = getelementptr inbounds i8, ptr %7, i64 8
  %79 = extractvalue { double, double } %75, 1
  store double %79, ptr %78, align 8
  %80 = invoke { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %7)
          to label %81 unwind label %143

81:                                               ; preds = %76
  %82 = extractvalue { double, double } %80, 0
  %83 = extractvalue { double, double } %80, 1
  %84 = getelementptr inbounds i8, ptr %0, i64 112
  store double %82, ptr %84, align 16
  %.sroa.523.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 120
  store double %83, ptr %.sroa.523.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #10
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %8) #10
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %8, ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %85 unwind label %145

85:                                               ; preds = %81
  %86 = getelementptr inbounds i8, ptr %3, i64 96
  %.sroa.016.0.copyload = load double, ptr %86, align 16
  %.sroa.217.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 104
  %.sroa.217.0.copyload = load double, ptr %.sroa.217.0..sroa_idx, align 8, !tbaa !44
  %87 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %.sroa.016.0.copyload, double %.sroa.217.0.copyload)
          to label %88 unwind label %147

88:                                               ; preds = %85
  %89 = extractvalue { double, double } %87, 0
  %90 = extractvalue { double, double } %87, 1
  %91 = getelementptr inbounds i8, ptr %0, i64 64
  store double %89, ptr %91, align 16
  %.sroa.519.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 72
  store double %90, ptr %.sroa.519.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #10
  %.sroa.012.0.copyload = load double, ptr %48, align 16
  %.sroa.213.0.copyload = load double, ptr %.sroa.233.0..sroa_idx, align 8, !tbaa !44
  %92 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %.sroa.012.0.copyload, double %.sroa.213.0.copyload)
          to label %93 unwind label %149

93:                                               ; preds = %88
  %94 = extractvalue { double, double } %92, 0
  store double %94, ptr %9, align 16
  %95 = getelementptr inbounds i8, ptr %9, i64 8
  %96 = extractvalue { double, double } %92, 1
  store double %96, ptr %95, align 8
  %97 = invoke { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %9)
          to label %98 unwind label %149

98:                                               ; preds = %93
  %99 = extractvalue { double, double } %97, 0
  %100 = extractvalue { double, double } %97, 1
  %101 = getelementptr inbounds i8, ptr %0, i64 96
  store double %99, ptr %101, align 16
  %.sroa.515.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 104
  store double %100, ptr %.sroa.515.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #10
  %.sroa.08.0.copyload = load double, ptr %47, align 16
  %.sroa.29.0.copyload = load double, ptr %.sroa.235.0..sroa_idx, align 8, !tbaa !44
  %102 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %.sroa.08.0.copyload, double %.sroa.29.0.copyload)
          to label %103 unwind label %151

103:                                              ; preds = %98
  %104 = extractvalue { double, double } %102, 0
  store double %104, ptr %10, align 16
  %105 = getelementptr inbounds i8, ptr %10, i64 8
  %106 = extractvalue { double, double } %102, 1
  store double %106, ptr %105, align 8
  %107 = invoke { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %10)
          to label %108 unwind label %151

108:                                              ; preds = %103
  %109 = extractvalue { double, double } %107, 0
  %110 = extractvalue { double, double } %107, 1
  %111 = getelementptr inbounds i8, ptr %0, i64 128
  store double %109, ptr %111, align 16
  %.sroa.511.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 136
  store double %110, ptr %.sroa.511.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #10
  %112 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %113 unwind label %153

113:                                              ; preds = %108
  %114 = extractvalue { double, double } %112, 0
  store double %114, ptr %13, align 16
  %115 = getelementptr inbounds i8, ptr %13, i64 8
  %116 = extractvalue { double, double } %112, 1
  store double %116, ptr %115, align 8
  %117 = invoke { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %13)
          to label %118 unwind label %153

118:                                              ; preds = %113
  %119 = extractvalue { double, double } %117, 0
  store double %119, ptr %12, align 16
  %120 = getelementptr inbounds i8, ptr %12, i64 8
  %121 = extractvalue { double, double } %117, 1
  store double %121, ptr %120, align 8
  %.sroa.05.0.copyload = load double, ptr %53, align 16
  %.sroa.26.0.copyload = load double, ptr %.sroa.541.0..sroa_idx, align 8, !tbaa !44
  %122 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %12, double %.sroa.05.0.copyload, double %.sroa.26.0.copyload)
          to label %123 unwind label %153

123:                                              ; preds = %118
  %124 = extractvalue { double, double } %122, 0
  store double %124, ptr %11, align 16
  %125 = getelementptr inbounds i8, ptr %11, i64 8
  %126 = extractvalue { double, double } %122, 1
  store double %126, ptr %125, align 8
  %127 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %128 unwind label %153

128:                                              ; preds = %123
  %129 = extractvalue { double, double } %127, 0
  %130 = extractvalue { double, double } %127, 1
  %131 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %11, double %129, double %130)
          to label %132 unwind label %153

132:                                              ; preds = %128
  %133 = extractvalue { double, double } %131, 0
  %134 = extractvalue { double, double } %131, 1
  store double %133, ptr %53, align 16
  store double %134, ptr %.sroa.541.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #10
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #10
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #10
  br label %166

135:                                              ; preds = %44
  %136 = landingpad { ptr, i32 }
          cleanup
  br label %168

137:                                              ; preds = %57
  %138 = landingpad { ptr, i32 }
          cleanup
  br label %156

139:                                              ; preds = %58
  %140 = landingpad { ptr, i32 }
          cleanup
  br label %156

141:                                              ; preds = %66, %61
  %142 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #10
  br label %156

143:                                              ; preds = %76, %71
  %144 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #10
  br label %156

145:                                              ; preds = %81
  %146 = landingpad { ptr, i32 }
          cleanup
  br label %155

147:                                              ; preds = %85
  %148 = landingpad { ptr, i32 }
          cleanup
  br label %155

149:                                              ; preds = %93, %88
  %150 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #10
  br label %155

151:                                              ; preds = %103, %98
  %152 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #10
  br label %155

153:                                              ; preds = %128, %123, %118, %113, %108
  %154 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #10
  br label %155

155:                                              ; preds = %153, %151, %149, %147, %145
  %.pn = phi { ptr, i32 } [ %154, %153 ], [ %152, %151 ], [ %150, %149 ], [ %148, %147 ], [ %146, %145 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #10
  br label %156

156:                                              ; preds = %155, %143, %141, %139, %137
  %.pn.pn = phi { ptr, i32 } [ %.pn, %155 ], [ %144, %143 ], [ %142, %141 ], [ %140, %139 ], [ %138, %137 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #10
  br label %168

157:                                              ; preds = %50
  %158 = getelementptr inbounds i8, ptr %3, i64 48
  %.sroa.02.0.copyload = load <4 x float>, ptr %158, align 16, !tbaa !44
  %159 = getelementptr inbounds i8, ptr %0, i64 48
  store <4 x float> %.sroa.02.0.copyload, ptr %159, align 16, !tbaa !44
  %160 = getelementptr inbounds i8, ptr %0, i64 80
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %160, ptr noundef nonnull align 16 dereferenceable(16) %46, i64 16, i1 false), !tbaa.struct !50
  %161 = getelementptr inbounds i8, ptr %0, i64 112
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %161, ptr noundef nonnull align 16 dereferenceable(16) %45, i64 16, i1 false), !tbaa.struct !50
  %162 = getelementptr inbounds i8, ptr %3, i64 96
  %.sroa.0.0.copyload = load <4 x float>, ptr %162, align 16, !tbaa !44
  %163 = getelementptr inbounds i8, ptr %0, i64 64
  store <4 x float> %.sroa.0.0.copyload, ptr %163, align 16, !tbaa !44
  %164 = getelementptr inbounds i8, ptr %0, i64 96
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %164, ptr noundef nonnull align 16 dereferenceable(16) %48, i64 16, i1 false), !tbaa.struct !50
  %165 = getelementptr inbounds i8, ptr %0, i64 128
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %165, ptr noundef nonnull align 16 dereferenceable(16) %47, i64 16, i1 false), !tbaa.struct !50
  br label %166

166:                                              ; preds = %157, %132
  %167 = getelementptr inbounds i8, ptr %3, i64 152
  call void @_ZN3JPH15HingeConstraint23SetLimitsSpringSettingsERKNS_14SpringSettingsE(ptr noundef nonnull align 16 dereferenceable(832) %0, ptr noundef nonnull align 4 dereferenceable(12) %167)
  ret void

168:                                              ; preds = %156, %135, %39
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %156 ], [ %136, %135 ], [ %40, %39 ]
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #10
  resume { ptr, i32 } %.pn.pn.pn
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH14SpringSettingsC2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #2 align 2

; Function Attrs: mustprogress 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) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27HingeRotationConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(232)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH15HingeConstraint9SetLimitsEff(ptr noundef nonnull align 16 dereferenceable(832), float noundef, float noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH27RotationEulerConstraintPart27sGetInvInitialOrientationXZENS_4Vec3ES1_S1_S1_(double, double, double, double, double, double, double, double) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #8 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #8 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15HingeConstraint23SetLimitsSpringSettingsERKNS_14SpringSettingsE(ptr noundef nonnull align 16 dereferenceable(832), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #9

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 #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 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 #7 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "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 = { alwaysinline 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 #9 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #10 = { 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 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !19, i64 164}
!9 = !{!"_ZTSN3JPH23HingeConstraintSettingsE", !10, i64 0, !21, i64 40, !22, i64 48, !22, i64 64, !22, i64 80, !22, i64 96, !22, i64 112, !22, i64 128, !19, i64 144, !19, i64 148, !23, i64 152, !19, i64 164, !25, i64 168}
!10 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !11, i64 0}
!11 = !{!"_ZTSN3JPH18ConstraintSettingsE", !12, i64 0, !13, i64 8, !18, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !19, i64 28, !20, i64 32}
!12 = !{!"_ZTSN3JPH18SerializableObjectE"}
!13 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !14, i64 0}
!14 = !{!"_ZTSSt6atomicIjE", !15, i64 0}
!15 = !{!"_ZTSSt13__atomic_baseIjE", !16, i64 0}
!16 = !{!"int", !17, i64 0}
!17 = !{!"omnipotent char", !7, i64 0}
!18 = !{!"bool", !17, i64 0}
!19 = !{!"float", !17, i64 0}
!20 = !{!"long", !17, i64 0}
!21 = !{!"_ZTSN3JPH16EConstraintSpaceE", !17, i64 0}
!22 = !{!"_ZTSN3JPH4Vec3E", !17, i64 0}
!23 = !{!"_ZTSN3JPH14SpringSettingsE", !24, i64 0, !17, i64 4, !19, i64 8}
!24 = !{!"_ZTSN3JPH11ESpringModeE", !17, i64 0}
!25 = !{!"_ZTSN3JPH13MotorSettingsE", !23, i64 0, !19, i64 12, !19, i64 16, !19, i64 20, !19, i64 24}
!26 = !{!27, !19, i64 184}
!27 = !{!"_ZTSN3JPH15HingeConstraintE", !28, i64 0, !22, i64 48, !22, i64 64, !22, i64 80, !22, i64 96, !22, i64 112, !22, i64 128, !32, i64 144, !18, i64 160, !19, i64 164, !19, i64 168, !23, i64 172, !19, i64 184, !25, i64 188, !34, i64 216, !19, i64 220, !19, i64 224, !19, i64 228, !22, i64 240, !35, i64 256, !37, i64 496, !40, i64 736, !40, i64 784}
!28 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !29, i64 0, !31, i64 32, !31, i64 40}
!29 = !{!"_ZTSN3JPH10ConstraintE", !30, i64 8, !16, i64 12, !16, i64 16, !17, i64 20, !17, i64 21, !18, i64 22, !20, i64 24}
!30 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !14, i64 0}
!31 = !{!"any pointer", !17, i64 0}
!32 = !{!"_ZTSN3JPH4QuatE", !33, i64 0}
!33 = !{!"_ZTSN3JPH4Vec4E", !17, i64 0}
!34 = !{!"_ZTSN3JPH11EMotorStateE", !17, i64 0}
!35 = !{!"_ZTSN3JPH19PointConstraintPartE", !22, i64 0, !22, i64 16, !36, i64 32, !36, i64 96, !36, i64 160, !22, i64 224}
!36 = !{!"_ZTSN3JPH5Mat44E", !17, i64 0}
!37 = !{!"_ZTSN3JPH27HingeRotationConstraintPartE", !22, i64 0, !22, i64 16, !22, i64 32, !36, i64 48, !36, i64 112, !22, i64 176, !22, i64 192, !38, i64 208, !39, i64 224}
!38 = !{!"_ZTSN3JPH6MatrixILj2ELj2EEE", !17, i64 0}
!39 = !{!"_ZTSN3JPH6VectorILj2EEE", !17, i64 0}
!40 = !{!"_ZTSN3JPH19AngleConstraintPartE", !22, i64 0, !22, i64 16, !19, i64 32, !41, i64 36, !19, i64 44}
!41 = !{!"_ZTSN3JPH10SpringPartE", !19, i64 0, !19, i64 4}
!42 = !{i64 0, i64 1, !43, i64 4, i64 4, !44, i64 8, i64 4, !45, i64 12, i64 4, !45, i64 16, i64 4, !45, i64 20, i64 4, !45, i64 24, i64 4, !45}
!43 = !{!24, !24, i64 0}
!44 = !{!17, !17, i64 0}
!45 = !{!19, !19, i64 0}
!46 = !{!9, !19, i64 144}
!47 = !{!9, !19, i64 148}
!48 = !{i64 2158323534}
!49 = !{!9, !21, i64 40}
!50 = !{i64 0, i64 16, !44}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,MemCpyOptPass,SROAPass,SimplifyCFGPass,TailCallElimPass