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

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.3 }
%union.anon.3 = type { <4 x float> }
%"class.JPH::PulleyConstraint" = type { %"class.JPH::TwoBodyConstraint", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, float, %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, [8 x i8], %"class.JPH::IndependentAxisConstraintPart" }
%"class.JPH::TwoBodyConstraint" = type { %"class.JPH::Constraint", ptr, ptr }
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.2", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.2" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::IndependentAxisConstraintPart" = type <{ %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, [8 x i8] }>
%"class.JPH::PulleyConstraintSettings" = type <{ %"class.JPH::TwoBodyConstraintSettings", i32, [4 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, float, [4 x i8] }>
%"class.JPH::TwoBodyConstraintSettings" = type { %"class.JPH::ConstraintSettings" }
%"class.JPH::ConstraintSettings" = type { %"class.JPH::SerializableObject", %"class.JPH::RefTarget", i8, i32, i32, i32, float, i64 }
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget" = type { %"struct.std::atomic" }

@_ZTVN3JPH16PulleyConstraintE = external dso_local unnamed_addr constant { [20 x ptr] }, align 8

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH16PulleyConstraintC2ERNS_4BodyES2_RKNS_24PulleyConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(288) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(128) %3) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Mat44", align 16
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca %"class.JPH::Vec3", align 16
  %15 = alloca %"class.JPH::Mat44", align 16
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Mat44", align 16
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca %"class.JPH::Vec3", align 16
  %23 = alloca %"class.JPH::Mat44", align 16
  %24 = alloca %"class.JPH::Vec3", align 16
  %25 = alloca float, align 4
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca %"class.JPH::Vec3", align 16
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store ptr %3, ptr %8, align 8, !tbaa !5
  %28 = load ptr, ptr %5, align 8
  %29 = load ptr, ptr %6, align 8, !tbaa !5
  %30 = load ptr, ptr %7, align 8, !tbaa !5
  %31 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48) %28, ptr noundef nonnull align 16 dereferenceable(122) %29, ptr noundef nonnull align 16 dereferenceable(122) %30, ptr noundef nonnull align 8 dereferenceable(40) %31)
  store ptr getelementptr inbounds inrange(-16, 144) ({ [20 x ptr] }, ptr @_ZTVN3JPH16PulleyConstraintE, i32 0, i32 0, i32 2), ptr %28, align 16, !tbaa !9
  %32 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 1
  %33 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 2
  %34 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 3
  %35 = load ptr, ptr %8, align 8, !tbaa !5
  %36 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %35, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %36, i64 16, i1 false), !tbaa.struct !11
  %37 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 4
  %38 = load ptr, ptr %8, align 8, !tbaa !5
  %39 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %38, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %37, ptr align 16 %39, i64 16, i1 false), !tbaa.struct !11
  %40 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 5
  %41 = load ptr, ptr %8, align 8, !tbaa !5
  %42 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %41, i32 0, i32 7
  %43 = load float, ptr %42, align 16, !tbaa !13
  store float %43, ptr %40, align 16, !tbaa !27
  %44 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 6
  %45 = load ptr, ptr %8, align 8, !tbaa !5
  %46 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %45, i32 0, i32 8
  %47 = load float, ptr %46, align 4, !tbaa !33
  store float %47, ptr %44, align 4, !tbaa !34
  %48 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 7
  %49 = load ptr, ptr %8, align 8, !tbaa !5
  %50 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %49, i32 0, i32 9
  %51 = load float, ptr %50, align 8, !tbaa !35
  store float %51, ptr %48, align 8, !tbaa !36
  %52 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 8
  %53 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 9
  %54 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 10
  %55 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 11
  %56 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 15
  call void @_ZN3JPH29IndependentAxisConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(72) %56) #8
  %57 = load ptr, ptr %8, align 8, !tbaa !5
  %58 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %57, i32 0, i32 1
  %59 = load i32, ptr %58, align 8, !tbaa !37
  %60 = icmp eq i32 %59, 1
  br i1 %60, label %61, label %110

61:                                               ; preds = %4
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr %10) #8
  %62 = load ptr, ptr %6, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %10, ptr noundef nonnull align 16 dereferenceable(122) %62)
          to label %63 unwind label %102

63:                                               ; preds = %61
  %64 = load ptr, ptr %8, align 8, !tbaa !5
  %65 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %64, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %13, ptr align 16 %65, i64 16, i1 false), !tbaa.struct !11
  %66 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 0
  %67 = load double, ptr %66, align 16
  %68 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 1
  %69 = load double, ptr %68, align 8
  %70 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %10, double %67, double %69)
          to label %71 unwind label %102

71:                                               ; preds = %63
  %72 = getelementptr inbounds %"class.JPH::Vec3", ptr %9, i32 0, i32 0
  %73 = getelementptr inbounds %union.anon, ptr %72, i32 0, i32 0
  %74 = getelementptr inbounds { double, double }, ptr %73, i32 0, i32 0
  %75 = extractvalue { double, double } %70, 0
  store double %75, ptr %74, align 16
  %76 = getelementptr inbounds { double, double }, ptr %73, i32 0, i32 1
  %77 = extractvalue { double, double } %70, 1
  store double %77, ptr %76, align 8
  %78 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %78, ptr align 16 %9, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 64, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr %15) #8
  %79 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %15, ptr noundef nonnull align 16 dereferenceable(122) %79)
          to label %80 unwind label %106

80:                                               ; preds = %71
  %81 = load ptr, ptr %8, align 8, !tbaa !5
  %82 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %81, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %16, ptr align 16 %82, i64 16, i1 false), !tbaa.struct !11
  %83 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 0
  %84 = load double, ptr %83, align 16
  %85 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 1
  %86 = load double, ptr %85, align 8
  %87 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %15, double %84, double %86)
          to label %88 unwind label %106

88:                                               ; preds = %80
  %89 = getelementptr inbounds %"class.JPH::Vec3", ptr %14, i32 0, i32 0
  %90 = getelementptr inbounds %union.anon, ptr %89, i32 0, i32 0
  %91 = getelementptr inbounds { double, double }, ptr %90, i32 0, i32 0
  %92 = extractvalue { double, double } %87, 0
  store double %92, ptr %91, align 16
  %93 = getelementptr inbounds { double, double }, ptr %90, i32 0, i32 1
  %94 = extractvalue { double, double } %87, 1
  store double %94, ptr %93, align 8
  %95 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %95, ptr align 16 %14, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 64, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #8
  %96 = load ptr, ptr %8, align 8, !tbaa !5
  %97 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %96, i32 0, i32 3
  %98 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %98, ptr align 16 %97, i64 16, i1 false), !tbaa.struct !11
  %99 = load ptr, ptr %8, align 8, !tbaa !5
  %100 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %99, i32 0, i32 5
  %101 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %101, ptr align 16 %100, i64 16, i1 false), !tbaa.struct !11
  br label %159

102:                                              ; preds = %63, %61
  %103 = landingpad { ptr, i32 }
          cleanup
  %104 = extractvalue { ptr, i32 } %103, 0
  store ptr %104, ptr %11, align 8
  %105 = extractvalue { ptr, i32 } %103, 1
  store i32 %105, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #8
  br label %203

106:                                              ; preds = %80, %71
  %107 = landingpad { ptr, i32 }
          cleanup
  %108 = extractvalue { ptr, i32 } %107, 0
  store ptr %108, ptr %11, align 8
  %109 = extractvalue { ptr, i32 } %107, 1
  store i32 %109, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #8
  br label %203

110:                                              ; preds = %4
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #8
  %111 = load ptr, ptr %8, align 8, !tbaa !5
  %112 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %111, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %17, ptr align 16 %112, i64 16, i1 false), !tbaa.struct !11
  %113 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %113, ptr align 16 %17, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #8
  %114 = load ptr, ptr %8, align 8, !tbaa !5
  %115 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %114, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %18, ptr align 16 %115, i64 16, i1 false), !tbaa.struct !11
  %116 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %116, ptr align 16 %18, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr %20) #8
  %117 = load ptr, ptr %6, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %20, ptr noundef nonnull align 16 dereferenceable(122) %117)
          to label %118 unwind label %151

118:                                              ; preds = %110
  %119 = load ptr, ptr %8, align 8, !tbaa !5
  %120 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %119, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %21, ptr align 16 %120, i64 16, i1 false), !tbaa.struct !11
  %121 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 0
  %122 = load double, ptr %121, align 16
  %123 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 1
  %124 = load double, ptr %123, align 8
  %125 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %20, double %122, double %124)
          to label %126 unwind label %151

126:                                              ; preds = %118
  %127 = getelementptr inbounds %"class.JPH::Vec3", ptr %19, i32 0, i32 0
  %128 = getelementptr inbounds %union.anon, ptr %127, i32 0, i32 0
  %129 = getelementptr inbounds { double, double }, ptr %128, i32 0, i32 0
  %130 = extractvalue { double, double } %125, 0
  store double %130, ptr %129, align 16
  %131 = getelementptr inbounds { double, double }, ptr %128, i32 0, i32 1
  %132 = extractvalue { double, double } %125, 1
  store double %132, ptr %131, align 8
  %133 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %133, ptr align 16 %19, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 64, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr %23) #8
  %134 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %23, ptr noundef nonnull align 16 dereferenceable(122) %134)
          to label %135 unwind label %155

135:                                              ; preds = %126
  %136 = load ptr, ptr %8, align 8, !tbaa !5
  %137 = getelementptr inbounds %"class.JPH::PulleyConstraintSettings", ptr %136, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %24, ptr align 16 %137, i64 16, i1 false), !tbaa.struct !11
  %138 = getelementptr inbounds { double, double }, ptr %24, i32 0, i32 0
  %139 = load double, ptr %138, align 16
  %140 = getelementptr inbounds { double, double }, ptr %24, i32 0, i32 1
  %141 = load double, ptr %140, align 8
  %142 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %23, double %139, double %141)
          to label %143 unwind label %155

143:                                              ; preds = %135
  %144 = getelementptr inbounds %"class.JPH::Vec3", ptr %22, i32 0, i32 0
  %145 = getelementptr inbounds %union.anon, ptr %144, i32 0, i32 0
  %146 = getelementptr inbounds { double, double }, ptr %145, i32 0, i32 0
  %147 = extractvalue { double, double } %142, 0
  store double %147, ptr %146, align 16
  %148 = getelementptr inbounds { double, double }, ptr %145, i32 0, i32 1
  %149 = extractvalue { double, double } %142, 1
  store double %149, ptr %148, align 8
  %150 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %150, ptr align 16 %22, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 64, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #8
  br label %159

151:                                              ; preds = %118, %110
  %152 = landingpad { ptr, i32 }
          cleanup
  %153 = extractvalue { ptr, i32 } %152, 0
  store ptr %153, ptr %11, align 8
  %154 = extractvalue { ptr, i32 } %152, 1
  store i32 %154, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #8
  br label %203

155:                                              ; preds = %135, %126
  %156 = landingpad { ptr, i32 }
          cleanup
  %157 = extractvalue { ptr, i32 } %156, 0
  store ptr %157, ptr %11, align 8
  %158 = extractvalue { ptr, i32 } %156, 1
  store i32 %158, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #8
  br label %203

159:                                              ; preds = %143, %88
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #8
  %160 = invoke noundef float @_ZNK3JPH16PulleyConstraint16GetCurrentLengthEv(ptr noundef nonnull align 16 dereferenceable(288) %28)
          to label %161 unwind label %168

161:                                              ; preds = %159
  store float %160, ptr %25, align 4, !tbaa !38
  %162 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 6
  %163 = load float, ptr %162, align 4, !tbaa !34
  %164 = fcmp olt float %163, 0.000000e+00
  br i1 %164, label %165, label %172

165:                                              ; preds = %161
  %166 = load float, ptr %25, align 4, !tbaa !38
  %167 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 6
  store float %166, ptr %167, align 4, !tbaa !34
  br label %172

168:                                              ; preds = %159
  %169 = landingpad { ptr, i32 }
          cleanup
  %170 = extractvalue { ptr, i32 } %169, 0
  store ptr %170, ptr %11, align 8
  %171 = extractvalue { ptr, i32 } %169, 1
  store i32 %171, ptr %12, align 4
  br label %202

172:                                              ; preds = %165, %161
  %173 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 7
  %174 = load float, ptr %173, align 8, !tbaa !36
  %175 = fcmp olt float %174, 0.000000e+00
  br i1 %175, label %176, label %179

176:                                              ; preds = %172
  %177 = load float, ptr %25, align 4, !tbaa !38
  %178 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 7
  store float %177, ptr %178, align 8, !tbaa !36
  br label %179

179:                                              ; preds = %176, %172
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #8
  %180 = invoke { double, double } @_ZN3JPH4Vec36sAxisYEv()
          to label %181 unwind label %198

181:                                              ; preds = %179
  %182 = getelementptr inbounds %"class.JPH::Vec3", ptr %27, i32 0, i32 0
  %183 = getelementptr inbounds %union.anon, ptr %182, i32 0, i32 0
  %184 = getelementptr inbounds { double, double }, ptr %183, i32 0, i32 0
  %185 = extractvalue { double, double } %180, 0
  store double %185, ptr %184, align 16
  %186 = getelementptr inbounds { double, double }, ptr %183, i32 0, i32 1
  %187 = extractvalue { double, double } %180, 1
  store double %187, ptr %186, align 8
  %188 = invoke { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %27)
          to label %189 unwind label %198

189:                                              ; preds = %181
  %190 = getelementptr inbounds %"class.JPH::Vec3", ptr %26, i32 0, i32 0
  %191 = getelementptr inbounds %union.anon, ptr %190, i32 0, i32 0
  %192 = getelementptr inbounds { double, double }, ptr %191, i32 0, i32 0
  %193 = extractvalue { double, double } %188, 0
  store double %193, ptr %192, align 16
  %194 = getelementptr inbounds { double, double }, ptr %191, i32 0, i32 1
  %195 = extractvalue { double, double } %188, 1
  store double %195, ptr %194, align 8
  %196 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %196, ptr align 16 %26, i64 16, i1 false), !tbaa.struct !11
  %197 = getelementptr inbounds %"class.JPH::PulleyConstraint", ptr %28, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %197, ptr align 16 %196, i64 16, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #8
  ret void

198:                                              ; preds = %181, %179
  %199 = landingpad { ptr, i32 }
          cleanup
  %200 = extractvalue { ptr, i32 } %199, 0
  store ptr %200, ptr %11, align 8
  %201 = extractvalue { ptr, i32 } %199, 1
  store i32 %201, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #8
  br label %202

202:                                              ; preds = %198, %168
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #8
  br label %203

203:                                              ; preds = %202, %155, %151, %106, %102
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(48) %28) #8
  br label %204

204:                                              ; preds = %203
  %205 = load ptr, ptr %11, align 8
  %206 = load i32, ptr %12, align 4
  %207 = insertvalue { ptr, i32 } poison, ptr %205, 0
  %208 = insertvalue { ptr, i32 } %207, i32 %206, 1
  resume { ptr, i32 } %208
}

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH29IndependentAxisConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(72)) unnamed_addr #3 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH16PulleyConstraint16GetCurrentLengthEv(ptr noundef nonnull align 16 dereferenceable(288)) #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec36sAxisYEv() #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #7 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}
!11 = !{i64 0, i64 16, !12}
!12 = !{!7, !7, i64 0}
!13 = !{!14, !23, i64 112}
!14 = !{!"_ZTSN3JPH24PulleyConstraintSettingsE", !15, i64 0, !25, i64 40, !26, i64 48, !26, i64 64, !26, i64 80, !26, i64 96, !23, i64 112, !23, i64 116, !23, i64 120}
!15 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !16, i64 0}
!16 = !{!"_ZTSN3JPH18ConstraintSettingsE", !17, i64 0, !18, i64 8, !22, i64 12, !21, i64 16, !21, i64 20, !21, i64 24, !23, i64 28, !24, i64 32}
!17 = !{!"_ZTSN3JPH18SerializableObjectE"}
!18 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !19, i64 0}
!19 = !{!"_ZTSSt6atomicIjE", !20, i64 0}
!20 = !{!"_ZTSSt13__atomic_baseIjE", !21, i64 0}
!21 = !{!"int", !7, i64 0}
!22 = !{!"bool", !7, i64 0}
!23 = !{!"float", !7, i64 0}
!24 = !{!"long", !7, i64 0}
!25 = !{!"_ZTSN3JPH16EConstraintSpaceE", !7, i64 0}
!26 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!27 = !{!28, !23, i64 112}
!28 = !{!"_ZTSN3JPH16PulleyConstraintE", !29, i64 0, !26, i64 48, !26, i64 64, !26, i64 80, !26, i64 96, !23, i64 112, !23, i64 116, !23, i64 120, !26, i64 128, !26, i64 144, !26, i64 160, !26, i64 176, !23, i64 192, !23, i64 196, !32, i64 208}
!29 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !30, i64 0, !6, i64 32, !6, i64 40}
!30 = !{!"_ZTSN3JPH10ConstraintE", !31, i64 8, !21, i64 12, !21, i64 16, !7, i64 20, !7, i64 21, !22, i64 22, !24, i64 24}
!31 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !19, i64 0}
!32 = !{!"_ZTSN3JPH29IndependentAxisConstraintPartE", !26, i64 0, !26, i64 16, !26, i64 32, !26, i64 48, !23, i64 64, !23, i64 68}
!33 = !{!14, !23, i64 116}
!34 = !{!28, !23, i64 116}
!35 = !{!14, !23, i64 120}
!36 = !{!28, !23, i64 120}
!37 = !{!14, !25, i64 40}
!38 = !{!23, !23, i64 0}


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

%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.3 }
%union.anon.3 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }

@_ZTVN3JPH16PulleyConstraintE = external dso_local unnamed_addr constant { [20 x ptr] }, align 8

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH16PulleyConstraintC2ERNS_4BodyES2_RKNS_24PulleyConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(288) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(128) %3) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.JPH::Mat44", align 16
  %6 = alloca %"class.JPH::Mat44", align 16
  %7 = alloca %"class.JPH::Mat44", align 16
  %8 = alloca %"class.JPH::Mat44", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  tail call void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 8 dereferenceable(40) %3)
  store ptr getelementptr inbounds inrange(-16, 144) (i8, ptr @_ZTVN3JPH16PulleyConstraintE, i64 16), ptr %0, align 16, !tbaa !5
  %10 = getelementptr inbounds i8, ptr %0, i64 80
  %11 = getelementptr inbounds i8, ptr %3, i64 64
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %10, ptr noundef nonnull align 16 dereferenceable(16) %11, i64 16, i1 false), !tbaa.struct !8
  %12 = getelementptr inbounds i8, ptr %0, i64 96
  %13 = getelementptr inbounds i8, ptr %3, i64 96
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 16 dereferenceable(16) %13, i64 16, i1 false), !tbaa.struct !8
  %14 = getelementptr inbounds i8, ptr %0, i64 112
  %15 = getelementptr inbounds i8, ptr %3, i64 112
  %16 = getelementptr inbounds i8, ptr %0, i64 116
  %17 = load <2 x float>, ptr %15, align 16, !tbaa !11
  store <2 x float> %17, ptr %14, align 16, !tbaa !11
  %18 = getelementptr inbounds i8, ptr %0, i64 120
  %19 = getelementptr inbounds i8, ptr %3, i64 120
  %20 = load float, ptr %19, align 8, !tbaa !13
  store float %20, ptr %18, align 8, !tbaa !26
  %21 = getelementptr inbounds i8, ptr %0, i64 208
  tail call void @_ZN3JPH29IndependentAxisConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(72) %21) #8
  %22 = getelementptr inbounds i8, ptr %3, i64 40
  %23 = load i32, ptr %22, align 8, !tbaa !33
  %24 = icmp eq i32 %23, 1
  br i1 %24, label %25, label %46

25:                                               ; preds = %4
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %5) #8
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %5, ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %26 unwind label %42

26:                                               ; preds = %25
  %27 = getelementptr inbounds i8, ptr %3, i64 48
  %.sroa.017.0.copyload = load double, ptr %27, align 16
  %.sroa.218.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  %.sroa.218.0.copyload = load double, ptr %.sroa.218.0..sroa_idx, align 8, !tbaa !9
  %28 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.017.0.copyload, double %.sroa.218.0.copyload)
          to label %29 unwind label %42

29:                                               ; preds = %26
  %30 = extractvalue { double, double } %28, 0
  %31 = extractvalue { double, double } %28, 1
  %32 = getelementptr inbounds i8, ptr %0, i64 48
  store double %30, ptr %32, align 16
  %.sroa.521.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 56
  store double %31, ptr %.sroa.521.0..sroa_idx, align 8, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %6) #8
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %6, ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %33 unwind label %44

33:                                               ; preds = %29
  %34 = getelementptr inbounds i8, ptr %3, i64 80
  %.sroa.013.0.copyload = load double, ptr %34, align 16
  %.sroa.214.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 88
  %.sroa.214.0.copyload = load double, ptr %.sroa.214.0..sroa_idx, align 8, !tbaa !9
  %35 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.013.0.copyload, double %.sroa.214.0.copyload)
          to label %36 unwind label %44

36:                                               ; preds = %33
  %37 = extractvalue { double, double } %35, 0
  %38 = extractvalue { double, double } %35, 1
  %39 = getelementptr inbounds i8, ptr %0, i64 64
  store double %37, ptr %39, align 16
  %.sroa.516.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 72
  store double %38, ptr %.sroa.516.0..sroa_idx, align 8, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %6) #8
  %40 = getelementptr inbounds i8, ptr %0, i64 128
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %40, ptr noundef nonnull align 16 dereferenceable(16) %27, i64 16, i1 false), !tbaa.struct !8
  %41 = getelementptr inbounds i8, ptr %0, i64 144
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %41, ptr noundef nonnull align 16 dereferenceable(16) %34, i64 16, i1 false), !tbaa.struct !8
  br label %67

42:                                               ; preds = %26, %25
  %43 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #8
  br label %93

44:                                               ; preds = %33, %29
  %45 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %6) #8
  br label %93

46:                                               ; preds = %4
  %47 = getelementptr inbounds i8, ptr %3, i64 48
  %.sroa.011.0.copyload = load <4 x float>, ptr %47, align 16, !tbaa !9
  %48 = getelementptr inbounds i8, ptr %0, i64 48
  store <4 x float> %.sroa.011.0.copyload, ptr %48, align 16, !tbaa !9
  %49 = getelementptr inbounds i8, ptr %3, i64 80
  %.sroa.09.0.copyload = load <4 x float>, ptr %49, align 16, !tbaa !9
  %50 = getelementptr inbounds i8, ptr %0, i64 64
  store <4 x float> %.sroa.09.0.copyload, ptr %50, align 16, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %7) #8
  invoke void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %7, ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %51 unwind label %63

51:                                               ; preds = %46
  %.sroa.05.0.copyload = load double, ptr %47, align 16
  %.sroa.26.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  %.sroa.26.0.copyload = load double, ptr %.sroa.26.0..sroa_idx, align 8, !tbaa !9
  %52 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %.sroa.05.0.copyload, double %.sroa.26.0.copyload)
          to label %53 unwind label %63

53:                                               ; preds = %51
  %54 = extractvalue { double, double } %52, 0
  %55 = extractvalue { double, double } %52, 1
  %56 = getelementptr inbounds i8, ptr %0, i64 128
  store double %54, ptr %56, align 16
  %.sroa.58.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 136
  store double %55, ptr %.sroa.58.0..sroa_idx, align 8, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %7) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %8) #8
  invoke void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %8, ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %57 unwind label %65

57:                                               ; preds = %53
  %.sroa.02.0.copyload = load double, ptr %49, align 16
  %.sroa.2.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 88
  %.sroa.2.0.copyload = load double, ptr %.sroa.2.0..sroa_idx, align 8, !tbaa !9
  %58 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %.sroa.02.0.copyload, double %.sroa.2.0.copyload)
          to label %59 unwind label %65

59:                                               ; preds = %57
  %60 = extractvalue { double, double } %58, 0
  %61 = extractvalue { double, double } %58, 1
  %62 = getelementptr inbounds i8, ptr %0, i64 144
  store double %60, ptr %62, align 16
  %.sroa.54.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 152
  store double %61, ptr %.sroa.54.0..sroa_idx, align 8, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #8
  br label %67

63:                                               ; preds = %51, %46
  %64 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %7) #8
  br label %93

65:                                               ; preds = %57, %53
  %66 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #8
  br label %93

67:                                               ; preds = %59, %36
  %68 = invoke noundef float @_ZNK3JPH16PulleyConstraint16GetCurrentLengthEv(ptr noundef nonnull align 16 dereferenceable(288) %0)
          to label %69 unwind label %73

69:                                               ; preds = %67
  %70 = load float, ptr %16, align 4, !tbaa !34
  %71 = fcmp olt float %70, 0.000000e+00
  br i1 %71, label %72, label %75

72:                                               ; preds = %69
  store float %68, ptr %16, align 4, !tbaa !34
  br label %75

73:                                               ; preds = %67
  %74 = landingpad { ptr, i32 }
          cleanup
  br label %93

75:                                               ; preds = %72, %69
  %76 = load float, ptr %18, align 8, !tbaa !26
  %77 = fcmp olt float %76, 0.000000e+00
  br i1 %77, label %78, label %79

78:                                               ; preds = %75
  store float %68, ptr %18, align 8, !tbaa !26
  br label %79

79:                                               ; preds = %78, %75
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #8
  %80 = invoke { double, double } @_ZN3JPH4Vec36sAxisYEv()
          to label %81 unwind label %91

81:                                               ; preds = %79
  %82 = extractvalue { double, double } %80, 0
  store double %82, ptr %9, align 16
  %83 = getelementptr inbounds i8, ptr %9, i64 8
  %84 = extractvalue { double, double } %80, 1
  store double %84, ptr %83, align 8
  %85 = invoke { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %9)
          to label %86 unwind label %91

86:                                               ; preds = %81
  %87 = extractvalue { double, double } %85, 0
  %88 = extractvalue { double, double } %85, 1
  %89 = getelementptr inbounds i8, ptr %0, i64 176
  store double %87, ptr %89, align 16
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 184
  store double %88, ptr %.sroa.5.0..sroa_idx, align 8, !tbaa !9
  %90 = getelementptr inbounds i8, ptr %0, i64 160
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %90, ptr noundef nonnull align 16 dereferenceable(16) %89, i64 16, i1 false), !tbaa.struct !8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #8
  ret void

91:                                               ; preds = %81, %79
  %92 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #8
  br label %93

93:                                               ; preds = %73, %91, %65, %63, %44, %42
  %.pn.pn = phi { ptr, i32 } [ %45, %44 ], [ %43, %42 ], [ %66, %65 ], [ %64, %63 ], [ %92, %91 ], [ %74, %73 ]
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #8
  resume { ptr, i32 } %.pn.pn
}

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

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH29IndependentAxisConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(72)) unnamed_addr #3 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH16PulleyConstraint16GetCurrentLengthEv(ptr noundef nonnull align 16 dereferenceable(288)) local_unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec36sAxisYEv() local_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 #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #7 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{i64 0, i64 16, !9}
!9 = !{!10, !10, i64 0}
!10 = !{!"omnipotent char", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"float", !10, i64 0}
!13 = !{!14, !12, i64 120}
!14 = !{!"_ZTSN3JPH24PulleyConstraintSettingsE", !15, i64 0, !24, i64 40, !25, i64 48, !25, i64 64, !25, i64 80, !25, i64 96, !12, i64 112, !12, i64 116, !12, i64 120}
!15 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !16, i64 0}
!16 = !{!"_ZTSN3JPH18ConstraintSettingsE", !17, i64 0, !18, i64 8, !22, i64 12, !21, i64 16, !21, i64 20, !21, i64 24, !12, i64 28, !23, i64 32}
!17 = !{!"_ZTSN3JPH18SerializableObjectE"}
!18 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !19, i64 0}
!19 = !{!"_ZTSSt6atomicIjE", !20, i64 0}
!20 = !{!"_ZTSSt13__atomic_baseIjE", !21, i64 0}
!21 = !{!"int", !10, i64 0}
!22 = !{!"bool", !10, i64 0}
!23 = !{!"long", !10, i64 0}
!24 = !{!"_ZTSN3JPH16EConstraintSpaceE", !10, i64 0}
!25 = !{!"_ZTSN3JPH4Vec3E", !10, i64 0}
!26 = !{!27, !12, i64 120}
!27 = !{!"_ZTSN3JPH16PulleyConstraintE", !28, i64 0, !25, i64 48, !25, i64 64, !25, i64 80, !25, i64 96, !12, i64 112, !12, i64 116, !12, i64 120, !25, i64 128, !25, i64 144, !25, i64 160, !25, i64 176, !12, i64 192, !12, i64 196, !32, i64 208}
!28 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !29, i64 0, !31, i64 32, !31, i64 40}
!29 = !{!"_ZTSN3JPH10ConstraintE", !30, i64 8, !21, i64 12, !21, i64 16, !10, i64 20, !10, i64 21, !22, i64 22, !23, i64 24}
!30 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !19, i64 0}
!31 = !{!"any pointer", !10, i64 0}
!32 = !{!"_ZTSN3JPH29IndependentAxisConstraintPartE", !25, i64 0, !25, i64 16, !25, i64 32, !25, i64 48, !12, i64 64, !12, i64 68}
!33 = !{!14, !24, i64 40}
!34 = !{!27, !12, i64 116}


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