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

; 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::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.3 }
%union.anon.3 = 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::FixedConstraint" = type { %"class.JPH::TwoBodyConstraint", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Quat", %"class.JPH::RotationEulerConstraintPart", %"class.JPH::PointConstraintPart" }
%"class.JPH::TwoBodyConstraint" = type { %"class.JPH::Constraint", ptr, ptr }
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.2", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.2" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::RotationEulerConstraintPart" = type { %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3" }
%"class.JPH::PointConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3" }
%"class.JPH::FixedConstraintSettings" = type { %"class.JPH::TwoBodyConstraintSettings", i32, i8, %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"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" }

@_ZTVN3JPH15FixedConstraintE = external dso_local unnamed_addr constant { [20 x ptr] }, align 8

; 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 @_ZN3JPH15FixedConstraintC2ERNS_4BodyES2_RKNS_23FixedConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(544) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(144) %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 %"class.JPH::Quat", align 16
  %12 = alloca %"class.JPH::Vec3", 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::Vec3", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca float, align 4
  %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::Vec3", 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::Mat44", align 16
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"class.JPH::Vec3", align 16
  %33 = alloca %"class.JPH::Mat44", align 16
  %34 = alloca %"class.JPH::Vec3", align 16
  %35 = alloca %"class.JPH::Vec3", align 16
  %36 = alloca %"class.JPH::Mat44", align 16
  %37 = alloca %"class.JPH::Vec3", align 16
  %38 = alloca %"class.JPH::Vec3", align 16
  %39 = alloca %"class.JPH::Mat44", align 16
  %40 = alloca %"class.JPH::Vec3", align 16
  %41 = alloca %"class.JPH::Quat", align 16
  %42 = alloca %"class.JPH::Quat", align 16
  %43 = alloca %"class.JPH::Quat", align 16
  %44 = alloca %"class.JPH::Quat", align 16
  %45 = alloca %"class.JPH::Quat", align 16
  %46 = alloca %"class.JPH::Quat", align 16
  %47 = alloca %"class.JPH::Vec3", align 16
  %48 = 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
  %49 = load ptr, ptr %5, align 8
  %50 = load ptr, ptr %6, align 8, !tbaa !5
  %51 = load ptr, ptr %7, align 8, !tbaa !5
  %52 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48) %49, ptr noundef nonnull align 16 dereferenceable(122) %50, ptr noundef nonnull align 16 dereferenceable(122) %51, ptr noundef nonnull align 8 dereferenceable(40) %52)
  store ptr getelementptr inbounds inrange(-16, 144) ({ [20 x ptr] }, ptr @_ZTVN3JPH15FixedConstraintE, i32 0, i32 0, i32 2), ptr %49, align 16, !tbaa !9
  %53 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 1
  %54 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 2
  %55 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 3
  %56 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 4
  invoke void @_ZN3JPH27RotationEulerConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(208) %56)
          to label %57 unwind label %117

57:                                               ; preds = %4
  %58 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 5
  invoke void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240) %58)
          to label %59 unwind label %117

59:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 16, ptr %11) #8
  %60 = load ptr, ptr %8, align 8, !tbaa !5
  %61 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %60, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %12, ptr align 16 %61, i64 16, i1 false), !tbaa.struct !11
  %62 = load ptr, ptr %8, align 8, !tbaa !5
  %63 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %62, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %13, ptr align 16 %63, i64 16, i1 false), !tbaa.struct !11
  %64 = load ptr, ptr %8, align 8, !tbaa !5
  %65 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %64, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %14, ptr align 16 %65, i64 16, i1 false), !tbaa.struct !11
  %66 = load ptr, ptr %8, align 8, !tbaa !5
  %67 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %66, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %15, ptr align 16 %67, i64 16, i1 false), !tbaa.struct !11
  %68 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 0
  %69 = load double, ptr %68, align 16
  %70 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 1
  %71 = load double, ptr %70, align 8
  %72 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 0
  %73 = load double, ptr %72, align 16
  %74 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 1
  %75 = load double, ptr %74, align 8
  %76 = getelementptr inbounds { double, double }, ptr %14, i32 0, i32 0
  %77 = load double, ptr %76, align 16
  %78 = getelementptr inbounds { double, double }, ptr %14, i32 0, i32 1
  %79 = load double, ptr %78, align 8
  %80 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 0
  %81 = load double, ptr %80, align 16
  %82 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 1
  %83 = load double, ptr %82, align 8
  %84 = invoke { double, double } @_ZN3JPH27RotationEulerConstraintPart27sGetInvInitialOrientationXYENS_4Vec3ES1_S1_S1_(double %69, double %71, double %73, double %75, double %77, double %79, double %81, double %83)
          to label %85 unwind label %121

85:                                               ; preds = %59
  %86 = getelementptr inbounds %"class.JPH::Quat", ptr %11, i32 0, i32 0
  %87 = getelementptr inbounds %"class.JPH::Vec4", ptr %86, i32 0, i32 0
  %88 = getelementptr inbounds %union.anon.3, ptr %87, i32 0, i32 0
  %89 = getelementptr inbounds { double, double }, ptr %88, i32 0, i32 0
  %90 = extractvalue { double, double } %84, 0
  store double %90, ptr %89, align 16
  %91 = getelementptr inbounds { double, double }, ptr %88, i32 0, i32 1
  %92 = extractvalue { double, double } %84, 1
  store double %92, ptr %91, align 8
  %93 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %93, ptr align 16 %11, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #8
  %94 = load ptr, ptr %8, align 8, !tbaa !5
  %95 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %94, i32 0, i32 1
  %96 = load i32, ptr %95, align 8, !tbaa !13
  %97 = icmp eq i32 %96, 1
  br i1 %97, label %98, label %417

98:                                               ; preds = %85
  %99 = load ptr, ptr %8, align 8, !tbaa !5
  %100 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %99, i32 0, i32 2
  %101 = load i8, ptr %100, align 4, !tbaa !27, !range !28, !noundef !29
  %102 = trunc i8 %101 to i1
  br i1 %102, label %103, label %312

103:                                              ; preds = %98
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #8
  %104 = load ptr, ptr %6, align 8, !tbaa !5
  %105 = invoke noundef zeroext i1 @_ZNK3JPH4Body23CanBeKinematicOrDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %104)
          to label %106 unwind label %125

106:                                              ; preds = %103
  br i1 %105, label %133, label %107

107:                                              ; preds = %106
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #8
  %108 = load ptr, ptr %7, align 8, !tbaa !5
  %109 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %108)
          to label %110 unwind label %129

110:                                              ; preds = %107
  %111 = getelementptr inbounds %"class.JPH::Vec3", ptr %17, i32 0, i32 0
  %112 = getelementptr inbounds %union.anon, ptr %111, i32 0, i32 0
  %113 = getelementptr inbounds { double, double }, ptr %112, i32 0, i32 0
  %114 = extractvalue { double, double } %109, 0
  store double %114, ptr %113, align 16
  %115 = getelementptr inbounds { double, double }, ptr %112, i32 0, i32 1
  %116 = extractvalue { double, double } %109, 1
  store double %116, ptr %115, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %16, ptr align 16 %17, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #8
  br label %272

117:                                              ; preds = %57, %4
  %118 = landingpad { ptr, i32 }
          cleanup
  %119 = extractvalue { ptr, i32 } %118, 0
  store ptr %119, ptr %9, align 8
  %120 = extractvalue { ptr, i32 } %118, 1
  store i32 %120, ptr %10, align 4
  br label %425

121:                                              ; preds = %59
  %122 = landingpad { ptr, i32 }
          cleanup
  %123 = extractvalue { ptr, i32 } %122, 0
  store ptr %123, ptr %9, align 8
  %124 = extractvalue { ptr, i32 } %122, 1
  store i32 %124, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #8
  br label %425

125:                                              ; preds = %133, %103
  %126 = landingpad { ptr, i32 }
          cleanup
  %127 = extractvalue { ptr, i32 } %126, 0
  store ptr %127, ptr %9, align 8
  %128 = extractvalue { ptr, i32 } %126, 1
  store i32 %128, ptr %10, align 4
  br label %311

129:                                              ; preds = %107
  %130 = landingpad { ptr, i32 }
          cleanup
  %131 = extractvalue { ptr, i32 } %130, 0
  store ptr %131, ptr %9, align 8
  %132 = extractvalue { ptr, i32 } %130, 1
  store i32 %132, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #8
  br label %311

133:                                              ; preds = %106
  %134 = load ptr, ptr %7, align 8, !tbaa !5
  %135 = invoke noundef zeroext i1 @_ZNK3JPH4Body23CanBeKinematicOrDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %134)
          to label %136 unwind label %125

136:                                              ; preds = %133
  br i1 %135, label %151, label %137

137:                                              ; preds = %136
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #8
  %138 = load ptr, ptr %6, align 8, !tbaa !5
  %139 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %138)
          to label %140 unwind label %147

140:                                              ; preds = %137
  %141 = getelementptr inbounds %"class.JPH::Vec3", ptr %18, i32 0, i32 0
  %142 = getelementptr inbounds %union.anon, ptr %141, i32 0, i32 0
  %143 = getelementptr inbounds { double, double }, ptr %142, i32 0, i32 0
  %144 = extractvalue { double, double } %139, 0
  store double %144, ptr %143, align 16
  %145 = getelementptr inbounds { double, double }, ptr %142, i32 0, i32 1
  %146 = extractvalue { double, double } %139, 1
  store double %146, ptr %145, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %16, ptr align 16 %18, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #8
  br label %271

147:                                              ; preds = %137
  %148 = landingpad { ptr, i32 }
          cleanup
  %149 = extractvalue { ptr, i32 } %148, 0
  store ptr %149, ptr %9, align 8
  %150 = extractvalue { ptr, i32 } %148, 1
  store i32 %150, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #8
  br label %311

151:                                              ; preds = %136
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #8
  %152 = load ptr, ptr %6, align 8, !tbaa !5
  %153 = invoke noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %152)
          to label %154 unwind label %237

154:                                              ; preds = %151
  %155 = invoke noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %153)
          to label %156 unwind label %237

156:                                              ; preds = %154
  store float %155, ptr %19, align 4, !tbaa !30
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #8
  %157 = load ptr, ptr %7, align 8, !tbaa !5
  %158 = invoke noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %157)
          to label %159 unwind label %241

159:                                              ; preds = %156
  %160 = invoke noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %158)
          to label %161 unwind label %241

161:                                              ; preds = %159
  store float %160, ptr %20, align 4, !tbaa !30
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #8
  %162 = load float, ptr %19, align 4, !tbaa !30
  %163 = load float, ptr %20, align 4, !tbaa !30
  %164 = fadd float %162, %163
  store float %164, ptr %21, align 4, !tbaa !30
  %165 = load float, ptr %21, align 4, !tbaa !30
  %166 = invoke noundef float @_ZN3JPH8literalsli2_rEe(x86_fp80 noundef 0xK00000000000000000000)
          to label %167 unwind label %245

167:                                              ; preds = %161
  %168 = fcmp une float %165, %166
  br i1 %168, label %169, label %253

169:                                              ; preds = %167
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #8
  %170 = load float, ptr %19, align 4, !tbaa !30
  %171 = load ptr, ptr %6, align 8, !tbaa !5
  %172 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %171)
          to label %173 unwind label %249

173:                                              ; preds = %169
  %174 = getelementptr inbounds %"class.JPH::Vec3", ptr %25, i32 0, i32 0
  %175 = getelementptr inbounds %union.anon, ptr %174, i32 0, i32 0
  %176 = getelementptr inbounds { double, double }, ptr %175, i32 0, i32 0
  %177 = extractvalue { double, double } %172, 0
  store double %177, ptr %176, align 16
  %178 = getelementptr inbounds { double, double }, ptr %175, i32 0, i32 1
  %179 = extractvalue { double, double } %172, 1
  store double %179, ptr %178, align 8
  %180 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 0
  %181 = load double, ptr %180, align 16
  %182 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 1
  %183 = load double, ptr %182, align 8
  %184 = invoke { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %170, double %181, double %183)
          to label %185 unwind label %249

185:                                              ; preds = %173
  %186 = getelementptr inbounds %"class.JPH::Vec3", ptr %24, i32 0, i32 0
  %187 = getelementptr inbounds %union.anon, ptr %186, i32 0, i32 0
  %188 = getelementptr inbounds { double, double }, ptr %187, i32 0, i32 0
  %189 = extractvalue { double, double } %184, 0
  store double %189, ptr %188, align 16
  %190 = getelementptr inbounds { double, double }, ptr %187, i32 0, i32 1
  %191 = extractvalue { double, double } %184, 1
  store double %191, ptr %190, align 8
  %192 = load float, ptr %20, align 4, !tbaa !30
  %193 = load ptr, ptr %7, align 8, !tbaa !5
  %194 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %193)
          to label %195 unwind label %249

195:                                              ; preds = %185
  %196 = getelementptr inbounds %"class.JPH::Vec3", ptr %27, i32 0, i32 0
  %197 = getelementptr inbounds %union.anon, ptr %196, i32 0, i32 0
  %198 = getelementptr inbounds { double, double }, ptr %197, i32 0, i32 0
  %199 = extractvalue { double, double } %194, 0
  store double %199, ptr %198, align 16
  %200 = getelementptr inbounds { double, double }, ptr %197, i32 0, i32 1
  %201 = extractvalue { double, double } %194, 1
  store double %201, ptr %200, align 8
  %202 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 0
  %203 = load double, ptr %202, align 16
  %204 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 1
  %205 = load double, ptr %204, align 8
  %206 = invoke { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %192, double %203, double %205)
          to label %207 unwind label %249

207:                                              ; preds = %195
  %208 = getelementptr inbounds %"class.JPH::Vec3", ptr %26, i32 0, i32 0
  %209 = getelementptr inbounds %union.anon, ptr %208, i32 0, i32 0
  %210 = getelementptr inbounds { double, double }, ptr %209, i32 0, i32 0
  %211 = extractvalue { double, double } %206, 0
  store double %211, ptr %210, align 16
  %212 = getelementptr inbounds { double, double }, ptr %209, i32 0, i32 1
  %213 = extractvalue { double, double } %206, 1
  store double %213, ptr %212, align 8
  %214 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 0
  %215 = load double, ptr %214, align 16
  %216 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 1
  %217 = load double, ptr %216, align 8
  %218 = invoke { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %24, double %215, double %217)
          to label %219 unwind label %249

219:                                              ; preds = %207
  %220 = getelementptr inbounds %"class.JPH::Vec3", ptr %23, i32 0, i32 0
  %221 = getelementptr inbounds %union.anon, ptr %220, i32 0, i32 0
  %222 = getelementptr inbounds { double, double }, ptr %221, i32 0, i32 0
  %223 = extractvalue { double, double } %218, 0
  store double %223, ptr %222, align 16
  %224 = getelementptr inbounds { double, double }, ptr %221, i32 0, i32 1
  %225 = extractvalue { double, double } %218, 1
  store double %225, ptr %224, align 8
  %226 = load float, ptr %19, align 4, !tbaa !30
  %227 = load float, ptr %20, align 4, !tbaa !30
  %228 = fadd float %226, %227
  %229 = invoke { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16) %23, float noundef %228)
          to label %230 unwind label %249

230:                                              ; preds = %219
  %231 = getelementptr inbounds %"class.JPH::Vec3", ptr %22, i32 0, i32 0
  %232 = getelementptr inbounds %union.anon, ptr %231, i32 0, i32 0
  %233 = getelementptr inbounds { double, double }, ptr %232, i32 0, i32 0
  %234 = extractvalue { double, double } %229, 0
  store double %234, ptr %233, align 16
  %235 = getelementptr inbounds { double, double }, ptr %232, i32 0, i32 1
  %236 = extractvalue { double, double } %229, 1
  store double %236, ptr %235, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %16, ptr align 16 %22, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #8
  br label %267

237:                                              ; preds = %154, %151
  %238 = landingpad { ptr, i32 }
          cleanup
  %239 = extractvalue { ptr, i32 } %238, 0
  store ptr %239, ptr %9, align 8
  %240 = extractvalue { ptr, i32 } %238, 1
  store i32 %240, ptr %10, align 4
  br label %270

241:                                              ; preds = %159, %156
  %242 = landingpad { ptr, i32 }
          cleanup
  %243 = extractvalue { ptr, i32 } %242, 0
  store ptr %243, ptr %9, align 8
  %244 = extractvalue { ptr, i32 } %242, 1
  store i32 %244, ptr %10, align 4
  br label %269

245:                                              ; preds = %161
  %246 = landingpad { ptr, i32 }
          cleanup
  %247 = extractvalue { ptr, i32 } %246, 0
  store ptr %247, ptr %9, align 8
  %248 = extractvalue { ptr, i32 } %246, 1
  store i32 %248, ptr %10, align 4
  br label %268

249:                                              ; preds = %219, %207, %195, %185, %173, %169
  %250 = landingpad { ptr, i32 }
          cleanup
  %251 = extractvalue { ptr, i32 } %250, 0
  store ptr %251, ptr %9, align 8
  %252 = extractvalue { ptr, i32 } %250, 1
  store i32 %252, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #8
  br label %268

253:                                              ; preds = %167
  call void @llvm.lifetime.start.p0(i64 16, ptr %28) #8
  %254 = load ptr, ptr %6, align 8, !tbaa !5
  %255 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %254)
          to label %256 unwind label %263

256:                                              ; preds = %253
  %257 = getelementptr inbounds %"class.JPH::Vec3", ptr %28, i32 0, i32 0
  %258 = getelementptr inbounds %union.anon, ptr %257, i32 0, i32 0
  %259 = getelementptr inbounds { double, double }, ptr %258, i32 0, i32 0
  %260 = extractvalue { double, double } %255, 0
  store double %260, ptr %259, align 16
  %261 = getelementptr inbounds { double, double }, ptr %258, i32 0, i32 1
  %262 = extractvalue { double, double } %255, 1
  store double %262, ptr %261, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %16, ptr align 16 %28, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #8
  br label %267

263:                                              ; preds = %253
  %264 = landingpad { ptr, i32 }
          cleanup
  %265 = extractvalue { ptr, i32 } %264, 0
  store ptr %265, ptr %9, align 8
  %266 = extractvalue { ptr, i32 } %264, 1
  store i32 %266, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #8
  br label %268

267:                                              ; preds = %256, %230
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  br label %271

268:                                              ; preds = %263, %249, %245
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #8
  br label %269

269:                                              ; preds = %268, %241
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #8
  br label %270

270:                                              ; preds = %269, %237
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  br label %311

271:                                              ; preds = %267, %140
  br label %272

272:                                              ; preds = %271, %110
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr %30) #8
  %273 = load ptr, ptr %6, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %30, ptr noundef nonnull align 16 dereferenceable(122) %273)
          to label %274 unwind label %303

274:                                              ; preds = %272
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %31, ptr align 16 %16, i64 16, i1 false), !tbaa.struct !11
  %275 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %276 = load double, ptr %275, align 16
  %277 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %278 = load double, ptr %277, align 8
  %279 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %30, double %276, double %278)
          to label %280 unwind label %303

280:                                              ; preds = %274
  %281 = getelementptr inbounds %"class.JPH::Vec3", ptr %29, i32 0, i32 0
  %282 = getelementptr inbounds %union.anon, ptr %281, i32 0, i32 0
  %283 = getelementptr inbounds { double, double }, ptr %282, i32 0, i32 0
  %284 = extractvalue { double, double } %279, 0
  store double %284, ptr %283, align 16
  %285 = getelementptr inbounds { double, double }, ptr %282, i32 0, i32 1
  %286 = extractvalue { double, double } %279, 1
  store double %286, ptr %285, align 8
  %287 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %287, ptr align 16 %29, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 64, ptr %30) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr %33) #8
  %288 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %33, ptr noundef nonnull align 16 dereferenceable(122) %288)
          to label %289 unwind label %307

289:                                              ; preds = %280
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %16, i64 16, i1 false), !tbaa.struct !11
  %290 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 0
  %291 = load double, ptr %290, align 16
  %292 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 1
  %293 = load double, ptr %292, align 8
  %294 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %33, double %291, double %293)
          to label %295 unwind label %307

295:                                              ; preds = %289
  %296 = getelementptr inbounds %"class.JPH::Vec3", ptr %32, i32 0, i32 0
  %297 = getelementptr inbounds %union.anon, ptr %296, i32 0, i32 0
  %298 = getelementptr inbounds { double, double }, ptr %297, i32 0, i32 0
  %299 = extractvalue { double, double } %294, 0
  store double %299, ptr %298, align 16
  %300 = getelementptr inbounds { double, double }, ptr %297, i32 0, i32 1
  %301 = extractvalue { double, double } %294, 1
  store double %301, ptr %300, align 8
  %302 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %302, ptr align 16 %32, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 64, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #8
  br label %355

303:                                              ; preds = %274, %272
  %304 = landingpad { ptr, i32 }
          cleanup
  %305 = extractvalue { ptr, i32 } %304, 0
  store ptr %305, ptr %9, align 8
  %306 = extractvalue { ptr, i32 } %304, 1
  store i32 %306, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %30) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #8
  br label %311

307:                                              ; preds = %289, %280
  %308 = landingpad { ptr, i32 }
          cleanup
  %309 = extractvalue { ptr, i32 } %308, 0
  store ptr %309, ptr %9, align 8
  %310 = extractvalue { ptr, i32 } %308, 1
  store i32 %310, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #8
  br label %311

311:                                              ; preds = %307, %303, %270, %147, %129, %125
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #8
  br label %425

312:                                              ; preds = %98
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr %36) #8
  %313 = load ptr, ptr %6, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %36, ptr noundef nonnull align 16 dereferenceable(122) %313)
          to label %314 unwind label %347

314:                                              ; preds = %312
  %315 = load ptr, ptr %8, align 8, !tbaa !5
  %316 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %315, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %37, ptr align 16 %316, i64 16, i1 false), !tbaa.struct !11
  %317 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 0
  %318 = load double, ptr %317, align 16
  %319 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 1
  %320 = load double, ptr %319, align 8
  %321 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %36, double %318, double %320)
          to label %322 unwind label %347

322:                                              ; preds = %314
  %323 = getelementptr inbounds %"class.JPH::Vec3", ptr %35, i32 0, i32 0
  %324 = getelementptr inbounds %union.anon, ptr %323, i32 0, i32 0
  %325 = getelementptr inbounds { double, double }, ptr %324, i32 0, i32 0
  %326 = extractvalue { double, double } %321, 0
  store double %326, ptr %325, align 16
  %327 = getelementptr inbounds { double, double }, ptr %324, i32 0, i32 1
  %328 = extractvalue { double, double } %321, 1
  store double %328, ptr %327, align 8
  %329 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %329, ptr align 16 %35, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 64, ptr %36) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr %39) #8
  %330 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %39, ptr noundef nonnull align 16 dereferenceable(122) %330)
          to label %331 unwind label %351

331:                                              ; preds = %322
  %332 = load ptr, ptr %8, align 8, !tbaa !5
  %333 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %332, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %40, ptr align 16 %333, i64 16, i1 false), !tbaa.struct !11
  %334 = getelementptr inbounds { double, double }, ptr %40, i32 0, i32 0
  %335 = load double, ptr %334, align 16
  %336 = getelementptr inbounds { double, double }, ptr %40, i32 0, i32 1
  %337 = load double, ptr %336, align 8
  %338 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %39, double %335, double %337)
          to label %339 unwind label %351

339:                                              ; preds = %331
  %340 = getelementptr inbounds %"class.JPH::Vec3", ptr %38, i32 0, i32 0
  %341 = getelementptr inbounds %union.anon, ptr %340, i32 0, i32 0
  %342 = getelementptr inbounds { double, double }, ptr %341, i32 0, i32 0
  %343 = extractvalue { double, double } %338, 0
  store double %343, ptr %342, align 16
  %344 = getelementptr inbounds { double, double }, ptr %341, i32 0, i32 1
  %345 = extractvalue { double, double } %338, 1
  store double %345, ptr %344, align 8
  %346 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %346, ptr align 16 %38, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 64, ptr %39) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #8
  br label %355

347:                                              ; preds = %314, %312
  %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
  call void @llvm.lifetime.end.p0(i64 64, ptr %36) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #8
  br label %425

351:                                              ; preds = %331, %322
  %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 64, ptr %39) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #8
  br label %425

355:                                              ; preds = %339, %295
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %43) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #8
  %356 = load ptr, ptr %7, align 8, !tbaa !5
  %357 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %356)
          to label %358 unwind label %413

358:                                              ; preds = %355
  %359 = getelementptr inbounds %"class.JPH::Quat", ptr %44, i32 0, i32 0
  %360 = getelementptr inbounds %"class.JPH::Vec4", ptr %359, i32 0, i32 0
  %361 = getelementptr inbounds %union.anon.3, ptr %360, i32 0, i32 0
  %362 = getelementptr inbounds { double, double }, ptr %361, i32 0, i32 0
  %363 = extractvalue { double, double } %357, 0
  store double %363, ptr %362, align 16
  %364 = getelementptr inbounds { double, double }, ptr %361, i32 0, i32 1
  %365 = extractvalue { double, double } %357, 1
  store double %365, ptr %364, align 8
  %366 = invoke { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %44)
          to label %367 unwind label %413

367:                                              ; preds = %358
  %368 = getelementptr inbounds %"class.JPH::Quat", ptr %43, i32 0, i32 0
  %369 = getelementptr inbounds %"class.JPH::Vec4", ptr %368, i32 0, i32 0
  %370 = getelementptr inbounds %union.anon.3, ptr %369, i32 0, i32 0
  %371 = getelementptr inbounds { double, double }, ptr %370, i32 0, i32 0
  %372 = extractvalue { double, double } %366, 0
  store double %372, ptr %371, align 16
  %373 = getelementptr inbounds { double, double }, ptr %370, i32 0, i32 1
  %374 = extractvalue { double, double } %366, 1
  store double %374, ptr %373, align 8
  %375 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %45, ptr align 16 %375, i64 16, i1 false), !tbaa.struct !11
  %376 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 0
  %377 = load double, ptr %376, align 16
  %378 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 1
  %379 = load double, ptr %378, align 8
  %380 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %43, double %377, double %379)
          to label %381 unwind label %413

381:                                              ; preds = %367
  %382 = getelementptr inbounds %"class.JPH::Quat", ptr %42, i32 0, i32 0
  %383 = getelementptr inbounds %"class.JPH::Vec4", ptr %382, i32 0, i32 0
  %384 = getelementptr inbounds %union.anon.3, ptr %383, i32 0, i32 0
  %385 = getelementptr inbounds { double, double }, ptr %384, i32 0, i32 0
  %386 = extractvalue { double, double } %380, 0
  store double %386, ptr %385, align 16
  %387 = getelementptr inbounds { double, double }, ptr %384, i32 0, i32 1
  %388 = extractvalue { double, double } %380, 1
  store double %388, ptr %387, align 8
  %389 = load ptr, ptr %6, align 8, !tbaa !5
  %390 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %389)
          to label %391 unwind label %413

391:                                              ; preds = %381
  %392 = getelementptr inbounds %"class.JPH::Quat", ptr %46, i32 0, i32 0
  %393 = getelementptr inbounds %"class.JPH::Vec4", ptr %392, i32 0, i32 0
  %394 = getelementptr inbounds %union.anon.3, ptr %393, i32 0, i32 0
  %395 = getelementptr inbounds { double, double }, ptr %394, i32 0, i32 0
  %396 = extractvalue { double, double } %390, 0
  store double %396, ptr %395, align 16
  %397 = getelementptr inbounds { double, double }, ptr %394, i32 0, i32 1
  %398 = extractvalue { double, double } %390, 1
  store double %398, ptr %397, align 8
  %399 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 0
  %400 = load double, ptr %399, align 16
  %401 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 1
  %402 = load double, ptr %401, align 8
  %403 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %42, double %400, double %402)
          to label %404 unwind label %413

404:                                              ; preds = %391
  %405 = getelementptr inbounds %"class.JPH::Quat", ptr %41, i32 0, i32 0
  %406 = getelementptr inbounds %"class.JPH::Vec4", ptr %405, i32 0, i32 0
  %407 = getelementptr inbounds %union.anon.3, ptr %406, i32 0, i32 0
  %408 = getelementptr inbounds { double, double }, ptr %407, i32 0, i32 0
  %409 = extractvalue { double, double } %403, 0
  store double %409, ptr %408, align 16
  %410 = getelementptr inbounds { double, double }, ptr %407, i32 0, i32 1
  %411 = extractvalue { double, double } %403, 1
  store double %411, ptr %410, align 8
  %412 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %412, ptr align 16 %41, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #8
  br label %424

413:                                              ; preds = %391, %381, %367, %358, %355
  %414 = landingpad { ptr, i32 }
          cleanup
  %415 = extractvalue { ptr, i32 } %414, 0
  store ptr %415, ptr %9, align 8
  %416 = extractvalue { ptr, i32 } %414, 1
  store i32 %416, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #8
  br label %425

417:                                              ; preds = %85
  call void @llvm.lifetime.start.p0(i64 16, ptr %47) #8
  %418 = load ptr, ptr %8, align 8, !tbaa !5
  %419 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %418, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %47, ptr align 16 %419, i64 16, i1 false), !tbaa.struct !11
  %420 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %420, ptr align 16 %47, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %48) #8
  %421 = load ptr, ptr %8, align 8, !tbaa !5
  %422 = getelementptr inbounds %"class.JPH::FixedConstraintSettings", ptr %421, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %48, ptr align 16 %422, i64 16, i1 false), !tbaa.struct !11
  %423 = getelementptr inbounds %"class.JPH::FixedConstraint", ptr %49, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %423, ptr align 16 %48, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #8
  br label %424

424:                                              ; preds = %417, %404
  ret void

425:                                              ; preds = %413, %351, %347, %311, %121, %117
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(48) %49) #8
  br label %426

426:                                              ; preds = %425
  %427 = load ptr, ptr %9, align 8
  %428 = load i32, ptr %10, align 4
  %429 = insertvalue { ptr, i32 } poison, ptr %427, 0
  %430 = insertvalue { ptr, i32 } %429, i32 %428, 1
  resume { ptr, i32 } %430
}

; 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27RotationEulerConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(208)) unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH27RotationEulerConstraintPart27sGetInvInitialOrientationXYENS_4Vec3ES1_S1_S1_(double, double, double, double, double, double, double, double) #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) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body23CanBeKinematicOrDynamicEv(ptr noundef nonnull align 16 dereferenceable(122)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH8literalsli2_rEe(x86_fp80 noundef) #5

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) #6

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) #6 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)) #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #6 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 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 = { 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 #3 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { 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"="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 #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 = { 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 = !{i64 0, i64 16, !12}
!12 = !{!7, !7, i64 0}
!13 = !{!14, !25, i64 40}
!14 = !{!"_ZTSN3JPH23FixedConstraintSettingsE", !15, i64 0, !25, i64 40, !22, i64 44, !26, i64 48, !26, i64 64, !26, i64 80, !26, i64 96, !26, i64 112, !26, i64 128}
!15 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !16, i64 0}
!16 = !{!"_ZTSN3JPH18ConstraintSettingsE", !17, i64 0, !18, i64 8, !22, i64 12, !21, i64 16, !21, i64 20, !21, i64 24, !23, i64 28, !24, i64 32}
!17 = !{!"_ZTSN3JPH18SerializableObjectE"}
!18 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !19, i64 0}
!19 = !{!"_ZTSSt6atomicIjE", !20, i64 0}
!20 = !{!"_ZTSSt13__atomic_baseIjE", !21, i64 0}
!21 = !{!"int", !7, i64 0}
!22 = !{!"bool", !7, i64 0}
!23 = !{!"float", !7, i64 0}
!24 = !{!"long", !7, i64 0}
!25 = !{!"_ZTSN3JPH16EConstraintSpaceE", !7, i64 0}
!26 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!27 = !{!14, !22, i64 44}
!28 = !{i8 0, i8 2}
!29 = !{}
!30 = !{!23, !23, i64 0}


; 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.3 }
%union.anon.3 = type { <4 x float> }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }

@_ZTVN3JPH15FixedConstraintE = external dso_local unnamed_addr constant { [20 x ptr] }, align 8

; 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 @_ZN3JPH15FixedConstraintC2ERNS_4BodyES2_RKNS_23FixedConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(544) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(144) %3) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.JPH::Vec3", align 16
  %6 = alloca %"class.JPH::Vec3", align 16
  %7 = alloca %"class.JPH::Mat44", align 16
  %8 = alloca %"class.JPH::Mat44", align 16
  %9 = alloca %"class.JPH::Mat44", align 16
  %10 = alloca %"class.JPH::Mat44", 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 @_ZTVN3JPH15FixedConstraintE, i64 16), ptr %0, align 16, !tbaa !5
  %14 = getelementptr inbounds i8, ptr %0, i64 96
  invoke void @_ZN3JPH27RotationEulerConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(208) %14)
          to label %15 unwind label %38

15:                                               ; preds = %4
  %16 = getelementptr inbounds i8, ptr %0, i64 304
  invoke void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240) %16)
          to label %17 unwind label %38

17:                                               ; preds = %15
  %18 = getelementptr inbounds i8, ptr %3, i64 64
  %.sroa.051.0.copyload = load double, ptr %18, align 16
  %.sroa.252.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 72
  %.sroa.252.0.copyload = load double, ptr %.sroa.252.0..sroa_idx, align 8, !tbaa !8
  %19 = getelementptr inbounds i8, ptr %3, i64 80
  %.sroa.049.0.copyload = load double, ptr %19, align 16
  %.sroa.250.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 88
  %.sroa.250.0.copyload = load double, ptr %.sroa.250.0..sroa_idx, align 8, !tbaa !8
  %20 = getelementptr inbounds i8, ptr %3, i64 112
  %.sroa.047.0.copyload = load double, ptr %20, align 16
  %.sroa.248.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 120
  %.sroa.248.0.copyload = load double, ptr %.sroa.248.0..sroa_idx, align 8, !tbaa !8
  %21 = getelementptr inbounds i8, ptr %3, i64 128
  %.sroa.045.0.copyload = load double, ptr %21, align 16
  %.sroa.246.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 136
  %.sroa.246.0.copyload = load double, ptr %.sroa.246.0..sroa_idx, align 8, !tbaa !8
  %22 = invoke { double, double } @_ZN3JPH27RotationEulerConstraintPart27sGetInvInitialOrientationXYENS_4Vec3ES1_S1_S1_(double %.sroa.051.0.copyload, double %.sroa.252.0.copyload, double %.sroa.049.0.copyload, double %.sroa.250.0.copyload, double %.sroa.047.0.copyload, double %.sroa.248.0.copyload, double %.sroa.045.0.copyload, double %.sroa.246.0.copyload)
          to label %23 unwind label %40

23:                                               ; preds = %17
  %24 = extractvalue { double, double } %22, 0
  %25 = extractvalue { double, double } %22, 1
  %26 = getelementptr inbounds i8, ptr %0, i64 80
  store double %24, ptr %26, align 16
  %.sroa.554.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 88
  store double %25, ptr %.sroa.554.0..sroa_idx, align 8, !tbaa !8
  %27 = getelementptr inbounds i8, ptr %3, i64 40
  %28 = load i32, ptr %27, align 8, !tbaa !10
  %29 = icmp eq i32 %28, 1
  br i1 %29, label %30, label %151

30:                                               ; preds = %23
  %31 = getelementptr inbounds i8, ptr %3, i64 44
  %32 = load i8, ptr %31, align 4, !tbaa !24, !range !25, !noundef !26
  %33 = trunc nuw i8 %32 to i1
  br i1 %33, label %34, label %106

34:                                               ; preds = %30
  %35 = tail call noundef zeroext i1 @_ZNK3JPH4Body23CanBeKinematicOrDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
  br i1 %35, label %44, label %36

36:                                               ; preds = %34
  %37 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %89 unwind label %42

38:                                               ; preds = %15, %4
  %39 = landingpad { ptr, i32 }
          cleanup
  br label %157

40:                                               ; preds = %17
  %41 = landingpad { ptr, i32 }
          cleanup
  br label %157

42:                                               ; preds = %36
  %43 = landingpad { ptr, i32 }
          cleanup
  br label %157

44:                                               ; preds = %34
  %45 = tail call noundef zeroext i1 @_ZNK3JPH4Body23CanBeKinematicOrDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
  br i1 %45, label %50, label %46

46:                                               ; preds = %44
  %47 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %89 unwind label %48

48:                                               ; preds = %46
  %49 = landingpad { ptr, i32 }
          cleanup
  br label %157

50:                                               ; preds = %44
  %51 = tail call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
  %52 = tail call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %51)
  %53 = tail call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
  %54 = tail call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %53)
  %55 = fadd float %52, %54
  %56 = tail call noundef float @_ZN3JPH8literalsli2_rEe(x86_fp80 noundef 0xK00000000000000000000)
  %57 = fcmp une float %55, %56
  br i1 %57, label %58, label %85

58:                                               ; preds = %50
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #7
  %59 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %60 unwind label %83

60:                                               ; preds = %58
  %61 = extractvalue { double, double } %59, 0
  %62 = extractvalue { double, double } %59, 1
  %63 = invoke { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %52, double %61, double %62)
          to label %64 unwind label %83

64:                                               ; preds = %60
  %65 = extractvalue { double, double } %63, 0
  store double %65, ptr %6, align 16
  %66 = getelementptr inbounds i8, ptr %6, i64 8
  %67 = extractvalue { double, double } %63, 1
  store double %67, ptr %66, align 8
  %68 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %69 unwind label %83

69:                                               ; preds = %64
  %70 = extractvalue { double, double } %68, 0
  %71 = extractvalue { double, double } %68, 1
  %72 = invoke { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %54, double %70, double %71)
          to label %73 unwind label %83

73:                                               ; preds = %69
  %74 = extractvalue { double, double } %72, 0
  %75 = extractvalue { double, double } %72, 1
  %76 = invoke { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %6, double %74, double %75)
          to label %77 unwind label %83

77:                                               ; preds = %73
  %78 = extractvalue { double, double } %76, 0
  store double %78, ptr %5, align 16
  %79 = getelementptr inbounds i8, ptr %5, i64 8
  %80 = extractvalue { double, double } %76, 1
  store double %80, ptr %79, align 8
  %81 = invoke { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16) %5, float noundef %55)
          to label %82 unwind label %83

82:                                               ; preds = %77
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  br label %89

83:                                               ; preds = %77, %73, %69, %64, %60, %58
  %84 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  br label %157

85:                                               ; preds = %50
  %86 = invoke { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %89 unwind label %87

87:                                               ; preds = %85
  %88 = landingpad { ptr, i32 }
          cleanup
  br label %157

89:                                               ; preds = %82, %85, %46, %36
  %.pn90.pn = phi { double, double } [ %37, %36 ], [ %47, %46 ], [ %81, %82 ], [ %86, %85 ]
  %.sroa.9.1 = extractvalue { double, double } %.pn90.pn, 1
  %.sroa.044.1 = extractvalue { double, double } %.pn90.pn, 0
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %7) #7
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %7, ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %90 unwind label %102

90:                                               ; preds = %89
  %91 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %.sroa.044.1, double %.sroa.9.1)
          to label %92 unwind label %102

92:                                               ; preds = %90
  %93 = extractvalue { double, double } %91, 0
  %94 = extractvalue { double, double } %91, 1
  %95 = getelementptr inbounds i8, ptr %0, i64 48
  store double %93, ptr %95, align 16
  %.sroa.523.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 56
  store double %94, ptr %.sroa.523.0..sroa_idx, align 8, !tbaa !8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %8) #7
  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 %96 unwind label %104

96:                                               ; preds = %92
  %97 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %.sroa.044.1, double %.sroa.9.1)
          to label %98 unwind label %104

98:                                               ; preds = %96
  %99 = extractvalue { double, double } %97, 0
  %100 = extractvalue { double, double } %97, 1
  %101 = getelementptr inbounds i8, ptr %0, i64 64
  store double %99, ptr %101, align 16
  %.sroa.519.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 72
  store double %100, ptr %.sroa.519.0..sroa_idx, align 8, !tbaa !8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #7
  br label %125

102:                                              ; preds = %90, %89
  %103 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %7) #7
  br label %157

104:                                              ; preds = %96, %92
  %105 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #7
  br label %157

106:                                              ; preds = %30
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %9) #7
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %9, ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %107 unwind label %121

107:                                              ; preds = %106
  %108 = getelementptr inbounds i8, ptr %3, i64 48
  %.sroa.012.0.copyload = load double, ptr %108, align 16
  %.sroa.213.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  %.sroa.213.0.copyload = load double, ptr %.sroa.213.0..sroa_idx, align 8, !tbaa !8
  %109 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %9, double %.sroa.012.0.copyload, double %.sroa.213.0.copyload)
          to label %110 unwind label %121

110:                                              ; preds = %107
  %111 = extractvalue { double, double } %109, 0
  %112 = extractvalue { double, double } %109, 1
  %113 = getelementptr inbounds i8, ptr %0, i64 48
  store double %111, ptr %113, align 16
  %.sroa.515.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 56
  store double %112, ptr %.sroa.515.0..sroa_idx, align 8, !tbaa !8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %10) #7
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %10, ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %114 unwind label %123

114:                                              ; preds = %110
  %115 = getelementptr inbounds i8, ptr %3, i64 96
  %.sroa.08.0.copyload = load double, ptr %115, align 16
  %.sroa.29.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 104
  %.sroa.29.0.copyload = load double, ptr %.sroa.29.0..sroa_idx, align 8, !tbaa !8
  %116 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %10, double %.sroa.08.0.copyload, double %.sroa.29.0.copyload)
          to label %117 unwind label %123

117:                                              ; preds = %114
  %118 = extractvalue { double, double } %116, 0
  %119 = extractvalue { double, double } %116, 1
  %120 = getelementptr inbounds i8, ptr %0, i64 64
  store double %118, ptr %120, align 16
  %.sroa.511.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 72
  store double %119, ptr %.sroa.511.0..sroa_idx, align 8, !tbaa !8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %10) #7
  br label %125

121:                                              ; preds = %107, %106
  %122 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %9) #7
  br label %157

123:                                              ; preds = %114, %110
  %124 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %10) #7
  br label %157

125:                                              ; preds = %117, %98
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #7
  %126 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %127 unwind label %149

127:                                              ; preds = %125
  %128 = extractvalue { double, double } %126, 0
  store double %128, ptr %13, align 16
  %129 = getelementptr inbounds i8, ptr %13, i64 8
  %130 = extractvalue { double, double } %126, 1
  store double %130, ptr %129, align 8
  %131 = invoke { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %13)
          to label %132 unwind label %149

132:                                              ; preds = %127
  %133 = extractvalue { double, double } %131, 0
  store double %133, ptr %12, align 16
  %134 = getelementptr inbounds i8, ptr %12, i64 8
  %135 = extractvalue { double, double } %131, 1
  store double %135, ptr %134, align 8
  %.sroa.05.0.copyload = load double, ptr %26, align 16
  %.sroa.26.0.copyload = load double, ptr %.sroa.554.0..sroa_idx, align 8, !tbaa !8
  %136 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %12, double %.sroa.05.0.copyload, double %.sroa.26.0.copyload)
          to label %137 unwind label %149

137:                                              ; preds = %132
  %138 = extractvalue { double, double } %136, 0
  store double %138, ptr %11, align 16
  %139 = getelementptr inbounds i8, ptr %11, i64 8
  %140 = extractvalue { double, double } %136, 1
  store double %140, ptr %139, align 8
  %141 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %142 unwind label %149

142:                                              ; preds = %137
  %143 = extractvalue { double, double } %141, 0
  %144 = extractvalue { double, double } %141, 1
  %145 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %11, double %143, double %144)
          to label %146 unwind label %149

146:                                              ; preds = %142
  %147 = extractvalue { double, double } %145, 0
  %148 = extractvalue { double, double } %145, 1
  store double %147, ptr %26, align 16
  store double %148, ptr %.sroa.554.0..sroa_idx, align 8, !tbaa !8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #7
  br label %156

149:                                              ; preds = %142, %137, %132, %127, %125
  %150 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #7
  br label %157

151:                                              ; preds = %23
  %152 = getelementptr inbounds i8, ptr %3, i64 48
  %.sroa.02.0.copyload = load <4 x float>, ptr %152, align 16, !tbaa !8
  %153 = getelementptr inbounds i8, ptr %0, i64 48
  store <4 x float> %.sroa.02.0.copyload, ptr %153, align 16, !tbaa !8
  %154 = getelementptr inbounds i8, ptr %3, i64 96
  %.sroa.0.0.copyload = load <4 x float>, ptr %154, align 16, !tbaa !8
  %155 = getelementptr inbounds i8, ptr %0, i64 64
  store <4 x float> %.sroa.0.0.copyload, ptr %155, align 16, !tbaa !8
  br label %156

156:                                              ; preds = %151, %146
  ret void

157:                                              ; preds = %42, %48, %102, %104, %87, %83, %149, %123, %121, %40, %38
  %.pn95 = phi { ptr, i32 } [ %150, %149 ], [ %124, %123 ], [ %122, %121 ], [ %41, %40 ], [ %39, %38 ], [ %105, %104 ], [ %103, %102 ], [ %49, %48 ], [ %43, %42 ], [ %84, %83 ], [ %88, %87 ]
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #7
  resume { ptr, i32 } %.pn95
}

; 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27RotationEulerConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(208)) unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH27RotationEulerConstraintPart27sGetInvInitialOrientationXYENS_4Vec3ES1_S1_S1_(double, double, double, double, double, double, double, double) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body23CanBeKinematicOrDynamicEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH8literalsli2_rEe(x86_fp80 noundef) local_unnamed_addr #4

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) local_unnamed_addr #5

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #5 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 #2 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 #5 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 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 #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 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 = { 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 #3 = { 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 #4 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #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 = { 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, !9, i64 0}
!9 = !{!"omnipotent char", !7, i64 0}
!10 = !{!11, !22, i64 40}
!11 = !{!"_ZTSN3JPH23FixedConstraintSettingsE", !12, i64 0, !22, i64 40, !19, i64 44, !23, i64 48, !23, i64 64, !23, i64 80, !23, i64 96, !23, i64 112, !23, i64 128}
!12 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !13, i64 0}
!13 = !{!"_ZTSN3JPH18ConstraintSettingsE", !14, i64 0, !15, i64 8, !19, i64 12, !18, i64 16, !18, i64 20, !18, i64 24, !20, i64 28, !21, i64 32}
!14 = !{!"_ZTSN3JPH18SerializableObjectE"}
!15 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !16, i64 0}
!16 = !{!"_ZTSSt6atomicIjE", !17, i64 0}
!17 = !{!"_ZTSSt13__atomic_baseIjE", !18, i64 0}
!18 = !{!"int", !9, i64 0}
!19 = !{!"bool", !9, i64 0}
!20 = !{!"float", !9, i64 0}
!21 = !{!"long", !9, i64 0}
!22 = !{!"_ZTSN3JPH16EConstraintSpaceE", !9, i64 0}
!23 = !{!"_ZTSN3JPH4Vec3E", !9, i64 0}
!24 = !{!11, !19, i64 44}
!25 = !{i8 0, i8 2}
!26 = !{}


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