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

; 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"

%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.1 }
%union.anon.1 = type { <4 x float> }
%"class.JPH::ContactConstraintManager" = type { [8 x i8], [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], i32, ptr, ptr, ptr, ptr, ptr, i32, %"struct.std::atomic", ptr }
%"class.JPH::ContactConstraintManager::ManifoldCache" = type <{ %"class.JPH::LFHMAllocator", %"class.JPH::LockFreeHashMap", %"class.JPH::LockFreeHashMap.0", i8, [7 x i8] }>
%"class.JPH::LFHMAllocator" = type { ptr, i32, %"struct.std::atomic" }
%"class.JPH::LockFreeHashMap" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"class.JPH::LockFreeHashMap.0" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::ContactConstraintManager::ContactConstraint" = type { ptr, ptr, i64, %"class.JPH::Float3", float, float, float, float, float, %"class.JPH::StaticArray" }
%"class.JPH::Float3" = type { float, float, float }
%"class.JPH::StaticArray" = type { i32, [4 x i8], [4 x %"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage"] }
%"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage" = type { [200 x i8] }
%"class.JPH::ContactConstraintManager::WorldContactPoint" = type { %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", ptr }
%"class.JPH::AxisConstraintPart" = type { %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }
%"class.JPH::ContactConstraintManager::CachedContactPoint" = type { %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::Vector" }
%"class.JPH::Vector" = type { [2 x float] }
%"struct.JPH::PhysicsSettings" = type <{ i32, i32, i32, float, float, float, float, float, float, float, float, float, float, float, i32, i32, float, float, float, i8, i8, i8, i8, i8, i8, i8, i8 }>

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager17WorldContactPoint43CalculateNonPenetrationConstraintPropertiesERKNS_4BodyEffS4_ffNS_4Vec3ES5_S5_(ptr noundef nonnull align 8 dereferenceable(200), ptr noundef nonnull align 16 dereferenceable(122), float noundef, float noundef, ptr noundef nonnull align 16 dereferenceable(122), float noundef, float noundef, double, double, double, double, ptr noundef byval(%"class.JPH::Vec3") align 16) #1 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) #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(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) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #5

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3JPH24ContactConstraintManager24SolvePositionConstraintsEPKjS2_(ptr noundef nonnull align 8 dereferenceable(248) %0, ptr noundef %1, ptr noundef %2) #1 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i8, align 1
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca %"class.JPH::Mat44", align 16
  %14 = alloca %"class.JPH::Mat44", align 16
  %15 = alloca %"class.JPH::Vec3", align 16
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %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 float, align 4
  %25 = alloca float, align 4
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::Vec3", align 16
  %29 = alloca float, align 4
  %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
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  %34 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 1, ptr %7) #9
  store i8 0, ptr %7, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #9
  %35 = load ptr, ptr %5, align 8, !tbaa !5
  store ptr %35, ptr %8, align 8, !tbaa !5
  br label %36

36:                                               ; preds = %202, %3
  %37 = load ptr, ptr %8, align 8, !tbaa !5
  %38 = load ptr, ptr %6, align 8, !tbaa !5
  %39 = icmp ult ptr %37, %38
  br i1 %39, label %41, label %40

40:                                               ; preds = %36
  store i32 2, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #9
  br label %205

41:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #9
  %42 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %34, i32 0, i32 7
  %43 = load ptr, ptr %42, align 8, !tbaa !11
  %44 = load ptr, ptr %8, align 8, !tbaa !5
  %45 = load i32, ptr %44, align 4, !tbaa !16
  %46 = zext i32 %45 to i64
  %47 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %43, i64 %46
  store ptr %47, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #9
  %48 = load ptr, ptr %10, align 8, !tbaa !5
  %49 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %48, i32 0, i32 0
  %50 = load ptr, ptr %49, align 8, !tbaa !17
  store ptr %50, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #9
  %51 = load ptr, ptr %10, align 8, !tbaa !5
  %52 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %51, i32 0, i32 1
  %53 = load ptr, ptr %52, align 8, !tbaa !23
  store ptr %53, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr %13) #9
  %54 = load ptr, ptr %11, align 8, !tbaa !5
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %13, ptr noundef nonnull align 16 dereferenceable(122) %54)
  call void @llvm.lifetime.start.p0(i64 64, ptr %14) #9
  %55 = load ptr, ptr %12, align 8, !tbaa !5
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %14, ptr noundef nonnull align 16 dereferenceable(122) %55)
  call void @llvm.lifetime.start.p0(i64 16, ptr %15) #9
  %56 = load ptr, ptr %10, align 8, !tbaa !5
  %57 = call { double, double } @_ZNK3JPH24ContactConstraintManager17ContactConstraint19GetWorldSpaceNormalEv(ptr noundef nonnull align 8 dereferenceable(864) %56)
  %58 = getelementptr inbounds %"class.JPH::Vec3", ptr %15, i32 0, i32 0
  %59 = getelementptr inbounds %union.anon, ptr %58, i32 0, i32 0
  %60 = getelementptr inbounds { double, double }, ptr %59, i32 0, i32 0
  %61 = extractvalue { double, double } %57, 0
  store double %61, ptr %60, align 16
  %62 = getelementptr inbounds { double, double }, ptr %59, i32 0, i32 1
  %63 = extractvalue { double, double } %57, 1
  store double %63, ptr %62, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #9
  %64 = load ptr, ptr %10, align 8, !tbaa !5
  %65 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %64, i32 0, i32 9
  store ptr %65, ptr %16, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #9
  %66 = load ptr, ptr %16, align 8, !tbaa !5
  %67 = call noundef ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE5beginEv(ptr noundef nonnull align 8 dereferenceable(808) %66)
  store ptr %67, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #9
  %68 = load ptr, ptr %16, align 8, !tbaa !5
  %69 = call noundef ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE3endEv(ptr noundef nonnull align 8 dereferenceable(808) %68)
  store ptr %69, ptr %18, align 8, !tbaa !5
  br label %70

70:                                               ; preds = %198, %41
  %71 = load ptr, ptr %17, align 8, !tbaa !5
  %72 = load ptr, ptr %18, align 8, !tbaa !5
  %73 = icmp ne ptr %71, %72
  br i1 %73, label %75, label %74

74:                                               ; preds = %70
  store i32 5, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #9
  br label %201

75:                                               ; preds = %70
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #9
  %76 = load ptr, ptr %17, align 8, !tbaa !5
  store ptr %76, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #9
  %77 = load ptr, ptr %19, align 8, !tbaa !5
  %78 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %77, i32 0, i32 3
  %79 = load ptr, ptr %78, align 8, !tbaa !24
  %80 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %79, i32 0, i32 0
  %81 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %80)
  %82 = getelementptr inbounds %"class.JPH::Vec3", ptr %21, i32 0, i32 0
  %83 = getelementptr inbounds %union.anon, ptr %82, i32 0, i32 0
  %84 = getelementptr inbounds { double, double }, ptr %83, i32 0, i32 0
  %85 = extractvalue { double, double } %81, 0
  store double %85, ptr %84, align 16
  %86 = getelementptr inbounds { double, double }, ptr %83, i32 0, i32 1
  %87 = extractvalue { double, double } %81, 1
  store double %87, ptr %86, align 8
  %88 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 0
  %89 = load double, ptr %88, align 16
  %90 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 1
  %91 = load double, ptr %90, align 8
  %92 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %13, double %89, double %91)
  %93 = getelementptr inbounds %"class.JPH::Vec3", ptr %20, i32 0, i32 0
  %94 = getelementptr inbounds %union.anon, ptr %93, i32 0, i32 0
  %95 = getelementptr inbounds { double, double }, ptr %94, i32 0, i32 0
  %96 = extractvalue { double, double } %92, 0
  store double %96, ptr %95, align 16
  %97 = getelementptr inbounds { double, double }, ptr %94, i32 0, i32 1
  %98 = extractvalue { double, double } %92, 1
  store double %98, ptr %97, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #9
  %99 = load ptr, ptr %19, align 8, !tbaa !5
  %100 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %99, i32 0, i32 3
  %101 = load ptr, ptr %100, align 8, !tbaa !24
  %102 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %101, i32 0, i32 1
  %103 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %102)
  %104 = getelementptr inbounds %"class.JPH::Vec3", ptr %23, i32 0, i32 0
  %105 = getelementptr inbounds %union.anon, ptr %104, i32 0, i32 0
  %106 = getelementptr inbounds { double, double }, ptr %105, i32 0, i32 0
  %107 = extractvalue { double, double } %103, 0
  store double %107, ptr %106, align 16
  %108 = getelementptr inbounds { double, double }, ptr %105, i32 0, i32 1
  %109 = extractvalue { double, double } %103, 1
  store double %109, ptr %108, align 8
  %110 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 0
  %111 = load double, ptr %110, align 16
  %112 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 1
  %113 = load double, ptr %112, align 8
  %114 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %14, double %111, double %113)
  %115 = getelementptr inbounds %"class.JPH::Vec3", ptr %22, i32 0, i32 0
  %116 = getelementptr inbounds %union.anon, ptr %115, i32 0, i32 0
  %117 = getelementptr inbounds { double, double }, ptr %116, i32 0, i32 0
  %118 = extractvalue { double, double } %114, 0
  store double %118, ptr %117, align 16
  %119 = getelementptr inbounds { double, double }, ptr %116, i32 0, i32 1
  %120 = extractvalue { double, double } %114, 1
  store double %120, ptr %119, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %27, ptr align 16 %20, i64 16, i1 false), !tbaa.struct !28
  %121 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 0
  %122 = load double, ptr %121, align 16
  %123 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 1
  %124 = load double, ptr %123, align 8
  %125 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %22, double %122, double %124)
  %126 = getelementptr inbounds %"class.JPH::Vec3", ptr %26, i32 0, i32 0
  %127 = getelementptr inbounds %union.anon, ptr %126, i32 0, i32 0
  %128 = getelementptr inbounds { double, double }, ptr %127, i32 0, i32 0
  %129 = extractvalue { double, double } %125, 0
  store double %129, ptr %128, align 16
  %130 = getelementptr inbounds { double, double }, ptr %127, i32 0, i32 1
  %131 = extractvalue { double, double } %125, 1
  store double %131, ptr %130, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %28, ptr align 16 %15, i64 16, i1 false), !tbaa.struct !28
  %132 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 0
  %133 = load double, ptr %132, align 16
  %134 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 1
  %135 = load double, ptr %134, align 8
  %136 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %26, double %133, double %135)
  %137 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %34, i32 0, i32 3
  %138 = load ptr, ptr %137, align 8, !tbaa !30
  %139 = getelementptr inbounds %"struct.JPH::PhysicsSettings", ptr %138, i32 0, i32 5
  %140 = load float, ptr %139, align 4, !tbaa !31
  %141 = fadd float %136, %140
  store float %141, ptr %25, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  %142 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %34, i32 0, i32 3
  %143 = load ptr, ptr %142, align 8, !tbaa !30
  %144 = getelementptr inbounds %"struct.JPH::PhysicsSettings", ptr %143, i32 0, i32 9
  %145 = load float, ptr %144, align 4, !tbaa !34
  %146 = fneg float %145
  store float %146, ptr %29, align 4, !tbaa !33
  %147 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %25, ptr noundef nonnull align 4 dereferenceable(4) %29)
  %148 = load float, ptr %147, align 4, !tbaa !33
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #9
  store float %148, ptr %24, align 4, !tbaa !33
  %149 = load float, ptr %24, align 4, !tbaa !33
  %150 = fcmp olt float %149, 0.000000e+00
  br i1 %150, label %151, label %197

151:                                              ; preds = %75
  %152 = load ptr, ptr %19, align 8, !tbaa !5
  %153 = load ptr, ptr %11, align 8, !tbaa !5
  %154 = load ptr, ptr %10, align 8, !tbaa !5
  %155 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %154, i32 0, i32 5
  %156 = load float, ptr %155, align 8, !tbaa !35
  %157 = load ptr, ptr %10, align 8, !tbaa !5
  %158 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %157, i32 0, i32 6
  %159 = load float, ptr %158, align 4, !tbaa !36
  %160 = load ptr, ptr %12, align 8, !tbaa !5
  %161 = load ptr, ptr %10, align 8, !tbaa !5
  %162 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %161, i32 0, i32 7
  %163 = load float, ptr %162, align 8, !tbaa !37
  %164 = load ptr, ptr %10, align 8, !tbaa !5
  %165 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %164, i32 0, i32 8
  %166 = load float, ptr %165, align 4, !tbaa !38
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %30, ptr align 16 %20, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %31, ptr align 16 %22, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %32, ptr align 16 %15, i64 16, i1 false), !tbaa.struct !28
  %167 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 0
  %168 = load double, ptr %167, align 16
  %169 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 1
  %170 = load double, ptr %169, align 8
  %171 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %172 = load double, ptr %171, align 16
  %173 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %174 = load double, ptr %173, align 8
  call void @_ZN3JPH24ContactConstraintManager17WorldContactPoint43CalculateNonPenetrationConstraintPropertiesERKNS_4BodyEffS4_ffNS_4Vec3ES5_S5_(ptr noundef nonnull align 8 dereferenceable(200) %152, ptr noundef nonnull align 16 dereferenceable(122) %153, float noundef %156, float noundef %159, ptr noundef nonnull align 16 dereferenceable(122) %160, float noundef %163, float noundef %166, double %168, double %170, double %172, double %174, ptr noundef byval(%"class.JPH::Vec3") align 16 %32)
  %175 = load ptr, ptr %19, align 8, !tbaa !5
  %176 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %175, i32 0, i32 0
  %177 = load ptr, ptr %11, align 8, !tbaa !5
  %178 = load ptr, ptr %10, align 8, !tbaa !5
  %179 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %178, i32 0, i32 5
  %180 = load float, ptr %179, align 8, !tbaa !35
  %181 = load ptr, ptr %12, align 8, !tbaa !5
  %182 = load ptr, ptr %10, align 8, !tbaa !5
  %183 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %182, i32 0, i32 7
  %184 = load float, ptr %183, align 8, !tbaa !37
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %33, ptr align 16 %15, i64 16, i1 false), !tbaa.struct !28
  %185 = load float, ptr %24, align 4, !tbaa !33
  %186 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %34, i32 0, i32 3
  %187 = load ptr, ptr %186, align 8, !tbaa !30
  %188 = getelementptr inbounds %"struct.JPH::PhysicsSettings", ptr %187, i32 0, i32 3
  %189 = load float, ptr %188, align 4, !tbaa !39
  %190 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 0
  %191 = load double, ptr %190, align 16
  %192 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 1
  %193 = load double, ptr %192, align 8
  %194 = call noundef zeroext i1 @_ZNK3JPH18AxisConstraintPart39SolvePositionConstraintWithMassOverrideERNS_4BodyEfS2_fNS_4Vec3Eff(ptr noundef nonnull align 4 dereferenceable(64) %176, ptr noundef nonnull align 16 dereferenceable(122) %177, float noundef %180, ptr noundef nonnull align 16 dereferenceable(122) %181, float noundef %184, double %191, double %193, float noundef %185, float noundef %189)
  br i1 %194, label %195, label %196

195:                                              ; preds = %151
  store i8 1, ptr %7, align 1, !tbaa !9
  br label %196

196:                                              ; preds = %195, %151
  br label %197

197:                                              ; preds = %196, %75
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #9
  br label %198

198:                                              ; preds = %197
  %199 = load ptr, ptr %17, align 8, !tbaa !5
  %200 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %199, i32 1
  store ptr %200, ptr %17, align 8, !tbaa !5
  br label %70

201:                                              ; preds = %74
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %13) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #9
  br label %202

202:                                              ; preds = %201
  %203 = load ptr, ptr %8, align 8, !tbaa !5
  %204 = getelementptr inbounds i32, ptr %203, i32 1
  store ptr %204, ptr %8, align 8, !tbaa !5
  br label %36, !llvm.loop !40

205:                                              ; preds = %40
  %206 = load i8, ptr %7, align 1, !tbaa !9, !range !42, !noundef !43
  %207 = trunc i8 %206 to i1
  store i32 1, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #9
  ret i1 %207
}

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH24ContactConstraintManager17ContactConstraint19GetWorldSpaceNormalEv(ptr noundef nonnull align 8 dereferenceable(864)) #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE5beginEv(ptr noundef nonnull align 8 dereferenceable(808)) #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE3endEv(ptr noundef nonnull align 8 dereferenceable(808)) #8 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH18AxisConstraintPart39SolvePositionConstraintWithMassOverrideERNS_4BodyEfS2_fNS_4Vec3Eff(ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), float noundef, ptr noundef nonnull align 16 dereferenceable(122), float noundef, double, double, float noundef, float noundef) #4 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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { 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 #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 nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { alwaysinline 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"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"bool", !7, i64 0}
!11 = !{!12, !6, i64 224}
!12 = !{!"_ZTSN3JPH24ContactConstraintManagerE", !7, i64 8, !13, i64 184, !6, i64 192, !6, i64 200, !6, i64 208, !6, i64 216, !6, i64 224, !13, i64 232, !14, i64 236, !6, i64 240}
!13 = !{!"int", !7, i64 0}
!14 = !{!"_ZTSSt6atomicIjE", !15, i64 0}
!15 = !{!"_ZTSSt13__atomic_baseIjE", !13, i64 0}
!16 = !{!13, !13, i64 0}
!17 = !{!18, !6, i64 0}
!18 = !{!"_ZTSN3JPH24ContactConstraintManager17ContactConstraintE", !6, i64 0, !6, i64 8, !19, i64 16, !20, i64 24, !21, i64 36, !21, i64 40, !21, i64 44, !21, i64 48, !21, i64 52, !22, i64 56}
!19 = !{!"long", !7, i64 0}
!20 = !{!"_ZTSN3JPH6Float3E", !21, i64 0, !21, i64 4, !21, i64 8}
!21 = !{!"float", !7, i64 0}
!22 = !{!"_ZTSN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEE", !13, i64 0, !7, i64 8}
!23 = !{!18, !6, i64 8}
!24 = !{!25, !6, i64 192}
!25 = !{!"_ZTSN3JPH24ContactConstraintManager17WorldContactPointE", !26, i64 0, !26, i64 64, !26, i64 128, !6, i64 192}
!26 = !{!"_ZTSN3JPH18AxisConstraintPartE", !20, i64 0, !20, i64 12, !20, i64 24, !20, i64 36, !21, i64 48, !27, i64 52, !21, i64 60}
!27 = !{!"_ZTSN3JPH10SpringPartE", !21, i64 0, !21, i64 4}
!28 = !{i64 0, i64 16, !29}
!29 = !{!7, !7, i64 0}
!30 = !{!12, !6, i64 192}
!31 = !{!32, !21, i64 20}
!32 = !{!"_ZTSN3JPH15PhysicsSettingsE", !13, i64 0, !13, i64 4, !13, i64 8, !21, i64 12, !21, i64 16, !21, i64 20, !21, i64 24, !21, i64 28, !21, i64 32, !21, i64 36, !21, i64 40, !21, i64 44, !21, i64 48, !21, i64 52, !13, i64 56, !13, i64 60, !21, i64 64, !21, i64 68, !21, i64 72, !10, i64 76, !10, i64 77, !10, i64 78, !10, i64 79, !10, i64 80, !10, i64 81, !10, i64 82}
!33 = !{!21, !21, i64 0}
!34 = !{!32, !21, i64 36}
!35 = !{!18, !21, i64 40}
!36 = !{!18, !21, i64 44}
!37 = !{!18, !21, i64 48}
!38 = !{!18, !21, i64 52}
!39 = !{!32, !21, i64 12}
!40 = distinct !{!40, !41}
!41 = !{!"llvm.loop.mustprogress"}
!42 = !{i8 0, i8 2}
!43 = !{}


; 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::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.1 }
%union.anon.1 = type { <4 x float> }
%"class.JPH::ContactConstraintManager::ContactConstraint" = type { ptr, ptr, i64, %"class.JPH::Float3", float, float, float, float, float, %"class.JPH::StaticArray" }
%"class.JPH::Float3" = type { float, float, float }
%"class.JPH::StaticArray" = type { i32, [4 x i8], [4 x %"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage"] }
%"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage" = type { [200 x i8] }

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager17WorldContactPoint43CalculateNonPenetrationConstraintPropertiesERKNS_4BodyEffS4_ffNS_4Vec3ES5_S5_(ptr noundef nonnull align 8 dereferenceable(200), ptr noundef nonnull align 16 dereferenceable(122), float noundef, float noundef, ptr noundef nonnull align 16 dereferenceable(122), float noundef, float noundef, double, double, double, double, ptr noundef byval(%"class.JPH::Vec3") align 16) local_unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #3 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 #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #4

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3JPH24ContactConstraintManager24SolvePositionConstraintsEPKjS2_(ptr nocapture noundef nonnull readonly align 8 dereferenceable(248) %0, ptr noundef readonly %1, ptr noundef readnone %2) local_unnamed_addr #1 align 2 {
  %4 = alloca %"class.JPH::Mat44", align 16
  %5 = alloca %"class.JPH::Mat44", align 16
  %6 = alloca %"class.JPH::Vec3", align 16
  %7 = alloca float, align 4
  %8 = alloca %"class.JPH::Vec3", align 16
  %9 = alloca float, align 4
  %10 = alloca %"class.JPH::Vec3", align 16
  %11 = icmp ult ptr %1, %2
  br i1 %11, label %.lr.ph57, label %._crit_edge58

.lr.ph57:                                         ; preds = %3
  %12 = getelementptr inbounds i8, ptr %0, i64 224
  %13 = getelementptr inbounds i8, ptr %6, i64 8
  %14 = getelementptr inbounds i8, ptr %8, i64 8
  %15 = getelementptr inbounds i8, ptr %0, i64 192
  %.sroa.6.0..sroa_idx = getelementptr inbounds i8, ptr %10, i64 8
  br label %16

._crit_edge58:                                    ; preds = %._crit_edge, %3
  %.0.lcssa = phi i1 [ false, %3 ], [ %.1.lcssa, %._crit_edge ]
  ret i1 %.0.lcssa

16:                                               ; preds = %.lr.ph57, %._crit_edge
  %.055 = phi i1 [ false, %.lr.ph57 ], [ %.1.lcssa, %._crit_edge ]
  %.04854 = phi ptr [ %1, %.lr.ph57 ], [ %34, %._crit_edge ]
  %17 = load ptr, ptr %12, align 8, !tbaa !5
  %18 = load i32, ptr %.04854, align 4, !tbaa !13
  %19 = zext i32 %18 to i64
  %20 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %17, i64 %19
  %21 = load ptr, ptr %20, align 8, !tbaa !14
  %22 = getelementptr inbounds i8, ptr %20, i64 8
  %23 = load ptr, ptr %22, align 8, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %4) #8
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %4, ptr noundef nonnull align 16 dereferenceable(122) %21)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %5) #8
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %5, ptr noundef nonnull align 16 dereferenceable(122) %23)
  %24 = call { double, double } @_ZNK3JPH24ContactConstraintManager17ContactConstraint19GetWorldSpaceNormalEv(ptr noundef nonnull align 8 dereferenceable(864) %20)
  %25 = extractvalue { double, double } %24, 0
  %26 = extractvalue { double, double } %24, 1
  %27 = getelementptr inbounds i8, ptr %20, i64 56
  %28 = call noundef ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE5beginEv(ptr noundef nonnull align 8 dereferenceable(808) %27)
  %29 = call noundef ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE3endEv(ptr noundef nonnull align 8 dereferenceable(808) %27)
  %.not51 = icmp eq ptr %28, %29
  br i1 %.not51, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %16
  %30 = getelementptr inbounds i8, ptr %20, i64 40
  %31 = getelementptr inbounds i8, ptr %20, i64 44
  %32 = getelementptr inbounds i8, ptr %20, i64 48
  %33 = getelementptr inbounds i8, ptr %20, i64 52
  br label %36

._crit_edge:                                      ; preds = %78, %16
  %.1.lcssa = phi i1 [ %.055, %16 ], [ %.2, %78 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %4) #8
  %34 = getelementptr inbounds i8, ptr %.04854, i64 4
  %35 = icmp ult ptr %34, %2
  br i1 %35, label %16, label %._crit_edge58, !llvm.loop !21

36:                                               ; preds = %.lr.ph, %78
  %.153 = phi i1 [ %.055, %.lr.ph ], [ %.2, %78 ]
  %.04952 = phi ptr [ %28, %.lr.ph ], [ %79, %78 ]
  %37 = getelementptr inbounds i8, ptr %.04952, i64 192
  %38 = load ptr, ptr %37, align 8, !tbaa !23
  %39 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %38)
  %40 = extractvalue { double, double } %39, 0
  %41 = extractvalue { double, double } %39, 1
  %42 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %4, double %40, double %41)
  %43 = extractvalue { double, double } %42, 0
  %44 = extractvalue { double, double } %42, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #8
  %45 = load ptr, ptr %37, align 8, !tbaa !23
  %46 = getelementptr inbounds i8, ptr %45, i64 12
  %47 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %46)
  %48 = extractvalue { double, double } %47, 0
  %49 = extractvalue { double, double } %47, 1
  %50 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %48, double %49)
  %51 = extractvalue { double, double } %50, 0
  store double %51, ptr %6, align 16
  %52 = extractvalue { double, double } %50, 1
  store double %52, ptr %13, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %7) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #8
  %53 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %6, double %43, double %44)
  %54 = extractvalue { double, double } %53, 0
  store double %54, ptr %8, align 16
  %55 = extractvalue { double, double } %53, 1
  store double %55, ptr %14, align 8
  %56 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %8, double %25, double %26)
  %57 = load ptr, ptr %15, align 8, !tbaa !27
  %58 = getelementptr inbounds i8, ptr %57, i64 20
  %59 = load float, ptr %58, align 4, !tbaa !28
  %60 = fadd float %56, %59
  store float %60, ptr %7, align 4, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #8
  %61 = getelementptr inbounds i8, ptr %57, i64 36
  %62 = load float, ptr %61, align 4, !tbaa !32
  %63 = fneg float %62
  store float %63, ptr %9, align 4, !tbaa !31
  %64 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %7, ptr noundef nonnull align 4 dereferenceable(4) %9)
  %65 = load float, ptr %64, align 4, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %7) #8
  %66 = fcmp olt float %65, 0.000000e+00
  br i1 %66, label %67, label %78

67:                                               ; preds = %36
  %68 = load float, ptr %30, align 8, !tbaa !33
  %69 = load float, ptr %31, align 4, !tbaa !34
  %70 = load float, ptr %32, align 8, !tbaa !35
  %71 = load float, ptr %33, align 4, !tbaa !36
  %.sroa.01.0.copyload = load double, ptr %6, align 16
  %.sroa.22.0.copyload = load double, ptr %13, align 8, !tbaa !37
  store double %25, ptr %10, align 16
  store double %26, ptr %.sroa.6.0..sroa_idx, align 8, !tbaa !37
  call void @_ZN3JPH24ContactConstraintManager17WorldContactPoint43CalculateNonPenetrationConstraintPropertiesERKNS_4BodyEffS4_ffNS_4Vec3ES5_S5_(ptr noundef nonnull align 8 dereferenceable(200) %.04952, ptr noundef nonnull align 16 dereferenceable(122) %21, float noundef %68, float noundef %69, ptr noundef nonnull align 16 dereferenceable(122) %23, float noundef %70, float noundef %71, double %43, double %44, double %.sroa.01.0.copyload, double %.sroa.22.0.copyload, ptr noundef nonnull byval(%"class.JPH::Vec3") align 16 %10)
  %72 = load float, ptr %30, align 8, !tbaa !33
  %73 = load float, ptr %32, align 8, !tbaa !35
  %74 = load ptr, ptr %15, align 8, !tbaa !27
  %75 = getelementptr inbounds i8, ptr %74, i64 12
  %76 = load float, ptr %75, align 4, !tbaa !38
  %77 = call noundef zeroext i1 @_ZNK3JPH18AxisConstraintPart39SolvePositionConstraintWithMassOverrideERNS_4BodyEfS2_fNS_4Vec3Eff(ptr noundef nonnull align 4 dereferenceable(64) %.04952, ptr noundef nonnull align 16 dereferenceable(122) %21, float noundef %72, ptr noundef nonnull align 16 dereferenceable(122) %23, float noundef %73, double %25, double %26, float noundef %65, float noundef %76)
  %spec.select = select i1 %77, i1 true, i1 %.153
  br label %78

78:                                               ; preds = %67, %36
  %.2 = phi i1 [ %.153, %36 ], [ %spec.select, %67 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #8
  %79 = getelementptr inbounds i8, ptr %.04952, i64 200
  %.not = icmp eq ptr %79, %29
  br i1 %.not, label %._crit_edge, label %36
}

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH24ContactConstraintManager17ContactConstraint19GetWorldSpaceNormalEv(ptr noundef nonnull align 8 dereferenceable(864)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE5beginEv(ptr noundef nonnull align 8 dereferenceable(808)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE3endEv(ptr noundef nonnull align 8 dereferenceable(808)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH18AxisConstraintPart39SolvePositionConstraintWithMassOverrideERNS_4BodyEfS2_fNS_4Vec3Eff(ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), float noundef, ptr noundef nonnull align 16 dereferenceable(122), float noundef, double, double, float noundef, float noundef) local_unnamed_addr #3 align 2

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 = { 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 #3 = { 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 #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 #7 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !10, i64 224}
!6 = !{!"_ZTSN3JPH24ContactConstraintManagerE", !7, i64 8, !9, i64 184, !10, i64 192, !10, i64 200, !10, i64 208, !10, i64 216, !10, i64 224, !9, i64 232, !11, i64 236, !10, i64 240}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!"int", !7, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!"_ZTSSt6atomicIjE", !12, i64 0}
!12 = !{!"_ZTSSt13__atomic_baseIjE", !9, i64 0}
!13 = !{!9, !9, i64 0}
!14 = !{!15, !10, i64 0}
!15 = !{!"_ZTSN3JPH24ContactConstraintManager17ContactConstraintE", !10, i64 0, !10, i64 8, !16, i64 16, !17, i64 24, !18, i64 36, !18, i64 40, !18, i64 44, !18, i64 48, !18, i64 52, !19, i64 56}
!16 = !{!"long", !7, i64 0}
!17 = !{!"_ZTSN3JPH6Float3E", !18, i64 0, !18, i64 4, !18, i64 8}
!18 = !{!"float", !7, i64 0}
!19 = !{!"_ZTSN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEE", !9, i64 0, !7, i64 8}
!20 = !{!15, !10, i64 8}
!21 = distinct !{!21, !22}
!22 = !{!"llvm.loop.mustprogress"}
!23 = !{!24, !10, i64 192}
!24 = !{!"_ZTSN3JPH24ContactConstraintManager17WorldContactPointE", !25, i64 0, !25, i64 64, !25, i64 128, !10, i64 192}
!25 = !{!"_ZTSN3JPH18AxisConstraintPartE", !17, i64 0, !17, i64 12, !17, i64 24, !17, i64 36, !18, i64 48, !26, i64 52, !18, i64 60}
!26 = !{!"_ZTSN3JPH10SpringPartE", !18, i64 0, !18, i64 4}
!27 = !{!6, !10, i64 192}
!28 = !{!29, !18, i64 20}
!29 = !{!"_ZTSN3JPH15PhysicsSettingsE", !9, i64 0, !9, i64 4, !9, i64 8, !18, i64 12, !18, i64 16, !18, i64 20, !18, i64 24, !18, i64 28, !18, i64 32, !18, i64 36, !18, i64 40, !18, i64 44, !18, i64 48, !18, i64 52, !9, i64 56, !9, i64 60, !18, i64 64, !18, i64 68, !18, i64 72, !30, i64 76, !30, i64 77, !30, i64 78, !30, i64 79, !30, i64 80, !30, i64 81, !30, i64 82}
!30 = !{!"bool", !7, i64 0}
!31 = !{!18, !18, i64 0}
!32 = !{!29, !18, i64 36}
!33 = !{!15, !18, i64 40}
!34 = !{!15, !18, i64 44}
!35 = !{!15, !18, i64 48}
!36 = !{!15, !18, i64 52}
!37 = !{!7, !7, i64 0}
!38 = !{!29, !18, i64 12}


; Effective O3 passes: AggressiveInstCombinePass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass