; LLVM IR from jrouwe/JoltPhysics :: Jolt/Physics/Collision/Shape (ConvexShape)

; 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::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.6 }
%union.anon.6 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon.4 }
%union.anon.4 = type { <4 x float> }
%"struct.JPH::AssertLastParam" = type { i8 }
%"class.JPH::ConvexShape::SupportBuffer" = type { [4160 x i8] }
%"class.JPH::EPAPenetrationDepth" = type { %"class.JPH::GJKClosestPoint", float, [12 x i8] }
%"class.JPH::GJKClosestPoint" = type <{ [4 x %"class.JPH::Vec3"], [4 x %"class.JPH::Vec3"], [4 x %"class.JPH::Vec3"], i32, [12 x i8] }>
%"class.JPH::ShapeCastResult" = type <{ %"class.JPH::CollideShapeResult", float, i8, [11 x i8] }>
%"class.JPH::CollideShapeResult" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SubShapeID", %"class.JPH::SubShapeID", %"class.JPH::BodyID", %"class.JPH::StaticArray.7", %"class.JPH::StaticArray.7" }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::StaticArray.7" = type { i32, [12 x i8], [32 x %"struct.JPH::StaticArray<JPH::Vec3, 32>::Storage"] }
%"struct.JPH::StaticArray<JPH::Vec3, 32>::Storage" = type { [16 x i8] }
%"struct.JPH::ShapeCastT" = type { ptr, %"class.JPH::Vec3", %"class.JPH::Mat44", %"class.JPH::Vec3", %"class.JPH::AABox" }
%"class.JPH::AABox" = type { %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::ShapeCastSettings" = type <{ %"class.JPH::CollideSettingsBase", i8, i8, i8, i8, [12 x i8] }>
%"class.JPH::CollideSettingsBase" = type { i8, i8, float, float, %"class.JPH::Vec3" }

@.str.3 = external hidden unnamed_addr constant [97 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [52 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [41 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 zeroext i8 @_ZNK3JPH5Shape7GetTypeEv(ptr noundef nonnull align 8 dereferenceable(26)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) #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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19EPAPenetrationDepthC2Ev(ptr noundef nonnull align 16 dereferenceable(212)) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH17SubShapeIDCreator5GetIDEv(ptr noundef nonnull align 4 dereferenceable(8)) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local i32 @_ZN3JPH16TransformedShape10sGetBodyIDEPKS0_(ptr noundef) #2 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4421Multiply3x3TransposedENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) #3

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH11ConvexShape19sCastConvexVsConvexERKNS_9ShapeCastERKNS_17ShapeCastSettingsEPKNS_5ShapeENS_4Vec3ERKNS_11ShapeFilterERKNS_5Mat44ERKNS_17SubShapeIDCreatorESJ_RNS_18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEEE(ptr noundef nonnull align 16 dereferenceable(144) %0, ptr noundef nonnull align 16 dereferenceable(36) %1, ptr noundef %2, double %3, double %4, ptr noundef nonnull align 8 dereferenceable(12) %5, ptr noundef nonnull align 16 dereferenceable(64) %6, ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(24) %9) #8 align 2 personality ptr @__gxx_personality_v0 {
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca %"struct.JPH::AssertLastParam", align 1
  %21 = alloca ptr, align 8
  %22 = alloca %"struct.JPH::AssertLastParam", align 1
  %23 = alloca ptr, align 8
  %24 = alloca i32, align 4
  %25 = alloca %"class.JPH::ConvexShape::SupportBuffer", align 16
  %26 = alloca ptr, align 8
  %27 = alloca %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::ConvexShape::SupportBuffer", align 16
  %29 = alloca ptr, align 8
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::EPAPenetrationDepth", align 16
  %32 = alloca float, align 4
  %33 = alloca %"class.JPH::Vec3", align 16
  %34 = alloca %"class.JPH::Vec3", align 16
  %35 = alloca %"class.JPH::Vec3", align 16
  %36 = alloca %"class.JPH::Vec3", align 16
  %37 = alloca %"class.JPH::Vec3", align 16
  %38 = alloca %"class.JPH::Vec3", align 16
  %39 = alloca %"class.JPH::Vec3", align 16
  %40 = alloca %"class.JPH::Vec3", align 16
  %41 = alloca %"class.JPH::Vec3", align 16
  %42 = alloca %"class.JPH::Vec3", align 16
  %43 = alloca %"class.JPH::Vec3", align 16
  %44 = alloca %"class.JPH::ShapeCastResult", align 16
  %45 = alloca %"class.JPH::Vec3", align 16
  %46 = alloca %"class.JPH::Vec3", align 16
  %47 = alloca %"class.JPH::Vec3", align 16
  %48 = alloca %"class.JPH::BodyID", align 4
  %49 = alloca ptr, align 8
  %50 = alloca i32, align 4
  %51 = alloca i32, align 4
  %52 = alloca %"class.JPH::Mat44", align 16
  %53 = alloca %"class.JPH::Vec3", align 16
  %54 = alloca %"class.JPH::Vec3", align 16
  %55 = alloca %"class.JPH::Vec3", align 16
  %56 = alloca %"class.JPH::Vec3", align 16
  %57 = alloca %"class.JPH::SubShapeID", align 4
  %58 = alloca %"class.JPH::Vec3", align 16
  %59 = alloca %"class.JPH::Vec3", align 16
  %60 = alloca %"class.JPH::Vec3", align 16
  %61 = alloca %"class.JPH::Mat44", align 16
  %62 = alloca %"class.JPH::SubShapeID", align 4
  %63 = alloca %"class.JPH::Vec3", align 16
  %64 = alloca %"class.JPH::Vec3", align 16
  %65 = getelementptr inbounds { double, double }, ptr %11, i32 0, i32 0
  store double %3, ptr %65, align 16
  %66 = getelementptr inbounds { double, double }, ptr %11, i32 0, i32 1
  store double %4, ptr %66, align 8
  store ptr %0, ptr %12, align 8, !tbaa !5
  store ptr %1, ptr %13, align 8, !tbaa !5
  store ptr %2, ptr %14, align 8, !tbaa !5
  store ptr %5, ptr %15, align 8, !tbaa !5
  store ptr %6, ptr %16, align 8, !tbaa !5
  store ptr %7, ptr %17, align 8, !tbaa !5
  store ptr %8, ptr %18, align 8, !tbaa !5
  store ptr %9, ptr %19, align 8, !tbaa !5
  br label %67

67:                                               ; preds = %10
  %68 = load ptr, ptr %12, align 8, !tbaa !5
  %69 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %68, i32 0, i32 0
  %70 = load ptr, ptr %69, align 16, !tbaa !9
  %71 = call noundef zeroext i8 @_ZNK3JPH5Shape7GetTypeEv(ptr noundef nonnull align 8 dereferenceable(26) %70)
  %72 = icmp eq i8 %71, 0
  br i1 %72, label %76, label %73

73:                                               ; preds = %67
  %74 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.5, ptr noundef @.str.3, i32 noundef 262)
  br i1 %74, label %75, label %76

75:                                               ; preds = %73
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #10, !srcloc !14
  br label %76

76:                                               ; preds = %75, %73, %67
  br label %77

77:                                               ; preds = %76
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #10
  %78 = load ptr, ptr %12, align 8, !tbaa !5
  %79 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %78, i32 0, i32 0
  %80 = load ptr, ptr %79, align 16, !tbaa !9
  store ptr %80, ptr %21, align 8, !tbaa !5
  br label %81

81:                                               ; preds = %77
  %82 = load ptr, ptr %14, align 8, !tbaa !5
  %83 = call noundef zeroext i8 @_ZNK3JPH5Shape7GetTypeEv(ptr noundef nonnull align 8 dereferenceable(26) %82)
  %84 = icmp eq i8 %83, 0
  br i1 %84, label %88, label %85

85:                                               ; preds = %81
  %86 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.6, ptr noundef @.str.3, i32 noundef 265)
  br i1 %86, label %87, label %88

87:                                               ; preds = %85
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #10, !srcloc !15
  br label %88

88:                                               ; preds = %87, %85, %81
  br label %89

89:                                               ; preds = %88
  br label %90

90:                                               ; preds = %89
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #10
  %91 = load ptr, ptr %14, align 8, !tbaa !5
  store ptr %91, ptr %23, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #10
  %92 = load ptr, ptr %13, align 8, !tbaa !5
  %93 = getelementptr inbounds %"class.JPH::ShapeCastSettings", ptr %92, i32 0, i32 3
  %94 = load i8, ptr %93, align 2, !tbaa !16, !range !24, !noundef !25
  %95 = trunc i8 %94 to i1
  %96 = zext i1 %95 to i64
  %97 = select i1 %95, i32 0, i32 2
  store i32 %97, ptr %24, align 4, !tbaa !26
  call void @llvm.lifetime.start.p0(i64 4160, ptr %25) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #10
  %98 = load ptr, ptr %21, align 8, !tbaa !5
  %99 = load i32, ptr %24, align 4, !tbaa !26
  %100 = load ptr, ptr %12, align 8, !tbaa !5
  %101 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %100, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %27, ptr align 16 %101, i64 16, i1 false), !tbaa.struct !28
  %102 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 0
  %103 = load double, ptr %102, align 16
  %104 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 1
  %105 = load double, ptr %104, align 8
  %106 = load ptr, ptr %98, align 8, !tbaa !30
  %107 = getelementptr inbounds ptr, ptr %106, i64 35
  %108 = load ptr, ptr %107, align 8
  %109 = call noundef ptr %108(ptr noundef nonnull align 8 dereferenceable(44) %98, i32 noundef %99, ptr noundef nonnull align 16 dereferenceable(4160) %25, double %103, double %105)
  store ptr %109, ptr %26, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4160, ptr %28) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #10
  %110 = load ptr, ptr %23, align 8, !tbaa !5
  %111 = load i32, ptr %24, align 4, !tbaa !26
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %30, ptr align 16 %11, i64 16, i1 false), !tbaa.struct !28
  %112 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 0
  %113 = load double, ptr %112, align 16
  %114 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 1
  %115 = load double, ptr %114, align 8
  %116 = load ptr, ptr %110, align 8, !tbaa !30
  %117 = getelementptr inbounds ptr, ptr %116, i64 35
  %118 = load ptr, ptr %117, align 8
  %119 = call noundef ptr %118(ptr noundef nonnull align 8 dereferenceable(44) %110, i32 noundef %111, ptr noundef nonnull align 16 dereferenceable(4160) %28, double %113, double %115)
  store ptr %119, ptr %29, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 224, ptr %31) #10
  call void @_ZN3JPH19EPAPenetrationDepthC2Ev(ptr noundef nonnull align 16 dereferenceable(212) %31) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #10
  %120 = load ptr, ptr %19, align 8, !tbaa !5
  %121 = call noundef float @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE19GetEarlyOutFractionEv(ptr noundef nonnull align 8 dereferenceable(24) %120)
  store float %121, ptr %32, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %34) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #10
  %122 = load ptr, ptr %12, align 8, !tbaa !5
  %123 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %122, i32 0, i32 2
  %124 = load ptr, ptr %12, align 8, !tbaa !5
  %125 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %124, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %36, ptr align 16 %125, i64 16, i1 false), !tbaa.struct !28
  %126 = load ptr, ptr %13, align 8, !tbaa !5
  %127 = getelementptr inbounds %"class.JPH::CollideSettingsBase", ptr %126, i32 0, i32 2
  %128 = load float, ptr %127, align 4, !tbaa !33
  %129 = load ptr, ptr %13, align 8, !tbaa !5
  %130 = getelementptr inbounds %"class.JPH::CollideSettingsBase", ptr %129, i32 0, i32 3
  %131 = load float, ptr %130, align 8, !tbaa !34
  %132 = load ptr, ptr %26, align 8, !tbaa !5
  %133 = load ptr, ptr %29, align 8, !tbaa !5
  %134 = load ptr, ptr %26, align 8, !tbaa !5
  %135 = load ptr, ptr %134, align 8, !tbaa !30
  %136 = getelementptr inbounds ptr, ptr %135, i64 3
  %137 = load ptr, ptr %136, align 8
  %138 = call noundef float %137(ptr noundef nonnull align 8 dereferenceable(8) %134)
  %139 = load ptr, ptr %29, align 8, !tbaa !5
  %140 = load ptr, ptr %139, align 8, !tbaa !30
  %141 = getelementptr inbounds ptr, ptr %140, i64 3
  %142 = load ptr, ptr %141, align 8
  %143 = call noundef float %142(ptr noundef nonnull align 8 dereferenceable(8) %139)
  %144 = load ptr, ptr %13, align 8, !tbaa !5
  %145 = getelementptr inbounds %"class.JPH::ShapeCastSettings", ptr %144, i32 0, i32 4
  %146 = load i8, ptr %145, align 1, !tbaa !35, !range !24, !noundef !25
  %147 = trunc i8 %146 to i1
  %148 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 0
  %149 = load double, ptr %148, align 16
  %150 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 1
  %151 = load double, ptr %150, align 8
  %152 = call noundef zeroext i1 @_ZN3JPH19EPAPenetrationDepth9CastShapeINS_11ConvexShape7SupportES3_EEbRKNS_5Mat44ENS_4Vec3EffRKT_RKT0_ffbRfRS7_SF_SF_(ptr noundef nonnull align 16 dereferenceable(212) %31, ptr noundef nonnull align 16 dereferenceable(64) %123, double %149, double %151, float noundef %128, float noundef %131, ptr noundef nonnull align 8 dereferenceable(8) %132, ptr noundef nonnull align 8 dereferenceable(8) %133, float noundef %138, float noundef %143, i1 noundef zeroext %147, ptr noundef nonnull align 4 dereferenceable(4) %32, ptr noundef nonnull align 16 dereferenceable(16) %33, ptr noundef nonnull align 16 dereferenceable(16) %34, ptr noundef nonnull align 16 dereferenceable(16) %35)
  br i1 %152, label %153, label %369

153:                                              ; preds = %90
  %154 = load ptr, ptr %13, align 8, !tbaa !5
  %155 = getelementptr inbounds %"class.JPH::ShapeCastSettings", ptr %154, i32 0, i32 2
  %156 = load i8, ptr %155, align 1, !tbaa !36
  %157 = icmp eq i8 %156, 1
  br i1 %157, label %167, label %158

158:                                              ; preds = %153
  %159 = load ptr, ptr %12, align 8, !tbaa !5
  %160 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %159, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %37, ptr align 16 %160, i64 16, i1 false), !tbaa.struct !28
  %161 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 0
  %162 = load double, ptr %161, align 16
  %163 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 1
  %164 = load double, ptr %163, align 8
  %165 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %35, double %162, double %164)
  %166 = fcmp ogt float %165, 0.000000e+00
  br i1 %166, label %167, label %369

167:                                              ; preds = %158, %153
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #10
  %168 = load ptr, ptr %16, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %39, ptr align 16 %33, i64 16, i1 false), !tbaa.struct !28
  %169 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 0
  %170 = load double, ptr %169, align 16
  %171 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 1
  %172 = load double, ptr %171, align 8
  %173 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %168, double %170, double %172)
  %174 = getelementptr inbounds %"class.JPH::Vec3", ptr %38, i32 0, i32 0
  %175 = getelementptr inbounds %union.anon.4, ptr %174, i32 0, i32 0
  %176 = getelementptr inbounds { double, double }, ptr %175, i32 0, i32 0
  %177 = extractvalue { double, double } %173, 0
  store double %177, ptr %176, align 16
  %178 = getelementptr inbounds { double, double }, ptr %175, i32 0, i32 1
  %179 = extractvalue { double, double } %173, 1
  store double %179, ptr %178, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %33, ptr align 16 %38, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #10
  %180 = load ptr, ptr %16, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %34, i64 16, i1 false), !tbaa.struct !28
  %181 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 0
  %182 = load double, ptr %181, align 16
  %183 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 1
  %184 = load double, ptr %183, align 8
  %185 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %180, double %182, double %184)
  %186 = getelementptr inbounds %"class.JPH::Vec3", ptr %40, i32 0, i32 0
  %187 = getelementptr inbounds %union.anon.4, ptr %186, i32 0, i32 0
  %188 = getelementptr inbounds { double, double }, ptr %187, i32 0, i32 0
  %189 = extractvalue { double, double } %185, 0
  store double %189, ptr %188, align 16
  %190 = getelementptr inbounds { double, double }, ptr %187, i32 0, i32 1
  %191 = extractvalue { double, double } %185, 1
  store double %191, ptr %190, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %40, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #10
  %192 = load ptr, ptr %16, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %43, ptr align 16 %35, i64 16, i1 false), !tbaa.struct !28
  %193 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 0
  %194 = load double, ptr %193, align 16
  %195 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 1
  %196 = load double, ptr %195, align 8
  %197 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %192, double %194, double %196)
  %198 = getelementptr inbounds %"class.JPH::Vec3", ptr %42, i32 0, i32 0
  %199 = getelementptr inbounds %union.anon.4, ptr %198, i32 0, i32 0
  %200 = getelementptr inbounds { double, double }, ptr %199, i32 0, i32 0
  %201 = extractvalue { double, double } %197, 0
  store double %201, ptr %200, align 16
  %202 = getelementptr inbounds { double, double }, ptr %199, i32 0, i32 1
  %203 = extractvalue { double, double } %197, 1
  store double %203, ptr %202, align 8
  call void @llvm.lifetime.start.p0(i64 1136, ptr %44) #10
  %204 = load float, ptr %32, align 4, !tbaa !32
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %45, ptr align 16 %33, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %46, ptr align 16 %34, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %47, ptr align 16 %42, i64 16, i1 false), !tbaa.struct !28
  %205 = load ptr, ptr %17, align 8, !tbaa !5
  %206 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH17SubShapeIDCreator5GetIDEv(ptr noundef nonnull align 4 dereferenceable(8) %205)
  %207 = load ptr, ptr %18, align 8, !tbaa !5
  %208 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH17SubShapeIDCreator5GetIDEv(ptr noundef nonnull align 4 dereferenceable(8) %207)
  call void @llvm.lifetime.start.p0(i64 4, ptr %48) #10
  %209 = load ptr, ptr %19, align 8, !tbaa !5
  %210 = call noundef ptr @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE10GetContextEv(ptr noundef nonnull align 8 dereferenceable(24) %209)
  %211 = call i32 @_ZN3JPH16TransformedShape10sGetBodyIDEPKS0_(ptr noundef %210)
  %212 = getelementptr inbounds %"class.JPH::BodyID", ptr %48, i32 0, i32 0
  store i32 %211, ptr %212, align 4
  %213 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 0
  %214 = load double, ptr %213, align 16
  %215 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 1
  %216 = load double, ptr %215, align 8
  %217 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 0
  %218 = load double, ptr %217, align 16
  %219 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 1
  %220 = load double, ptr %219, align 8
  %221 = getelementptr inbounds { double, double }, ptr %47, i32 0, i32 0
  %222 = load double, ptr %221, align 16
  %223 = getelementptr inbounds { double, double }, ptr %47, i32 0, i32 1
  %224 = load double, ptr %223, align 8
  call void @_ZN3JPH15ShapeCastResultC2EfNS_4Vec3ES1_S1_bRKNS_10SubShapeIDES4_RKNS_6BodyIDE(ptr noundef nonnull align 16 dereferenceable(1125) %44, float noundef %204, double %214, double %216, double %218, double %220, double %222, double %224, i1 noundef zeroext false, ptr noundef nonnull align 4 dereferenceable(4) %206, ptr noundef nonnull align 4 dereferenceable(4) %208, ptr noundef nonnull align 4 dereferenceable(4) %48)
  call void @llvm.lifetime.end.p0(i64 4, ptr %48) #10
  %225 = load float, ptr %32, align 4, !tbaa !32
  %226 = fcmp oeq float %225, 0.000000e+00
  br i1 %226, label %227, label %240

227:                                              ; preds = %167
  %228 = getelementptr inbounds %"class.JPH::CollideShapeResult", ptr %44, i32 0, i32 3
  %229 = load float, ptr %228, align 16, !tbaa !37
  %230 = fneg float %229
  %231 = load ptr, ptr %19, align 8, !tbaa !5
  %232 = invoke noundef float @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE19GetEarlyOutFractionEv(ptr noundef nonnull align 8 dereferenceable(24) %231)
          to label %233 unwind label %236

233:                                              ; preds = %227
  %234 = fcmp oge float %230, %232
  br i1 %234, label %235, label %240

235:                                              ; preds = %233
  store i32 1, ptr %51, align 4
  br label %365

236:                                              ; preds = %359, %227
  %237 = landingpad { ptr, i32 }
          cleanup
  %238 = extractvalue { ptr, i32 } %237, 0
  store ptr %238, ptr %49, align 8
  %239 = extractvalue { ptr, i32 } %237, 1
  store i32 %239, ptr %50, align 4
  br label %368

240:                                              ; preds = %233, %167
  %241 = load ptr, ptr %13, align 8, !tbaa !5
  %242 = getelementptr inbounds %"class.JPH::CollideSettingsBase", ptr %241, i32 0, i32 1
  %243 = load i8, ptr %242, align 1, !tbaa !43
  %244 = icmp eq i8 %243, 0
  br i1 %244, label %245, label %359

245:                                              ; preds = %240
  call void @llvm.lifetime.start.p0(i64 64, ptr %52) #10
  %246 = load ptr, ptr %12, align 8, !tbaa !5
  %247 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %246, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %52, ptr align 16 %247, i64 64, i1 false), !tbaa.struct !44
  call void @llvm.lifetime.start.p0(i64 16, ptr %54) #10
  %248 = invoke { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64) %52)
          to label %249 unwind label %341

249:                                              ; preds = %245
  %250 = getelementptr inbounds %"class.JPH::Vec3", ptr %54, i32 0, i32 0
  %251 = getelementptr inbounds %union.anon.4, ptr %250, i32 0, i32 0
  %252 = getelementptr inbounds { double, double }, ptr %251, i32 0, i32 0
  %253 = extractvalue { double, double } %248, 0
  store double %253, ptr %252, align 16
  %254 = getelementptr inbounds { double, double }, ptr %251, i32 0, i32 1
  %255 = extractvalue { double, double } %248, 1
  store double %255, ptr %254, align 8
  %256 = load float, ptr %32, align 4, !tbaa !32
  %257 = load ptr, ptr %12, align 8, !tbaa !5
  %258 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %257, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %56, ptr align 16 %258, i64 16, i1 false), !tbaa.struct !28
  %259 = getelementptr inbounds { double, double }, ptr %56, i32 0, i32 0
  %260 = load double, ptr %259, align 16
  %261 = getelementptr inbounds { double, double }, ptr %56, i32 0, i32 1
  %262 = load double, ptr %261, align 8
  %263 = invoke { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %256, double %260, double %262)
          to label %264 unwind label %341

264:                                              ; preds = %249
  %265 = getelementptr inbounds %"class.JPH::Vec3", ptr %55, i32 0, i32 0
  %266 = getelementptr inbounds %union.anon.4, ptr %265, i32 0, i32 0
  %267 = getelementptr inbounds { double, double }, ptr %266, i32 0, i32 0
  %268 = extractvalue { double, double } %263, 0
  store double %268, ptr %267, align 16
  %269 = getelementptr inbounds { double, double }, ptr %266, i32 0, i32 1
  %270 = extractvalue { double, double } %263, 1
  store double %270, ptr %269, align 8
  %271 = getelementptr inbounds { double, double }, ptr %55, i32 0, i32 0
  %272 = load double, ptr %271, align 16
  %273 = getelementptr inbounds { double, double }, ptr %55, i32 0, i32 1
  %274 = load double, ptr %273, align 8
  %275 = invoke { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %54, double %272, double %274)
          to label %276 unwind label %341

276:                                              ; preds = %264
  %277 = getelementptr inbounds %"class.JPH::Vec3", ptr %53, i32 0, i32 0
  %278 = getelementptr inbounds %union.anon.4, ptr %277, i32 0, i32 0
  %279 = getelementptr inbounds { double, double }, ptr %278, i32 0, i32 0
  %280 = extractvalue { double, double } %275, 0
  store double %280, ptr %279, align 16
  %281 = getelementptr inbounds { double, double }, ptr %278, i32 0, i32 1
  %282 = extractvalue { double, double } %275, 1
  store double %282, ptr %281, align 8
  %283 = getelementptr inbounds { double, double }, ptr %53, i32 0, i32 0
  %284 = load double, ptr %283, align 16
  %285 = getelementptr inbounds { double, double }, ptr %53, i32 0, i32 1
  %286 = load double, ptr %285, align 8
  invoke void @_ZN3JPH5Mat4414SetTranslationENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %52, double %284, double %286)
          to label %287 unwind label %341

287:                                              ; preds = %276
  call void @llvm.lifetime.end.p0(i64 16, ptr %54) #10
  %288 = load ptr, ptr %21, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %57) #10
  call void @llvm.memset.p0.i64(ptr align 4 %57, i8 0, i64 4, i1 false)
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %57) #10
  %289 = invoke { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %35)
          to label %290 unwind label %345

290:                                              ; preds = %287
  %291 = getelementptr inbounds %"class.JPH::Vec3", ptr %59, i32 0, i32 0
  %292 = getelementptr inbounds %union.anon.4, ptr %291, i32 0, i32 0
  %293 = getelementptr inbounds { double, double }, ptr %292, i32 0, i32 0
  %294 = extractvalue { double, double } %289, 0
  store double %294, ptr %293, align 16
  %295 = getelementptr inbounds { double, double }, ptr %292, i32 0, i32 1
  %296 = extractvalue { double, double } %289, 1
  store double %296, ptr %295, align 8
  %297 = getelementptr inbounds { double, double }, ptr %59, i32 0, i32 0
  %298 = load double, ptr %297, align 16
  %299 = getelementptr inbounds { double, double }, ptr %59, i32 0, i32 1
  %300 = load double, ptr %299, align 8
  %301 = invoke { double, double } @_ZNK3JPH5Mat4421Multiply3x3TransposedENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %52, double %298, double %300)
          to label %302 unwind label %345

302:                                              ; preds = %290
  %303 = getelementptr inbounds %"class.JPH::Vec3", ptr %58, i32 0, i32 0
  %304 = getelementptr inbounds %union.anon.4, ptr %303, i32 0, i32 0
  %305 = getelementptr inbounds { double, double }, ptr %304, i32 0, i32 0
  %306 = extractvalue { double, double } %301, 0
  store double %306, ptr %305, align 16
  %307 = getelementptr inbounds { double, double }, ptr %304, i32 0, i32 1
  %308 = extractvalue { double, double } %301, 1
  store double %308, ptr %307, align 8
  %309 = load ptr, ptr %12, align 8, !tbaa !5
  %310 = getelementptr inbounds %"struct.JPH::ShapeCastT", ptr %309, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %60, ptr align 16 %310, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.lifetime.start.p0(i64 64, ptr %61) #10
  %311 = load ptr, ptr %16, align 8, !tbaa !5
  invoke void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %61, ptr noundef nonnull align 16 dereferenceable(64) %311, ptr noundef nonnull align 16 dereferenceable(64) %52)
          to label %312 unwind label %349

312:                                              ; preds = %302
  %313 = getelementptr inbounds %"class.JPH::CollideShapeResult", ptr %44, i32 0, i32 7
  %314 = getelementptr inbounds { double, double }, ptr %58, i32 0, i32 0
  %315 = load double, ptr %314, align 16
  %316 = getelementptr inbounds { double, double }, ptr %58, i32 0, i32 1
  %317 = load double, ptr %316, align 8
  %318 = getelementptr inbounds { double, double }, ptr %60, i32 0, i32 0
  %319 = load double, ptr %318, align 16
  %320 = getelementptr inbounds { double, double }, ptr %60, i32 0, i32 1
  %321 = load double, ptr %320, align 8
  %322 = load ptr, ptr %288, align 8, !tbaa !30
  %323 = getelementptr inbounds ptr, ptr %322, i64 12
  %324 = load ptr, ptr %323, align 8
  invoke void %324(ptr noundef nonnull align 8 dereferenceable(26) %288, ptr noundef nonnull align 4 dereferenceable(4) %57, double %315, double %317, double %319, double %321, ptr noundef nonnull align 16 dereferenceable(64) %61, ptr noundef nonnull align 16 dereferenceable(528) %313)
          to label %325 unwind label %349

325:                                              ; preds = %312
  call void @llvm.lifetime.end.p0(i64 64, ptr %61) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #10
  %326 = load ptr, ptr %23, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %62) #10
  call void @llvm.memset.p0.i64(ptr align 4 %62, i8 0, i64 4, i1 false)
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %62) #10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %63, ptr align 16 %35, i64 16, i1 false), !tbaa.struct !28
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %64, ptr align 16 %11, i64 16, i1 false), !tbaa.struct !28
  %327 = load ptr, ptr %16, align 8, !tbaa !5
  %328 = getelementptr inbounds %"class.JPH::CollideShapeResult", ptr %44, i32 0, i32 8
  %329 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 0
  %330 = load double, ptr %329, align 16
  %331 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 1
  %332 = load double, ptr %331, align 8
  %333 = getelementptr inbounds { double, double }, ptr %64, i32 0, i32 0
  %334 = load double, ptr %333, align 16
  %335 = getelementptr inbounds { double, double }, ptr %64, i32 0, i32 1
  %336 = load double, ptr %335, align 8
  %337 = load ptr, ptr %326, align 8, !tbaa !30
  %338 = getelementptr inbounds ptr, ptr %337, i64 12
  %339 = load ptr, ptr %338, align 8
  invoke void %339(ptr noundef nonnull align 8 dereferenceable(26) %326, ptr noundef nonnull align 4 dereferenceable(4) %62, double %330, double %332, double %334, double %336, ptr noundef nonnull align 16 dereferenceable(64) %327, ptr noundef nonnull align 16 dereferenceable(528) %328)
          to label %340 unwind label %354

340:                                              ; preds = %325
  call void @llvm.lifetime.end.p0(i64 4, ptr %62) #10
  call void @llvm.lifetime.end.p0(i64 64, ptr %52) #10
  br label %359

341:                                              ; preds = %276, %264, %249, %245
  %342 = landingpad { ptr, i32 }
          cleanup
  %343 = extractvalue { ptr, i32 } %342, 0
  store ptr %343, ptr %49, align 8
  %344 = extractvalue { ptr, i32 } %342, 1
  store i32 %344, ptr %50, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %54) #10
  br label %358

345:                                              ; preds = %290, %287
  %346 = landingpad { ptr, i32 }
          cleanup
  %347 = extractvalue { ptr, i32 } %346, 0
  store ptr %347, ptr %49, align 8
  %348 = extractvalue { ptr, i32 } %346, 1
  store i32 %348, ptr %50, align 4
  br label %353

349:                                              ; preds = %312, %302
  %350 = landingpad { ptr, i32 }
          cleanup
  %351 = extractvalue { ptr, i32 } %350, 0
  store ptr %351, ptr %49, align 8
  %352 = extractvalue { ptr, i32 } %350, 1
  store i32 %352, ptr %50, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %61) #10
  br label %353

353:                                              ; preds = %349, %345
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #10
  br label %358

354:                                              ; preds = %325
  %355 = landingpad { ptr, i32 }
          cleanup
  %356 = extractvalue { ptr, i32 } %355, 0
  store ptr %356, ptr %49, align 8
  %357 = extractvalue { ptr, i32 } %355, 1
  store i32 %357, ptr %50, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %62) #10
  br label %358

358:                                              ; preds = %354, %353, %341
  call void @llvm.lifetime.end.p0(i64 64, ptr %52) #10
  br label %368

359:                                              ; preds = %340, %240
  %360 = load ptr, ptr %19, align 8, !tbaa !5
  %361 = load ptr, ptr %360, align 8, !tbaa !30
  %362 = getelementptr inbounds ptr, ptr %361, i64 6
  %363 = load ptr, ptr %362, align 8
  invoke void %363(ptr noundef nonnull align 8 dereferenceable(24) %360, ptr noundef nonnull align 16 dereferenceable(1125) %44)
          to label %364 unwind label %236

364:                                              ; preds = %359
  store i32 0, ptr %51, align 4
  br label %365

365:                                              ; preds = %364, %235
  call void @_ZN3JPH18CollideShapeResultD2Ev(ptr noundef nonnull align 16 dereferenceable(1125) %44) #10
  call void @llvm.lifetime.end.p0(i64 1136, ptr %44) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #10
  %366 = load i32, ptr %51, align 4
  switch i32 %366, label %370 [
    i32 0, label %367
  ]

367:                                              ; preds = %365
  br label %369

368:                                              ; preds = %358, %236
  call void @_ZN3JPH18CollideShapeResultD2Ev(ptr noundef nonnull align 16 dereferenceable(1125) %44) #10
  call void @llvm.lifetime.end.p0(i64 1136, ptr %44) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #10
  call void @llvm.lifetime.end.p0(i64 224, ptr %31) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #10
  call void @llvm.lifetime.end.p0(i64 4160, ptr %28) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #10
  call void @llvm.lifetime.end.p0(i64 4160, ptr %25) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #10
  br label %373

369:                                              ; preds = %367, %158, %90
  store i32 0, ptr %51, align 4
  br label %370

370:                                              ; preds = %369, %365
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #10
  call void @llvm.lifetime.end.p0(i64 224, ptr %31) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #10
  call void @llvm.lifetime.end.p0(i64 4160, ptr %28) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #10
  call void @llvm.lifetime.end.p0(i64 4160, ptr %25) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #10
  %371 = load i32, ptr %51, align 4
  switch i32 %371, label %378 [
    i32 0, label %372
    i32 1, label %372
  ]

372:                                              ; preds = %370, %370
  ret void

373:                                              ; preds = %368
  %374 = load ptr, ptr %49, align 8
  %375 = load i32, ptr %50, align 4
  %376 = insertvalue { ptr, i32 } poison, ptr %374, 0
  %377 = insertvalue { ptr, i32 } %376, i32 %375, 1
  resume { ptr, i32 } %377

378:                                              ; preds = %370
  unreachable
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE19GetEarlyOutFractionEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH19EPAPenetrationDepth9CastShapeINS_11ConvexShape7SupportES3_EEbRKNS_5Mat44ENS_4Vec3EffRKT_RKT0_ffbRfRS7_SF_SF_(ptr noundef nonnull align 16 dereferenceable(212), ptr noundef nonnull align 16 dereferenceable(64), double, double, float noundef, float noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), float noundef, float noundef, i1 noundef zeroext, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #8 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #9 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE10GetContextEv(ptr noundef nonnull align 8 dereferenceable(24)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH15ShapeCastResultC2EfNS_4Vec3ES1_S1_bRKNS_10SubShapeIDES4_RKNS_6BodyIDE(ptr noundef nonnull align 16 dereferenceable(1125), float noundef, double, double, double, double, double, double, i1 noundef zeroext, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #8 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat4414SetTranslationENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18CollideShapeResultD2Ev(ptr noundef nonnull align 16 dereferenceable(1120)) unnamed_addr #1 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 = { 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 = { 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 = { 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 #6 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #8 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #10 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 0}
!10 = !{!"_ZTSN3JPH10ShapeCastTINS_4Vec3ENS_5Mat44ENS_9ShapeCastEEE", !6, i64 0, !11, i64 16, !12, i64 32, !11, i64 96, !13, i64 112}
!11 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!12 = !{!"_ZTSN3JPH5Mat44E", !7, i64 0}
!13 = !{!"_ZTSN3JPH5AABoxE", !11, i64 0, !11, i64 16}
!14 = !{i64 2158391666}
!15 = !{i64 2158392051}
!16 = !{!17, !23, i64 34}
!17 = !{!"_ZTSN3JPH17ShapeCastSettingsE", !18, i64 0, !22, i64 32, !22, i64 33, !23, i64 34, !23, i64 35}
!18 = !{!"_ZTSN3JPH19CollideSettingsBaseE", !19, i64 0, !20, i64 1, !21, i64 4, !21, i64 8, !11, i64 16}
!19 = !{!"_ZTSN3JPH15EActiveEdgeModeE", !7, i64 0}
!20 = !{!"_ZTSN3JPH17ECollectFacesModeE", !7, i64 0}
!21 = !{!"float", !7, i64 0}
!22 = !{!"_ZTSN3JPH13EBackFaceModeE", !7, i64 0}
!23 = !{!"bool", !7, i64 0}
!24 = !{i8 0, i8 2}
!25 = !{}
!26 = !{!27, !27, i64 0}
!27 = !{!"_ZTSN3JPH11ConvexShape12ESupportModeE", !7, i64 0}
!28 = !{i64 0, i64 16, !29}
!29 = !{!7, !7, i64 0}
!30 = !{!31, !31, i64 0}
!31 = !{!"vtable pointer", !8, i64 0}
!32 = !{!21, !21, i64 0}
!33 = !{!18, !21, i64 4}
!34 = !{!18, !21, i64 8}
!35 = !{!17, !23, i64 35}
!36 = !{!17, !22, i64 33}
!37 = !{!38, !21, i64 48}
!38 = !{!"_ZTSN3JPH18CollideShapeResultE", !11, i64 0, !11, i64 16, !11, i64 32, !21, i64 48, !39, i64 52, !39, i64 56, !41, i64 60, !42, i64 64, !42, i64 592}
!39 = !{!"_ZTSN3JPH10SubShapeIDE", !40, i64 0}
!40 = !{!"int", !7, i64 0}
!41 = !{!"_ZTSN3JPH6BodyIDE", !40, i64 0}
!42 = !{!"_ZTSN3JPH11StaticArrayINS_4Vec3ELj32EEE", !40, i64 0, !7, i64 16}
!43 = !{!18, !20, i64 1}
!44 = !{i64 0, i64 64, !29}


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

%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.6 }
%union.anon.6 = type { <4 x float> }
%"class.JPH::ConvexShape::SupportBuffer" = type { [4160 x i8] }
%"class.JPH::EPAPenetrationDepth" = type { %"class.JPH::GJKClosestPoint", float, [12 x i8] }
%"class.JPH::GJKClosestPoint" = type <{ [4 x %"class.JPH::Vec3"], [4 x %"class.JPH::Vec3"], [4 x %"class.JPH::Vec3"], i32, [12 x i8] }>
%"class.JPH::Vec3" = type { %union.anon.4 }
%union.anon.4 = type { <4 x float> }
%"class.JPH::ShapeCastResult" = type <{ %"class.JPH::CollideShapeResult", float, i8, [11 x i8] }>
%"class.JPH::CollideShapeResult" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SubShapeID", %"class.JPH::SubShapeID", %"class.JPH::BodyID", %"class.JPH::StaticArray.7", %"class.JPH::StaticArray.7" }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::StaticArray.7" = type { i32, [12 x i8], [32 x %"struct.JPH::StaticArray<JPH::Vec3, 32>::Storage"] }
%"struct.JPH::StaticArray<JPH::Vec3, 32>::Storage" = type { [16 x i8] }

@.str.3 = external hidden unnamed_addr constant [97 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [52 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [41 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 zeroext i8 @_ZNK3JPH5Shape7GetTypeEv(ptr noundef nonnull align 8 dereferenceable(26)) local_unnamed_addr #1 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 #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19EPAPenetrationDepthC2Ev(ptr noundef nonnull align 16 dereferenceable(212)) unnamed_addr #1 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 #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH17SubShapeIDCreator5GetIDEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local i32 @_ZN3JPH16TransformedShape10sGetBodyIDEPKS0_(ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4421Multiply3x3TransposedENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH11ConvexShape19sCastConvexVsConvexERKNS_9ShapeCastERKNS_17ShapeCastSettingsEPKNS_5ShapeENS_4Vec3ERKNS_11ShapeFilterERKNS_5Mat44ERKNS_17SubShapeIDCreatorESJ_RNS_18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEEE(ptr noundef nonnull align 16 dereferenceable(144) %0, ptr nocapture noundef nonnull readonly align 16 dereferenceable(36) %1, ptr noundef %2, double %3, double %4, ptr nocapture noundef nonnull readnone align 8 dereferenceable(12) %5, ptr noundef nonnull align 16 dereferenceable(64) %6, ptr noundef nonnull align 4 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(24) %9) local_unnamed_addr #7 align 2 personality ptr @__gxx_personality_v0 {
  %11 = alloca %"class.JPH::ConvexShape::SupportBuffer", align 16
  %12 = alloca %"class.JPH::ConvexShape::SupportBuffer", align 16
  %13 = alloca %"class.JPH::EPAPenetrationDepth", align 16
  %14 = alloca float, align 4
  %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::ShapeCastResult", align 16
  %19 = alloca %"class.JPH::BodyID", align 4
  %20 = alloca %"class.JPH::Mat44", align 16
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca %"class.JPH::SubShapeID", align 4
  %23 = alloca %"class.JPH::Mat44", align 16
  %24 = alloca %"class.JPH::SubShapeID", align 4
  %25 = load ptr, ptr %0, align 16, !tbaa !5
  %26 = tail call noundef zeroext i8 @_ZNK3JPH5Shape7GetTypeEv(ptr noundef nonnull align 8 dereferenceable(26) %25)
  %27 = icmp eq i8 %26, 0
  br i1 %27, label %31, label %28

28:                                               ; preds = %10
  %29 = tail call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, i32 noundef 262)
  br i1 %29, label %30, label %31

30:                                               ; preds = %28
  tail call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !13
  br label %31

31:                                               ; preds = %10, %28, %30
  %32 = load ptr, ptr %0, align 16, !tbaa !5
  %33 = tail call noundef zeroext i8 @_ZNK3JPH5Shape7GetTypeEv(ptr noundef nonnull align 8 dereferenceable(26) %2)
  %34 = icmp eq i8 %33, 0
  br i1 %34, label %38, label %35

35:                                               ; preds = %31
  %36 = tail call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.6, ptr noundef nonnull @.str.3, i32 noundef 265)
  br i1 %36, label %37, label %38

37:                                               ; preds = %35
  tail call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !14
  br label %38

38:                                               ; preds = %37, %35, %31
  %39 = getelementptr inbounds i8, ptr %1, i64 34
  %40 = load i8, ptr %39, align 2, !tbaa !15, !range !23, !noundef !24
  %41 = trunc nuw i8 %40 to i1
  %42 = select i1 %41, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 4160, ptr nonnull %11) #9
  %43 = getelementptr inbounds i8, ptr %0, i64 16
  %.sroa.040.0.copyload = load double, ptr %43, align 16
  %.sroa.241.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 24
  %.sroa.241.0.copyload = load double, ptr %.sroa.241.0..sroa_idx, align 8, !tbaa !25
  %44 = load ptr, ptr %32, align 8, !tbaa !26
  %45 = getelementptr inbounds i8, ptr %44, i64 280
  %46 = load ptr, ptr %45, align 8
  %47 = call noundef ptr %46(ptr noundef nonnull align 8 dereferenceable(44) %32, i32 noundef %42, ptr noundef nonnull align 16 dereferenceable(4160) %11, double %.sroa.040.0.copyload, double %.sroa.241.0.copyload)
  call void @llvm.lifetime.start.p0(i64 4160, ptr nonnull %12) #9
  %48 = load ptr, ptr %2, align 8, !tbaa !26
  %49 = getelementptr inbounds i8, ptr %48, i64 280
  %50 = load ptr, ptr %49, align 8
  %51 = call noundef ptr %50(ptr noundef nonnull align 8 dereferenceable(44) %2, i32 noundef %42, ptr noundef nonnull align 16 dereferenceable(4160) %12, double %3, double %4)
  call void @llvm.lifetime.start.p0(i64 224, ptr nonnull %13) #9
  call void @_ZN3JPH19EPAPenetrationDepthC2Ev(ptr noundef nonnull align 16 dereferenceable(212) %13) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %14) #9
  %52 = call noundef float @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE19GetEarlyOutFractionEv(ptr noundef nonnull align 8 dereferenceable(24) %9)
  store float %52, ptr %14, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #9
  %53 = getelementptr inbounds i8, ptr %0, i64 32
  %54 = getelementptr inbounds i8, ptr %0, i64 96
  %.sroa.034.0.copyload = load double, ptr %54, align 16
  %.sroa.235.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 104
  %.sroa.235.0.copyload = load double, ptr %.sroa.235.0..sroa_idx, align 8, !tbaa !25
  %55 = getelementptr inbounds i8, ptr %1, i64 4
  %56 = load float, ptr %55, align 4, !tbaa !29
  %57 = getelementptr inbounds i8, ptr %1, i64 8
  %58 = load float, ptr %57, align 8, !tbaa !30
  %59 = load ptr, ptr %47, align 8, !tbaa !26
  %60 = getelementptr inbounds i8, ptr %59, i64 24
  %61 = load ptr, ptr %60, align 8
  %62 = call noundef float %61(ptr noundef nonnull align 8 dereferenceable(8) %47)
  %63 = load ptr, ptr %51, align 8, !tbaa !26
  %64 = getelementptr inbounds i8, ptr %63, i64 24
  %65 = load ptr, ptr %64, align 8
  %66 = call noundef float %65(ptr noundef nonnull align 8 dereferenceable(8) %51)
  %67 = getelementptr inbounds i8, ptr %1, i64 35
  %68 = load i8, ptr %67, align 1, !tbaa !31, !range !23, !noundef !24
  %69 = trunc nuw i8 %68 to i1
  %70 = call noundef zeroext i1 @_ZN3JPH19EPAPenetrationDepth9CastShapeINS_11ConvexShape7SupportES3_EEbRKNS_5Mat44ENS_4Vec3EffRKT_RKT0_ffbRfRS7_SF_SF_(ptr noundef nonnull align 16 dereferenceable(212) %13, ptr noundef nonnull align 16 dereferenceable(64) %53, double %.sroa.034.0.copyload, double %.sroa.235.0.copyload, float noundef %56, float noundef %58, ptr noundef nonnull align 8 dereferenceable(8) %47, ptr noundef nonnull align 8 dereferenceable(8) %51, float noundef %62, float noundef %66, i1 noundef zeroext %69, ptr noundef nonnull align 4 dereferenceable(4) %14, ptr noundef nonnull align 16 dereferenceable(16) %15, ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %17)
  br i1 %70, label %71, label %158

71:                                               ; preds = %38
  %72 = getelementptr inbounds i8, ptr %1, i64 33
  %73 = load i8, ptr %72, align 1, !tbaa !32
  %74 = icmp eq i8 %73, 1
  br i1 %74, label %78, label %75

75:                                               ; preds = %71
  %.sroa.032.0.copyload = load double, ptr %54, align 16
  %.sroa.233.0.copyload = load double, ptr %.sroa.235.0..sroa_idx, align 8, !tbaa !25
  %76 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %17, double %.sroa.032.0.copyload, double %.sroa.233.0.copyload)
  %77 = fcmp ogt float %76, 0.000000e+00
  br i1 %77, label %78, label %158

78:                                               ; preds = %75, %71
  %.sroa.028.0.copyload = load double, ptr %15, align 16
  %.sroa.229.0..sroa_idx = getelementptr inbounds i8, ptr %15, i64 8
  %.sroa.229.0.copyload = load double, ptr %.sroa.229.0..sroa_idx, align 8, !tbaa !25
  %79 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.028.0.copyload, double %.sroa.229.0.copyload)
  %80 = extractvalue { double, double } %79, 0
  %81 = extractvalue { double, double } %79, 1
  store double %80, ptr %15, align 16
  store double %81, ptr %.sroa.229.0..sroa_idx, align 8, !tbaa !25
  %.sroa.025.0.copyload = load double, ptr %16, align 16
  %.sroa.226.0..sroa_idx = getelementptr inbounds i8, ptr %16, i64 8
  %.sroa.226.0.copyload = load double, ptr %.sroa.226.0..sroa_idx, align 8, !tbaa !25
  %82 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.025.0.copyload, double %.sroa.226.0.copyload)
  %83 = extractvalue { double, double } %82, 0
  %84 = extractvalue { double, double } %82, 1
  store double %83, ptr %16, align 16
  store double %84, ptr %.sroa.226.0..sroa_idx, align 8, !tbaa !25
  %.sroa.022.0.copyload = load double, ptr %17, align 16
  %.sroa.223.0..sroa_idx = getelementptr inbounds i8, ptr %17, i64 8
  %.sroa.223.0.copyload = load double, ptr %.sroa.223.0..sroa_idx, align 8, !tbaa !25
  %85 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.022.0.copyload, double %.sroa.223.0.copyload)
  %86 = extractvalue { double, double } %85, 0
  %87 = extractvalue { double, double } %85, 1
  call void @llvm.lifetime.start.p0(i64 1136, ptr nonnull %18) #9
  %88 = load float, ptr %14, align 4, !tbaa !28
  %.sroa.020.0.copyload = load double, ptr %15, align 16
  %.sroa.221.0.copyload = load double, ptr %.sroa.229.0..sroa_idx, align 8, !tbaa !25
  %.sroa.018.0.copyload = load double, ptr %16, align 16
  %.sroa.219.0.copyload = load double, ptr %.sroa.226.0..sroa_idx, align 8, !tbaa !25
  %89 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH17SubShapeIDCreator5GetIDEv(ptr noundef nonnull align 4 dereferenceable(8) %7)
  %90 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH17SubShapeIDCreator5GetIDEv(ptr noundef nonnull align 4 dereferenceable(8) %8)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %19) #9
  %91 = call noundef ptr @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE10GetContextEv(ptr noundef nonnull align 8 dereferenceable(24) %9)
  %92 = call i32 @_ZN3JPH16TransformedShape10sGetBodyIDEPKS0_(ptr noundef %91)
  store i32 %92, ptr %19, align 4
  call void @_ZN3JPH15ShapeCastResultC2EfNS_4Vec3ES1_S1_bRKNS_10SubShapeIDES4_RKNS_6BodyIDE(ptr noundef nonnull align 16 dereferenceable(1125) %18, float noundef %88, double %.sroa.020.0.copyload, double %.sroa.221.0.copyload, double %.sroa.018.0.copyload, double %.sroa.219.0.copyload, double %86, double %87, i1 noundef zeroext false, ptr noundef nonnull align 4 dereferenceable(4) %89, ptr noundef nonnull align 4 dereferenceable(4) %90, ptr noundef nonnull align 4 dereferenceable(4) %19)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %19) #9
  %93 = load float, ptr %14, align 4, !tbaa !28
  %94 = fcmp oeq float %93, 0.000000e+00
  br i1 %94, label %95, label %103

95:                                               ; preds = %78
  %96 = getelementptr inbounds i8, ptr %18, i64 48
  %97 = load float, ptr %96, align 16, !tbaa !33
  %98 = fneg float %97
  %99 = call noundef float @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE19GetEarlyOutFractionEv(ptr noundef nonnull align 8 dereferenceable(24) %9)
  %100 = fcmp ugt float %99, %98
  br i1 %100, label %103, label %.critedge

101:                                              ; preds = %152
  %102 = landingpad { ptr, i32 }
          cleanup
  br label %157

103:                                              ; preds = %95, %78
  %104 = getelementptr inbounds i8, ptr %1, i64 1
  %105 = load i8, ptr %104, align 1, !tbaa !39
  %106 = icmp eq i8 %105, 0
  br i1 %106, label %107, label %152

107:                                              ; preds = %103
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %20) #9
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(64) %20, ptr noundef nonnull align 16 dereferenceable(64) %53, i64 64, i1 false), !tbaa.struct !40
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #9
  %108 = invoke { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64) %20)
          to label %109 unwind label %142

109:                                              ; preds = %107
  %110 = extractvalue { double, double } %108, 0
  store double %110, ptr %21, align 16
  %111 = getelementptr inbounds i8, ptr %21, i64 8
  %112 = extractvalue { double, double } %108, 1
  store double %112, ptr %111, align 8
  %113 = load float, ptr %14, align 4, !tbaa !28
  %.sroa.09.0.copyload = load double, ptr %54, align 16
  %.sroa.210.0.copyload = load double, ptr %.sroa.235.0..sroa_idx, align 8, !tbaa !25
  %114 = invoke { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %113, double %.sroa.09.0.copyload, double %.sroa.210.0.copyload)
          to label %115 unwind label %142

115:                                              ; preds = %109
  %116 = extractvalue { double, double } %114, 0
  %117 = extractvalue { double, double } %114, 1
  %118 = invoke { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %21, double %116, double %117)
          to label %119 unwind label %142

119:                                              ; preds = %115
  %120 = extractvalue { double, double } %118, 0
  %121 = extractvalue { double, double } %118, 1
  invoke void @_ZN3JPH5Mat4414SetTranslationENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %20, double %120, double %121)
          to label %122 unwind label %142

122:                                              ; preds = %119
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %22) #9
  store i32 0, ptr %22, align 4
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %22) #9
  %123 = invoke { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %17)
          to label %124 unwind label %144

124:                                              ; preds = %122
  %125 = extractvalue { double, double } %123, 0
  %126 = extractvalue { double, double } %123, 1
  %127 = invoke { double, double } @_ZNK3JPH5Mat4421Multiply3x3TransposedENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %20, double %125, double %126)
          to label %128 unwind label %144

128:                                              ; preds = %124
  %.sroa.03.0.copyload = load double, ptr %43, align 16
  %.sroa.24.0.copyload = load double, ptr %.sroa.241.0..sroa_idx, align 8, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %23) #9
  invoke void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %23, ptr noundef nonnull align 16 dereferenceable(64) %6, ptr noundef nonnull align 16 dereferenceable(64) %20)
          to label %129 unwind label %146

129:                                              ; preds = %128
  %130 = extractvalue { double, double } %127, 1
  %131 = extractvalue { double, double } %127, 0
  %132 = getelementptr inbounds i8, ptr %18, i64 64
  %133 = load ptr, ptr %32, align 8, !tbaa !26
  %134 = getelementptr inbounds i8, ptr %133, i64 96
  %135 = load ptr, ptr %134, align 8
  invoke void %135(ptr noundef nonnull align 8 dereferenceable(26) %32, ptr noundef nonnull align 4 dereferenceable(4) %22, double %131, double %130, double %.sroa.03.0.copyload, double %.sroa.24.0.copyload, ptr noundef nonnull align 16 dereferenceable(64) %23, ptr noundef nonnull align 16 dereferenceable(528) %132)
          to label %136 unwind label %146

136:                                              ; preds = %129
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %24) #9
  store i32 0, ptr %24, align 4
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %24) #9
  %.sroa.01.0.copyload = load double, ptr %17, align 16
  %.sroa.22.0.copyload = load double, ptr %.sroa.223.0..sroa_idx, align 8, !tbaa !25
  %137 = getelementptr inbounds i8, ptr %18, i64 592
  %138 = load ptr, ptr %2, align 8, !tbaa !26
  %139 = getelementptr inbounds i8, ptr %138, i64 96
  %140 = load ptr, ptr %139, align 8
  invoke void %140(ptr noundef nonnull align 8 dereferenceable(26) %2, ptr noundef nonnull align 4 dereferenceable(4) %24, double %.sroa.01.0.copyload, double %.sroa.22.0.copyload, double %3, double %4, ptr noundef nonnull align 16 dereferenceable(64) %6, ptr noundef nonnull align 16 dereferenceable(528) %137)
          to label %141 unwind label %149

141:                                              ; preds = %136
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %24) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %20) #9
  br label %152

142:                                              ; preds = %119, %115, %109, %107
  %143 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #9
  br label %151

144:                                              ; preds = %124, %122
  %145 = landingpad { ptr, i32 }
          cleanup
  br label %148

146:                                              ; preds = %129, %128
  %147 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %23) #9
  br label %148

148:                                              ; preds = %146, %144
  %.pn = phi { ptr, i32 } [ %147, %146 ], [ %145, %144 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #9
  br label %151

149:                                              ; preds = %136
  %150 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %24) #9
  br label %151

151:                                              ; preds = %149, %148, %142
  %.pn84 = phi { ptr, i32 } [ %150, %149 ], [ %.pn, %148 ], [ %143, %142 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %20) #9
  br label %157

152:                                              ; preds = %141, %103
  %153 = load ptr, ptr %9, align 8, !tbaa !26
  %154 = getelementptr inbounds i8, ptr %153, i64 48
  %155 = load ptr, ptr %154, align 8
  invoke void %155(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 16 dereferenceable(1125) %18)
          to label %156 unwind label %101

156:                                              ; preds = %152
  call void @_ZN3JPH18CollideShapeResultD2Ev(ptr noundef nonnull align 16 dereferenceable(1125) %18) #9
  call void @llvm.lifetime.end.p0(i64 1136, ptr nonnull %18) #9
  br label %158

157:                                              ; preds = %151, %101
  %.pn86 = phi { ptr, i32 } [ %102, %101 ], [ %.pn84, %151 ]
  call void @_ZN3JPH18CollideShapeResultD2Ev(ptr noundef nonnull align 16 dereferenceable(1125) %18) #9
  call void @llvm.lifetime.end.p0(i64 1136, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #9
  call void @llvm.lifetime.end.p0(i64 224, ptr nonnull %13) #9
  call void @llvm.lifetime.end.p0(i64 4160, ptr nonnull %12) #9
  call void @llvm.lifetime.end.p0(i64 4160, ptr nonnull %11) #9
  resume { ptr, i32 } %.pn86

.critedge:                                        ; preds = %95
  call void @_ZN3JPH18CollideShapeResultD2Ev(ptr noundef nonnull align 16 dereferenceable(1125) %18) #9
  call void @llvm.lifetime.end.p0(i64 1136, ptr nonnull %18) #9
  br label %158

158:                                              ; preds = %38, %75, %156, %.critedge
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #9
  call void @llvm.lifetime.end.p0(i64 224, ptr nonnull %13) #9
  call void @llvm.lifetime.end.p0(i64 4160, ptr nonnull %12) #9
  call void @llvm.lifetime.end.p0(i64 4160, ptr nonnull %11) #9
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE19GetEarlyOutFractionEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH19EPAPenetrationDepth9CastShapeINS_11ConvexShape7SupportES3_EEbRKNS_5Mat44ENS_4Vec3EffRKT_RKT0_ffbRfRS7_SF_SF_(ptr noundef nonnull align 16 dereferenceable(212), ptr noundef nonnull align 16 dereferenceable(64), double, double, float noundef, float noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), float noundef, float noundef, i1 noundef zeroext, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH18CollisionCollectorINS_15ShapeCastResultENS_33CollisionCollectorTraitsCastShapeEE10GetContextEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH15ShapeCastResultC2EfNS_4Vec3ES1_S1_bRKNS_10SubShapeIDES4_RKNS_6BodyIDE(ptr noundef nonnull align 16 dereferenceable(1125), float noundef, double, double, double, double, double, double, i1 noundef zeroext, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat4414SetTranslationENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18CollideShapeResultD2Ev(ptr noundef nonnull align 16 dereferenceable(1120)) unnamed_addr #1 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 = { 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 = { 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 = { 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 #6 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 0}
!6 = !{!"_ZTSN3JPH10ShapeCastTINS_4Vec3ENS_5Mat44ENS_9ShapeCastEEE", !7, i64 0, !10, i64 16, !11, i64 32, !10, i64 96, !12, i64 112}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTSN3JPH4Vec3E", !8, i64 0}
!11 = !{!"_ZTSN3JPH5Mat44E", !8, i64 0}
!12 = !{!"_ZTSN3JPH5AABoxE", !10, i64 0, !10, i64 16}
!13 = !{i64 2158391666}
!14 = !{i64 2158392051}
!15 = !{!16, !22, i64 34}
!16 = !{!"_ZTSN3JPH17ShapeCastSettingsE", !17, i64 0, !21, i64 32, !21, i64 33, !22, i64 34, !22, i64 35}
!17 = !{!"_ZTSN3JPH19CollideSettingsBaseE", !18, i64 0, !19, i64 1, !20, i64 4, !20, i64 8, !10, i64 16}
!18 = !{!"_ZTSN3JPH15EActiveEdgeModeE", !8, i64 0}
!19 = !{!"_ZTSN3JPH17ECollectFacesModeE", !8, i64 0}
!20 = !{!"float", !8, i64 0}
!21 = !{!"_ZTSN3JPH13EBackFaceModeE", !8, i64 0}
!22 = !{!"bool", !8, i64 0}
!23 = !{i8 0, i8 2}
!24 = !{}
!25 = !{!8, !8, i64 0}
!26 = !{!27, !27, i64 0}
!27 = !{!"vtable pointer", !9, i64 0}
!28 = !{!20, !20, i64 0}
!29 = !{!17, !20, i64 4}
!30 = !{!17, !20, i64 8}
!31 = !{!16, !22, i64 35}
!32 = !{!16, !21, i64 33}
!33 = !{!34, !20, i64 48}
!34 = !{!"_ZTSN3JPH18CollideShapeResultE", !10, i64 0, !10, i64 16, !10, i64 32, !20, i64 48, !35, i64 52, !35, i64 56, !37, i64 60, !38, i64 64, !38, i64 592}
!35 = !{!"_ZTSN3JPH10SubShapeIDE", !36, i64 0}
!36 = !{!"int", !8, i64 0}
!37 = !{!"_ZTSN3JPH6BodyIDE", !36, i64 0}
!38 = !{!"_ZTSN3JPH11StaticArrayINS_4Vec3ELj32EEE", !36, i64 0, !8, i64 16}
!39 = !{!17, !19, i64 1}
!40 = !{i64 0, i64 64, !25}


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