; LLVM IR from jrouwe/JoltPhysics :: Jolt/Physics/Vehicle (VehicleConstraint)

; 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.anon.24 = type { i8 }
%"struct.JPH::AssertLastParam" = type { i8 }
%"class.JPH::VehicleConstraint" = type <{ %"class.JPH::Constraint", %"class.JPH::PhysicsStepListener", i8, [7 x i8], %"class.JPH::Vec3", ptr, [8 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Array.14", %"class.JPH::Array.2", ptr, i8, [3 x i8], i32, i32, i32, float, float, %"class.JPH::Vec3", %"class.JPH::AngleConstraintPart", %"class.JPH::RefConst", %"class.std::function", %"class.std::function.17", %"class.std::function.17", %"class.std::function.17", [8 x i8] }>
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.13", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.13" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::PhysicsStepListener" = type { ptr }
%"class.JPH::Array.14" = type { i64, i64, ptr }
%"class.JPH::Array.2" = type { i64, i64, ptr }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::AngleConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }
%"class.JPH::RefConst" = type { ptr }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }
%"class.std::function.17" = type { %"class.std::_Function_base", ptr }
%"class.JPH::VehicleConstraintSettings" = type { %"class.JPH::ConstraintSettings", %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::Array", %"class.JPH::Array.2", %"class.JPH::Ref" }
%"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" }
%"class.JPH::Array" = type { i64, i64, ptr }
%"class.JPH::Ref" = type { ptr }

@_ZTVN3JPH17VehicleConstraintE = external dso_local unnamed_addr constant { [19 x ptr], [5 x ptr] }, align 8
@.str.1 = external hidden unnamed_addr constant [30 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [95 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [35 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [28 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_25VehicleControllerSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraintC2ERNS_4BodyERKNS_25VehicleConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(144) %2) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca %class.anon.24, align 1
  %10 = alloca %"struct.JPH::AssertLastParam", align 1
  %11 = alloca %"struct.JPH::AssertLastParam", align 1
  %12 = alloca %"struct.JPH::AssertLastParam", align 1
  %13 = alloca i32, align 4
  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
  %14 = load ptr, ptr %4, align 8
  %15 = load ptr, ptr %6, align 8, !tbaa !5
  call void @_ZN3JPH10ConstraintC2ERKNS_18ConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(32) %14, ptr noundef nonnull align 8 dereferenceable(40) %15)
  %16 = getelementptr inbounds i8, ptr %14, i64 32
  call void @_ZN3JPH19PhysicsStepListenerC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %16) #8
  store ptr getelementptr inbounds inrange(-16, 136) ({ [19 x ptr], [5 x ptr] }, ptr @_ZTVN3JPH17VehicleConstraintE, i32 0, i32 0, i32 2), ptr %14, align 16, !tbaa !9
  %17 = getelementptr inbounds i8, ptr %14, i64 32
  store ptr getelementptr inbounds inrange(-16, 24) ({ [19 x ptr], [5 x ptr] }, ptr @_ZTVN3JPH17VehicleConstraintE, i32 0, i32 1, i32 2), ptr %17, align 16, !tbaa !9
  %18 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 2
  store i8 0, ptr %18, align 8, !tbaa !11
  %19 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 4
  %20 = invoke { double, double } @_ZN3JPH4Vec35sZeroEv()
          to label %21 unwind label %66

21:                                               ; preds = %3
  %22 = getelementptr inbounds %"class.JPH::Vec3", ptr %19, i32 0, i32 0
  %23 = getelementptr inbounds %union.anon, ptr %22, i32 0, i32 0
  %24 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 0
  %25 = extractvalue { double, double } %20, 0
  store double %25, ptr %24, align 16
  %26 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 1
  %27 = extractvalue { double, double } %20, 1
  store double %27, ptr %26, align 8
  %28 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 5
  %29 = load ptr, ptr %5, align 8, !tbaa !5
  store ptr %29, ptr %28, align 16, !tbaa !31
  %30 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 7
  %31 = load ptr, ptr %6, align 8, !tbaa !5
  %32 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %31, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %30, ptr align 16 %32, i64 16, i1 false), !tbaa.struct !32
  %33 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 8
  %34 = load ptr, ptr %6, align 8, !tbaa !5
  %35 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %34, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %33, ptr align 16 %35, i64 16, i1 false), !tbaa.struct !32
  %36 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 9
  %37 = load ptr, ptr %6, align 8, !tbaa !5
  %38 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %37, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %36, ptr align 16 %38, i64 16, i1 false), !tbaa.struct !32
  %39 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 10
  call void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %39) #8
  %40 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 11
  %41 = load ptr, ptr %6, align 8, !tbaa !5
  %42 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %41, i32 0, i32 5
  invoke void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(24) %40, ptr noundef nonnull align 8 dereferenceable(24) %42)
          to label %43 unwind label %70

43:                                               ; preds = %21
  %44 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 13
  store i8 0, ptr %44, align 8, !tbaa !34
  %45 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 15
  store i32 1, ptr %45, align 4, !tbaa !35
  %46 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 16
  store i32 1, ptr %46, align 16, !tbaa !36
  %47 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 17
  store i32 0, ptr %47, align 4, !tbaa !37
  %48 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 20
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %48, float noundef 0.000000e+00, float noundef 1.000000e+00, float noundef 0.000000e+00)
          to label %49 unwind label %74

49:                                               ; preds = %43
  %50 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 21
  call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %50) #8
  %51 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 22
  invoke void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %51)
          to label %52 unwind label %74

52:                                               ; preds = %49
  %53 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 23
  call void @llvm.lifetime.start.p0(i64 1, ptr %9) #8
  call void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2INS1_17VehicleConstraint16mCombineFrictionMUljS0_S0_S4_S7_E_EvEEOT_(ptr noundef nonnull align 8 dereferenceable(32) %53, ptr noundef nonnull align 1 dereferenceable(1) %9) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #8
  %54 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 24
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %54) #8
  %55 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 25
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %55) #8
  %56 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 26
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %56) #8
  br label %57

57:                                               ; preds = %52
  %58 = load ptr, ptr %6, align 8, !tbaa !5
  %59 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %58, i32 0, i32 1
  %60 = invoke noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16) %59, float noundef 0x3EB0C6F7A0000000)
          to label %61 unwind label %78

61:                                               ; preds = %57
  br i1 %60, label %82, label %62

62:                                               ; preds = %61
  %63 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.1, ptr noundef @.str.2, i32 noundef 87)
          to label %64 unwind label %78

64:                                               ; preds = %62
  br i1 %63, label %65, label %82

65:                                               ; preds = %64
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !38
  br label %82

66:                                               ; preds = %3
  %67 = landingpad { ptr, i32 }
          cleanup
  %68 = extractvalue { ptr, i32 } %67, 0
  store ptr %68, ptr %7, align 8
  %69 = extractvalue { ptr, i32 } %67, 1
  store i32 %69, ptr %8, align 4
  br label %179

70:                                               ; preds = %21
  %71 = landingpad { ptr, i32 }
          cleanup
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %7, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %8, align 4
  br label %178

74:                                               ; preds = %49, %43
  %75 = landingpad { ptr, i32 }
          cleanup
  %76 = extractvalue { ptr, i32 } %75, 0
  store ptr %76, ptr %7, align 8
  %77 = extractvalue { ptr, i32 } %75, 1
  store i32 %77, ptr %8, align 4
  br label %177

78:                                               ; preds = %170, %168, %165, %127, %121, %116, %112, %108, %102, %97, %90, %85, %62, %57
  %79 = landingpad { ptr, i32 }
          cleanup
  %80 = extractvalue { ptr, i32 } %79, 0
  store ptr %80, ptr %7, align 8
  %81 = extractvalue { ptr, i32 } %79, 1
  store i32 %81, ptr %8, align 4
  br label %176

82:                                               ; preds = %65, %64, %61
  br label %83

83:                                               ; preds = %82
  br label %84

84:                                               ; preds = %83
  br label %85

85:                                               ; preds = %84
  %86 = load ptr, ptr %6, align 8, !tbaa !5
  %87 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %86, i32 0, i32 2
  %88 = invoke noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16) %87, float noundef 0x3EB0C6F7A0000000)
          to label %89 unwind label %78

89:                                               ; preds = %85
  br i1 %88, label %94, label %90

90:                                               ; preds = %89
  %91 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.3, ptr noundef @.str.2, i32 noundef 88)
          to label %92 unwind label %78

92:                                               ; preds = %90
  br i1 %91, label %93, label %94

93:                                               ; preds = %92
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !39
  br label %94

94:                                               ; preds = %93, %92, %89
  br label %95

95:                                               ; preds = %94
  br label %96

96:                                               ; preds = %95
  br label %97

97:                                               ; preds = %96
  %98 = load ptr, ptr %6, align 8, !tbaa !5
  %99 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %98, i32 0, i32 4
  %100 = invoke noundef zeroext i1 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(24) %99)
          to label %101 unwind label %78

101:                                              ; preds = %97
  br i1 %100, label %102, label %106

102:                                              ; preds = %101
  %103 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.4, ptr noundef @.str.2, i32 noundef 89)
          to label %104 unwind label %78

104:                                              ; preds = %102
  br i1 %103, label %105, label %106

105:                                              ; preds = %104
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !40
  br label %106

106:                                              ; preds = %105, %104, %101
  br label %107

107:                                              ; preds = %106
  br label %108

108:                                              ; preds = %107
  %109 = load ptr, ptr %6, align 8, !tbaa !5
  %110 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %109, i32 0, i32 3
  %111 = load float, ptr %110, align 16, !tbaa !41
  invoke void @_ZN3JPH17VehicleConstraint20SetMaxPitchRollAngleEf(ptr noundef nonnull align 16 dereferenceable(408) %14, float noundef %111)
          to label %112 unwind label %78

112:                                              ; preds = %108
  %113 = load ptr, ptr %6, align 8, !tbaa !5
  %114 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %113, i32 0, i32 6
  %115 = invoke noundef ptr @_ZNK3JPH3RefINS_25VehicleControllerSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %114)
          to label %116 unwind label %78

116:                                              ; preds = %112
  %117 = load ptr, ptr %115, align 8, !tbaa !9
  %118 = getelementptr inbounds ptr, ptr %117, i64 6
  %119 = load ptr, ptr %118, align 8
  %120 = invoke noundef ptr %119(ptr noundef nonnull align 8 dereferenceable(12) %115, ptr noundef nonnull align 16 dereferenceable(408) %14)
          to label %121 unwind label %78

121:                                              ; preds = %116
  %122 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 12
  store ptr %120, ptr %122, align 16, !tbaa !48
  %123 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 10
  %124 = load ptr, ptr %6, align 8, !tbaa !5
  %125 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %124, i32 0, i32 4
  %126 = invoke noundef i64 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %125)
          to label %127 unwind label %78

127:                                              ; preds = %121
  invoke void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %123, i64 noundef %126)
          to label %128 unwind label %78

128:                                              ; preds = %127
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #8
  store i32 0, ptr %13, align 4, !tbaa !49
  br label %129

129:                                              ; preds = %162, %128
  %130 = load i32, ptr %13, align 4, !tbaa !49
  %131 = zext i32 %130 to i64
  %132 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 10
  %133 = invoke noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %132)
          to label %134 unwind label %137

134:                                              ; preds = %129
  %135 = icmp ult i64 %131, %133
  br i1 %135, label %141, label %136

136:                                              ; preds = %134
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  br label %165

137:                                              ; preds = %156, %151, %149, %141, %129
  %138 = landingpad { ptr, i32 }
          cleanup
  %139 = extractvalue { ptr, i32 } %138, 0
  store ptr %139, ptr %7, align 8
  %140 = extractvalue { ptr, i32 } %138, 1
  store i32 %140, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  br label %176

141:                                              ; preds = %134
  %142 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 12
  %143 = load ptr, ptr %142, align 16, !tbaa !48
  %144 = load ptr, ptr %6, align 8, !tbaa !5
  %145 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %144, i32 0, i32 4
  %146 = load i32, ptr %13, align 4, !tbaa !49
  %147 = zext i32 %146 to i64
  %148 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %145, i64 noundef %147)
          to label %149 unwind label %137

149:                                              ; preds = %141
  %150 = invoke noundef nonnull align 16 dereferenceable(145) ptr @_ZNK3JPH3RefINS_13WheelSettingsEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %148)
          to label %151 unwind label %137

151:                                              ; preds = %149
  %152 = load ptr, ptr %143, align 8, !tbaa !9
  %153 = getelementptr inbounds ptr, ptr %152, i64 2
  %154 = load ptr, ptr %153, align 8
  %155 = invoke noundef ptr %154(ptr noundef nonnull align 8 dereferenceable(16) %143, ptr noundef nonnull align 16 dereferenceable(145) %150)
          to label %156 unwind label %137

156:                                              ; preds = %151
  %157 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 10
  %158 = load i32, ptr %13, align 4, !tbaa !49
  %159 = zext i32 %158 to i64
  %160 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %157, i64 noundef %159)
          to label %161 unwind label %137

161:                                              ; preds = %156
  store ptr %155, ptr %160, align 8, !tbaa !5
  br label %162

162:                                              ; preds = %161
  %163 = load i32, ptr %13, align 4, !tbaa !49
  %164 = add i32 %163, 1
  store i32 %164, ptr %13, align 4, !tbaa !49
  br label %129, !llvm.loop !50

165:                                              ; preds = %136
  %166 = load ptr, ptr %5, align 8, !tbaa !5
  %167 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %166)
          to label %168 unwind label %78

168:                                              ; preds = %165
  %169 = invoke noundef i32 @_ZNK3JPH6BodyID8GetIndexEv(ptr noundef nonnull align 4 dereferenceable(4) %167)
          to label %170 unwind label %78

170:                                              ; preds = %168
  %171 = zext i32 %169 to i64
  %172 = invoke noundef i64 @_ZN3JPH6Hash64Em(i64 noundef %171)
          to label %173 unwind label %78

173:                                              ; preds = %170
  %174 = trunc i64 %172 to i32
  %175 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %14, i32 0, i32 17
  store i32 %174, ptr %175, align 4, !tbaa !37
  ret void

176:                                              ; preds = %137, %78
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %56) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %55) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %54) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %53) #8
  call void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %51) #8
  br label %177

177:                                              ; preds = %176, %74
  call void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %40) #8
  br label %178

178:                                              ; preds = %177, %70
  call void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %39) #8
  br label %179

179:                                              ; preds = %178, %66
  %180 = getelementptr inbounds i8, ptr %14, i64 32
  call void @_ZN3JPH19PhysicsStepListenerD2Ev(ptr noundef nonnull align 8 dereferenceable(8) %180) #8
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #8
  br label %181

181:                                              ; preds = %179
  %182 = load ptr, ptr %7, align 8
  %183 = load i32, ptr %8, align 4
  %184 = insertvalue { ptr, i32 } poison, ptr %182, 0
  %185 = insertvalue { ptr, i32 } %184, i32 %183, 1
  resume { ptr, i32 } %185
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH10ConstraintC2ERKNS_18ConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19PhysicsStepListenerC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec35sZeroEv() #3 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16), float noundef, float noundef, float noundef) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2INS1_17VehicleConstraint16mCombineFrictionMUljS0_S0_S4_S7_E_EvEEOT_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17VehicleConstraint20SetMaxPitchRollAngleEf(ptr noundef nonnull align 16 dereferenceable(408), float noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(145) ptr @_ZNK3JPH3RefINS_13WheelSettingsEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZN3JPH6Hash64Em(i64 noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3JPH6BodyID8GetIndexEv(ptr noundef nonnull align 4 dereferenceable(4)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19PhysicsStepListenerD2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #5 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress uwtable "min-legal-vector-width"="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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}
!11 = !{!12, !18, i64 40}
!12 = !{!"_ZTSN3JPH17VehicleConstraintE", !13, i64 0, !20, i64 32, !18, i64 40, !21, i64 48, !6, i64 64, !21, i64 80, !21, i64 96, !21, i64 112, !22, i64 128, !23, i64 152, !6, i64 176, !18, i64 184, !17, i64 188, !17, i64 192, !17, i64 196, !24, i64 200, !24, i64 204, !21, i64 208, !25, i64 224, !27, i64 272, !28, i64 280, !30, i64 312, !30, i64 344, !30, i64 376}
!13 = !{!"_ZTSN3JPH10ConstraintE", !14, i64 8, !17, i64 12, !17, i64 16, !7, i64 20, !7, i64 21, !18, i64 22, !19, i64 24}
!14 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !15, i64 0}
!15 = !{!"_ZTSSt6atomicIjE", !16, i64 0}
!16 = !{!"_ZTSSt13__atomic_baseIjE", !17, i64 0}
!17 = !{!"int", !7, i64 0}
!18 = !{!"bool", !7, i64 0}
!19 = !{!"long", !7, i64 0}
!20 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!21 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!22 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !19, i64 0, !19, i64 8, !6, i64 16}
!23 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !19, i64 0, !19, i64 8, !6, i64 16}
!24 = !{!"float", !7, i64 0}
!25 = !{!"_ZTSN3JPH19AngleConstraintPartE", !21, i64 0, !21, i64 16, !24, i64 32, !26, i64 36, !24, i64 44}
!26 = !{!"_ZTSN3JPH10SpringPartE", !24, i64 0, !24, i64 4}
!27 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !6, i64 0}
!28 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !29, i64 0, !6, i64 24}
!29 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!30 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEE", !29, i64 0, !6, i64 24}
!31 = !{!12, !6, i64 64}
!32 = !{i64 0, i64 16, !33}
!33 = !{!7, !7, i64 0}
!34 = !{!12, !18, i64 184}
!35 = !{!12, !17, i64 188}
!36 = !{!12, !17, i64 192}
!37 = !{!12, !17, i64 196}
!38 = !{i64 2159465483}
!39 = !{i64 2159465853}
!40 = !{i64 2159466209}
!41 = !{!42, !24, i64 80}
!42 = !{!"_ZTSN3JPH25VehicleConstraintSettingsE", !43, i64 0, !21, i64 48, !21, i64 64, !24, i64 80, !46, i64 88, !23, i64 112, !47, i64 136}
!43 = !{!"_ZTSN3JPH18ConstraintSettingsE", !44, i64 0, !45, i64 8, !18, i64 12, !17, i64 16, !17, i64 20, !17, i64 24, !24, i64 28, !19, i64 32}
!44 = !{!"_ZTSN3JPH18SerializableObjectE"}
!45 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !15, i64 0}
!46 = !{!"_ZTSN3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEE", !19, i64 0, !19, i64 8, !6, i64 16}
!47 = !{!"_ZTSN3JPH3RefINS_25VehicleControllerSettingsEEE", !6, i64 0}
!48 = !{!12, !6, i64 176}
!49 = !{!17, !17, i64 0}
!50 = distinct !{!50, !51}
!51 = !{!"llvm.loop.mustprogress"}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%class.anon.24 = type { i8 }

@_ZTVN3JPH17VehicleConstraintE = external dso_local unnamed_addr constant { [19 x ptr], [5 x ptr] }, align 8
@.str.1 = external hidden unnamed_addr constant [30 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [95 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [35 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [28 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_25VehicleControllerSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraintC2ERNS_4BodyERKNS_25VehicleConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(144) %2) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca %class.anon.24, align 1
  tail call void @_ZN3JPH10ConstraintC2ERKNS_18ConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(32) %0, ptr noundef nonnull align 8 dereferenceable(40) %2)
  %5 = getelementptr inbounds i8, ptr %0, i64 32
  tail call void @_ZN3JPH19PhysicsStepListenerC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %5) #8
  store ptr getelementptr inbounds inrange(-16, 136) (i8, ptr @_ZTVN3JPH17VehicleConstraintE, i64 16), ptr %0, align 16, !tbaa !5
  store ptr getelementptr inbounds inrange(-16, 24) (i8, ptr @_ZTVN3JPH17VehicleConstraintE, i64 168), ptr %5, align 16, !tbaa !5
  %6 = getelementptr inbounds i8, ptr %0, i64 40
  store i8 0, ptr %6, align 8, !tbaa !8
  %7 = invoke { double, double } @_ZN3JPH4Vec35sZeroEv()
          to label %8 unwind label %41

8:                                                ; preds = %3
  %9 = getelementptr inbounds i8, ptr %0, i64 48
  %10 = extractvalue { double, double } %7, 0
  store double %10, ptr %9, align 16
  %11 = getelementptr inbounds i8, ptr %0, i64 56
  %12 = extractvalue { double, double } %7, 1
  store double %12, ptr %11, align 8
  %13 = getelementptr inbounds i8, ptr %0, i64 64
  store ptr %1, ptr %13, align 16, !tbaa !30
  %14 = getelementptr inbounds i8, ptr %0, i64 80
  %15 = getelementptr inbounds i8, ptr %2, i64 64
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 16 dereferenceable(16) %15, i64 16, i1 false), !tbaa.struct !31
  %16 = getelementptr inbounds i8, ptr %0, i64 96
  %17 = getelementptr inbounds i8, ptr %2, i64 48
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %17, i64 16, i1 false), !tbaa.struct !31
  %18 = getelementptr inbounds i8, ptr %0, i64 112
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %18, ptr noundef nonnull align 16 dereferenceable(16) %17, i64 16, i1 false), !tbaa.struct !31
  %19 = getelementptr inbounds i8, ptr %0, i64 128
  tail call void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #8
  %20 = getelementptr inbounds i8, ptr %0, i64 152
  %21 = getelementptr inbounds i8, ptr %2, i64 112
  invoke void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(24) %21)
          to label %22 unwind label %43

22:                                               ; preds = %8
  %23 = getelementptr inbounds i8, ptr %0, i64 184
  store i8 0, ptr %23, align 8, !tbaa !33
  %24 = getelementptr inbounds i8, ptr %0, i64 188
  store i32 1, ptr %24, align 4, !tbaa !34
  %25 = getelementptr inbounds i8, ptr %0, i64 192
  store i32 1, ptr %25, align 16, !tbaa !35
  %26 = getelementptr inbounds i8, ptr %0, i64 196
  store i32 0, ptr %26, align 4, !tbaa !36
  %27 = getelementptr inbounds i8, ptr %0, i64 208
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %27, float noundef 0.000000e+00, float noundef 1.000000e+00, float noundef 0.000000e+00)
          to label %28 unwind label %45

28:                                               ; preds = %22
  %29 = getelementptr inbounds i8, ptr %0, i64 224
  tail call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %29) #8
  %30 = getelementptr inbounds i8, ptr %0, i64 272
  tail call void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %30)
  %31 = getelementptr inbounds i8, ptr %0, i64 280
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #8
  call void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2INS1_17VehicleConstraint16mCombineFrictionMUljS0_S0_S4_S7_E_EvEEOT_(ptr noundef nonnull align 8 dereferenceable(32) %31, ptr noundef nonnull align 1 dereferenceable(1) %4) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #8
  %32 = getelementptr inbounds i8, ptr %0, i64 312
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %32) #8
  %33 = getelementptr inbounds i8, ptr %0, i64 344
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %33) #8
  %34 = getelementptr inbounds i8, ptr %0, i64 376
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %34) #8
  %35 = invoke noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16) %17, float noundef 0x3EB0C6F7A0000000)
          to label %36 unwind label %47

36:                                               ; preds = %28
  br i1 %35, label %49, label %37

37:                                               ; preds = %36
  %38 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, i32 noundef 87)
          to label %39 unwind label %47

39:                                               ; preds = %37
  br i1 %38, label %40, label %49

40:                                               ; preds = %39
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !37
  br label %49

41:                                               ; preds = %3
  %42 = landingpad { ptr, i32 }
          cleanup
  br label %103

43:                                               ; preds = %8
  %44 = landingpad { ptr, i32 }
          cleanup
  br label %102

45:                                               ; preds = %22
  %46 = landingpad { ptr, i32 }
          cleanup
  br label %101

47:                                               ; preds = %73, %66, %63, %59, %52, %49, %37, %28
  %48 = landingpad { ptr, i32 }
          cleanup
  br label %100

49:                                               ; preds = %36, %39, %40
  %50 = invoke noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16) %15, float noundef 0x3EB0C6F7A0000000)
          to label %51 unwind label %47

51:                                               ; preds = %49
  br i1 %50, label %56, label %52

52:                                               ; preds = %51
  %53 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.3, ptr noundef nonnull @.str.2, i32 noundef 88)
          to label %54 unwind label %47

54:                                               ; preds = %52
  br i1 %53, label %55, label %56

55:                                               ; preds = %54
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !38
  br label %56

56:                                               ; preds = %51, %54, %55
  %57 = getelementptr inbounds i8, ptr %2, i64 88
  %58 = call noundef zeroext i1 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(24) %57)
  br i1 %58, label %59, label %63

59:                                               ; preds = %56
  %60 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.4, ptr noundef nonnull @.str.2, i32 noundef 89)
          to label %61 unwind label %47

61:                                               ; preds = %59
  br i1 %60, label %62, label %63

62:                                               ; preds = %61
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !39
  br label %63

63:                                               ; preds = %62, %61, %56
  %64 = getelementptr inbounds i8, ptr %2, i64 80
  %65 = load float, ptr %64, align 16, !tbaa !40
  invoke void @_ZN3JPH17VehicleConstraint20SetMaxPitchRollAngleEf(ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %65)
          to label %66 unwind label %47

66:                                               ; preds = %63
  %67 = getelementptr inbounds i8, ptr %2, i64 136
  %68 = call noundef ptr @_ZNK3JPH3RefINS_25VehicleControllerSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %67)
  %69 = load ptr, ptr %68, align 8, !tbaa !5
  %70 = getelementptr inbounds i8, ptr %69, i64 48
  %71 = load ptr, ptr %70, align 8
  %72 = invoke noundef ptr %71(ptr noundef nonnull align 8 dereferenceable(12) %68, ptr noundef nonnull align 16 dereferenceable(408) %0)
          to label %73 unwind label %47

73:                                               ; preds = %66
  %74 = getelementptr inbounds i8, ptr %0, i64 176
  store ptr %72, ptr %74, align 16, !tbaa !47
  %75 = call noundef i64 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %57)
  invoke void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %75)
          to label %.preheader unwind label %47

.preheader:                                       ; preds = %73
  %76 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %19)
  %.not = icmp eq i64 %76, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %95, %.preheader
  %77 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
  %78 = call noundef i32 @_ZNK3JPH6BodyID8GetIndexEv(ptr noundef nonnull align 4 dereferenceable(4) %77)
  %79 = zext i32 %78 to i64
  %80 = call noundef i64 @_ZN3JPH6Hash64Em(i64 noundef %79)
  %81 = trunc i64 %80 to i32
  store i32 %81, ptr %26, align 4, !tbaa !36
  ret void

82:                                               ; preds = %93, %87, %.lr.ph
  %83 = landingpad { ptr, i32 }
          cleanup
  br label %100

.lr.ph:                                           ; preds = %.preheader, %95
  %84 = phi i64 [ %97, %95 ], [ 0, %.preheader ]
  %.030 = phi i32 [ %96, %95 ], [ 0, %.preheader ]
  %85 = load ptr, ptr %74, align 16, !tbaa !47
  %86 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %57, i64 noundef %84)
          to label %87 unwind label %82

87:                                               ; preds = %.lr.ph
  %88 = call noundef nonnull align 16 dereferenceable(145) ptr @_ZNK3JPH3RefINS_13WheelSettingsEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %86)
  %89 = load ptr, ptr %85, align 8, !tbaa !5
  %90 = getelementptr inbounds i8, ptr %89, i64 16
  %91 = load ptr, ptr %90, align 8
  %92 = invoke noundef ptr %91(ptr noundef nonnull align 8 dereferenceable(16) %85, ptr noundef nonnull align 16 dereferenceable(145) %88)
          to label %93 unwind label %82

93:                                               ; preds = %87
  %94 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %84)
          to label %95 unwind label %82

95:                                               ; preds = %93
  store ptr %92, ptr %94, align 8, !tbaa !48
  %96 = add i32 %.030, 1
  %97 = zext i32 %96 to i64
  %98 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %19)
  %99 = icmp ugt i64 %98, %97
  br i1 %99, label %.lr.ph, label %._crit_edge, !llvm.loop !49

100:                                              ; preds = %82, %47
  %.pn = phi { ptr, i32 } [ %83, %82 ], [ %48, %47 ]
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %34) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %33) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %32) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %31) #8
  call void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %30) #8
  br label %101

101:                                              ; preds = %100, %45
  %.pn.pn = phi { ptr, i32 } [ %.pn, %100 ], [ %46, %45 ]
  call void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #8
  br label %102

102:                                              ; preds = %101, %43
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %101 ], [ %44, %43 ]
  call void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #8
  br label %103

103:                                              ; preds = %102, %41
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %102 ], [ %42, %41 ]
  call void @_ZN3JPH19PhysicsStepListenerD2Ev(ptr noundef nonnull align 8 dereferenceable(8) %5) #8
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %0) #8
  resume { ptr, i32 } %.pn.pn.pn.pn
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH10ConstraintC2ERKNS_18ConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19PhysicsStepListenerC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec35sZeroEv() local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16), float noundef, float noundef, float noundef) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2INS1_17VehicleConstraint16mCombineFrictionMUljS0_S0_S4_S7_E_EvEEOT_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17VehicleConstraint20SetMaxPitchRollAngleEf(ptr noundef nonnull align 16 dereferenceable(408), float noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(145) ptr @_ZNK3JPH3RefINS_13WheelSettingsEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZN3JPH6Hash64Em(i64 noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3JPH6BodyID8GetIndexEv(ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19PhysicsStepListenerD2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #5 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 = { 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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress uwtable "min-legal-vector-width"="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 = { 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, !16, i64 40}
!9 = !{!"_ZTSN3JPH17VehicleConstraintE", !10, i64 0, !18, i64 32, !16, i64 40, !19, i64 48, !20, i64 64, !19, i64 80, !19, i64 96, !19, i64 112, !21, i64 128, !22, i64 152, !20, i64 176, !16, i64 184, !14, i64 188, !14, i64 192, !14, i64 196, !23, i64 200, !23, i64 204, !19, i64 208, !24, i64 224, !26, i64 272, !27, i64 280, !29, i64 312, !29, i64 344, !29, i64 376}
!10 = !{!"_ZTSN3JPH10ConstraintE", !11, i64 8, !14, i64 12, !14, i64 16, !15, i64 20, !15, i64 21, !16, i64 22, !17, i64 24}
!11 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !12, i64 0}
!12 = !{!"_ZTSSt6atomicIjE", !13, i64 0}
!13 = !{!"_ZTSSt13__atomic_baseIjE", !14, i64 0}
!14 = !{!"int", !15, i64 0}
!15 = !{!"omnipotent char", !7, i64 0}
!16 = !{!"bool", !15, i64 0}
!17 = !{!"long", !15, i64 0}
!18 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!19 = !{!"_ZTSN3JPH4Vec3E", !15, i64 0}
!20 = !{!"any pointer", !15, i64 0}
!21 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !17, i64 0, !17, i64 8, !20, i64 16}
!22 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !17, i64 0, !17, i64 8, !20, i64 16}
!23 = !{!"float", !15, i64 0}
!24 = !{!"_ZTSN3JPH19AngleConstraintPartE", !19, i64 0, !19, i64 16, !23, i64 32, !25, i64 36, !23, i64 44}
!25 = !{!"_ZTSN3JPH10SpringPartE", !23, i64 0, !23, i64 4}
!26 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !20, i64 0}
!27 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !28, i64 0, !20, i64 24}
!28 = !{!"_ZTSSt14_Function_base", !15, i64 0, !20, i64 16}
!29 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEE", !28, i64 0, !20, i64 24}
!30 = !{!9, !20, i64 64}
!31 = !{i64 0, i64 16, !32}
!32 = !{!15, !15, i64 0}
!33 = !{!9, !16, i64 184}
!34 = !{!9, !14, i64 188}
!35 = !{!9, !14, i64 192}
!36 = !{!9, !14, i64 196}
!37 = !{i64 2159465483}
!38 = !{i64 2159465853}
!39 = !{i64 2159466209}
!40 = !{!41, !23, i64 80}
!41 = !{!"_ZTSN3JPH25VehicleConstraintSettingsE", !42, i64 0, !19, i64 48, !19, i64 64, !23, i64 80, !45, i64 88, !22, i64 112, !46, i64 136}
!42 = !{!"_ZTSN3JPH18ConstraintSettingsE", !43, i64 0, !44, i64 8, !16, i64 12, !14, i64 16, !14, i64 20, !14, i64 24, !23, i64 28, !17, i64 32}
!43 = !{!"_ZTSN3JPH18SerializableObjectE"}
!44 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !12, i64 0}
!45 = !{!"_ZTSN3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEE", !17, i64 0, !17, i64 8, !20, i64 16}
!46 = !{!"_ZTSN3JPH3RefINS_25VehicleControllerSettingsEEE", !20, i64 0}
!47 = !{!9, !20, i64 176}
!48 = !{!20, !20, i64 0}
!49 = distinct !{!49, !50}
!50 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass