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

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

%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.19 }
%union.anon.19 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::SubShapeID" = type { i32 }
%"struct.JPH::AssertLastParam" = type { i8 }
%"class.JPH::VehicleConstraint" = type <{ %"class.JPH::Constraint", %"class.JPH::PhysicsStepListener", i8, [7 x i8], %"class.JPH::Vec3", ptr, [8 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Array.14", %"class.JPH::Array.2", ptr, i8, [3 x i8], i32, i32, i32, float, float, %"class.JPH::Vec3", %"class.JPH::AngleConstraintPart", %"class.JPH::RefConst", %"class.std::function", %"class.std::function.17", %"class.std::function.17", %"class.std::function.17", [8 x i8] }>
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.13", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.13" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::PhysicsStepListener" = type { ptr }
%"class.JPH::Array.14" = type { i64, i64, ptr }
%"class.JPH::Array.2" = type { i64, i64, ptr }
%"class.JPH::AngleConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }
%"class.JPH::RefConst" = type { ptr }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }
%"class.std::function.17" = type { %"class.std::_Function_base", ptr }
%"class.JPH::PhysicsStepListenerContext" = type { float, i8, i8, ptr }
%"class.JPH::Wheel" = type <{ ptr, %"class.JPH::RefConst.26", %"class.JPH::BodyID", %"class.JPH::SubShapeID", ptr, float, [12 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, float, float, float, %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", [12 x i8] }>
%"class.JPH::RefConst.26" = type { ptr }
%"class.JPH::AxisConstraintPart" = type { %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::SpringPart", float }
%"class.JPH::Float3" = type { float, float, float }
%"class.JPH::WheelSettings" = type <{ %"class.JPH::SerializableObject", %"class.JPH::RefTarget.6", [4 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, float, %"class.JPH::SpringSettings", float, float, i8, [15 x i8] }>
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget.6" = type { %"struct.std::atomic" }
%"class.JPH::SpringSettings" = type { i8, %union.anon.7, float }
%union.anon.7 = type { float }
%"class.JPH::VehicleAntiRollBar" = type { i32, i32, float }

@.str.2 = external hidden unnamed_addr constant [95 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [21 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

; 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 ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #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 uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK3JPH17VehicleConstraint18GetWheelLocalBasisEPKNS_5WheelERNS_4Vec3ES5_S5_(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) #6 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraint6OnStepERKNS_26PhysicsStepListenerContextE(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 8 dereferenceable(16) %1) unnamed_addr #4 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca %"class.JPH::Vec3", align 16
  %7 = alloca %"class.JPH::Vec3", align 16
  %8 = alloca %"class.JPH::Vec3", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Vec3", align 16
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca i32, align 4
  %15 = alloca %"class.JPH::Mat44", align 16
  %16 = alloca i32, align 4
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca %"class.JPH::Vec3", align 16
  %23 = alloca %"class.JPH::BodyID", align 4
  %24 = alloca %"class.JPH::SubShapeID", align 4
  %25 = alloca %"class.JPH::Vec3", align 16
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca %"class.JPH::BodyID", align 4
  %28 = alloca %"class.JPH::SubShapeID", align 4
  %29 = alloca %"class.JPH::Vec3", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"class.JPH::Vec3", align 16
  %33 = alloca %"class.JPH::Vec3", align 16
  %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::Vec3", 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::Vec3", align 16
  %49 = alloca %"class.JPH::Vec3", align 16
  %50 = alloca %"class.JPH::Vec3", align 16
  %51 = alloca %"class.JPH::Vec3", align 16
  %52 = alloca %"class.JPH::Vec3", align 16
  %53 = alloca ptr, align 8
  %54 = alloca ptr, align 8
  %55 = alloca ptr, align 8
  %56 = alloca ptr, align 8
  %57 = alloca %"struct.JPH::AssertLastParam", align 1
  %58 = alloca ptr, align 8
  %59 = alloca ptr, align 8
  %60 = alloca float, align 4
  %61 = alloca float, align 4
  %62 = alloca i8, align 1
  %63 = alloca ptr, align 8
  %64 = alloca ptr, align 8
  %65 = alloca ptr, align 8
  %66 = alloca i32, align 4
  %67 = alloca ptr, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %68 = load ptr, ptr %3, align 8
  %69 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 24
  %70 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %69, ptr null) #10
  br i1 %70, label %71, label %74

71:                                               ; preds = %2
  %72 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 24
  %73 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEclES2_S5_(ptr noundef nonnull align 8 dereferenceable(32) %72, ptr noundef nonnull align 16 dereferenceable(408) %68, ptr noundef nonnull align 8 dereferenceable(16) %73)
  br label %74

74:                                               ; preds = %71, %2
  %75 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 2
  %76 = load i8, ptr %75, align 8, !tbaa !9, !range !29, !noundef !30
  %77 = trunc i8 %76 to i1
  br i1 %77, label %78, label %125

78:                                               ; preds = %74
  %79 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %80 = load ptr, ptr %79, align 16, !tbaa !31
  %81 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %80)
  br i1 %81, label %82, label %103

82:                                               ; preds = %78
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #10
  %83 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %84 = load ptr, ptr %83, align 16, !tbaa !31
  %85 = call noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122) %84)
  store ptr %85, ptr %5, align 8, !tbaa !5
  %86 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_ZN3JPH16MotionProperties16SetGravityFactorEf(ptr noundef nonnull align 16 dereferenceable(182) %86, float noundef 0.000000e+00)
  %87 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %88 = load ptr, ptr %87, align 16, !tbaa !31
  %89 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 4
  %90 = load ptr, ptr %5, align 8, !tbaa !5
  %91 = call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %90)
  %92 = call { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16) %89, float noundef %91)
  %93 = getelementptr inbounds %"class.JPH::Vec3", ptr %6, i32 0, i32 0
  %94 = getelementptr inbounds %union.anon, ptr %93, i32 0, i32 0
  %95 = getelementptr inbounds { double, double }, ptr %94, i32 0, i32 0
  %96 = extractvalue { double, double } %92, 0
  store double %96, ptr %95, align 16
  %97 = getelementptr inbounds { double, double }, ptr %94, i32 0, i32 1
  %98 = extractvalue { double, double } %92, 1
  store double %98, ptr %97, align 8
  %99 = getelementptr inbounds { double, double }, ptr %6, i32 0, i32 0
  %100 = load double, ptr %99, align 16
  %101 = getelementptr inbounds { double, double }, ptr %6, i32 0, i32 1
  %102 = load double, ptr %101, align 8
  call void @_ZN3JPH4Body8AddForceENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %88, double %100, double %102)
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #10
  br label %103

103:                                              ; preds = %82, %78
  call void @llvm.lifetime.start.p0(i64 16, ptr %7) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %8) #10
  %104 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 4
  %105 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %104)
  %106 = getelementptr inbounds %"class.JPH::Vec3", ptr %8, i32 0, i32 0
  %107 = getelementptr inbounds %union.anon, ptr %106, i32 0, i32 0
  %108 = getelementptr inbounds { double, double }, ptr %107, i32 0, i32 0
  %109 = extractvalue { double, double } %105, 0
  store double %109, ptr %108, align 16
  %110 = getelementptr inbounds { double, double }, ptr %107, i32 0, i32 1
  %111 = extractvalue { double, double } %105, 1
  store double %111, ptr %110, align 8
  %112 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %9, ptr align 16 %112, i64 16, i1 false), !tbaa.struct !32
  %113 = getelementptr inbounds { double, double }, ptr %9, i32 0, i32 0
  %114 = load double, ptr %113, align 16
  %115 = getelementptr inbounds { double, double }, ptr %9, i32 0, i32 1
  %116 = load double, ptr %115, align 8
  %117 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %8, double %114, double %116)
  %118 = getelementptr inbounds %"class.JPH::Vec3", ptr %7, i32 0, i32 0
  %119 = getelementptr inbounds %union.anon, ptr %118, i32 0, i32 0
  %120 = getelementptr inbounds { double, double }, ptr %119, i32 0, i32 0
  %121 = extractvalue { double, double } %117, 0
  store double %121, ptr %120, align 16
  %122 = getelementptr inbounds { double, double }, ptr %119, i32 0, i32 1
  %123 = extractvalue { double, double } %117, 1
  store double %123, ptr %122, align 8
  %124 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %124, ptr align 16 %7, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %8) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %7) #10
  br label %156

125:                                              ; preds = %74
  call void @llvm.lifetime.start.p0(i64 16, ptr %10) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %11) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #10
  %126 = load ptr, ptr %4, align 8, !tbaa !5
  %127 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %126, i32 0, i32 3
  %128 = load ptr, ptr %127, align 8, !tbaa !34
  %129 = call { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1172) %128)
  %130 = getelementptr inbounds %"class.JPH::Vec3", ptr %12, i32 0, i32 0
  %131 = getelementptr inbounds %union.anon, ptr %130, i32 0, i32 0
  %132 = getelementptr inbounds { double, double }, ptr %131, i32 0, i32 0
  %133 = extractvalue { double, double } %129, 0
  store double %133, ptr %132, align 16
  %134 = getelementptr inbounds { double, double }, ptr %131, i32 0, i32 1
  %135 = extractvalue { double, double } %129, 1
  store double %135, ptr %134, align 8
  %136 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %12)
  %137 = getelementptr inbounds %"class.JPH::Vec3", ptr %11, i32 0, i32 0
  %138 = getelementptr inbounds %union.anon, ptr %137, i32 0, i32 0
  %139 = getelementptr inbounds { double, double }, ptr %138, i32 0, i32 0
  %140 = extractvalue { double, double } %136, 0
  store double %140, ptr %139, align 16
  %141 = getelementptr inbounds { double, double }, ptr %138, i32 0, i32 1
  %142 = extractvalue { double, double } %136, 1
  store double %142, ptr %141, align 8
  %143 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %13, ptr align 16 %143, i64 16, i1 false), !tbaa.struct !32
  %144 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 0
  %145 = load double, ptr %144, align 16
  %146 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 1
  %147 = load double, ptr %146, align 8
  %148 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %11, double %145, double %147)
  %149 = getelementptr inbounds %"class.JPH::Vec3", ptr %10, i32 0, i32 0
  %150 = getelementptr inbounds %union.anon, ptr %149, i32 0, i32 0
  %151 = getelementptr inbounds { double, double }, ptr %150, i32 0, i32 0
  %152 = extractvalue { double, double } %148, 0
  store double %152, ptr %151, align 16
  %153 = getelementptr inbounds { double, double }, ptr %150, i32 0, i32 1
  %154 = extractvalue { double, double } %148, 1
  store double %154, ptr %153, align 8
  %155 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %155, ptr align 16 %10, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #10
  br label %156

156:                                              ; preds = %125, %103
  %157 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 12
  %158 = load ptr, ptr %157, align 16, !tbaa !36
  %159 = load ptr, ptr %4, align 8, !tbaa !5
  %160 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %159, i32 0, i32 0
  %161 = load float, ptr %160, align 8, !tbaa !37
  %162 = load ptr, ptr %4, align 8, !tbaa !5
  %163 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %162, i32 0, i32 3
  %164 = load ptr, ptr %163, align 8, !tbaa !34
  %165 = load ptr, ptr %158, align 8, !tbaa !38
  %166 = getelementptr inbounds ptr, ptr %165, i64 4
  %167 = load ptr, ptr %166, align 8
  call void %167(ptr noundef nonnull align 8 dereferenceable(16) %158, float noundef %161, ptr noundef nonnull align 16 dereferenceable(1172) %164)
  %168 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %169 = load ptr, ptr %168, align 16, !tbaa !31
  %170 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %169)
  %171 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 13
  %172 = zext i1 %170 to i8
  store i8 %172, ptr %171, align 8, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #10
  %173 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 13
  %174 = load i8, ptr %173, align 8, !tbaa !40, !range !29, !noundef !30
  %175 = trunc i8 %174 to i1
  br i1 %175, label %176, label %179

176:                                              ; preds = %156
  %177 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 15
  %178 = load i32, ptr %177, align 4, !tbaa !41
  br label %182

179:                                              ; preds = %156
  %180 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 16
  %181 = load i32, ptr %180, align 16, !tbaa !42
  br label %182

182:                                              ; preds = %179, %176
  %183 = phi i32 [ %178, %176 ], [ %181, %179 ]
  store i32 %183, ptr %14, align 4, !tbaa !43
  call void @llvm.lifetime.start.p0(i64 64, ptr %15) #10
  %184 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %185 = load ptr, ptr %184, align 16, !tbaa !31
  call void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %15, ptr noundef nonnull align 16 dereferenceable(122) %185)
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #10
  store i32 0, ptr %16, align 4, !tbaa !43
  br label %186

186:                                              ; preds = %528, %182
  %187 = load i32, ptr %16, align 4, !tbaa !43
  %188 = zext i32 %187 to i64
  %189 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 10
  %190 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %189)
  %191 = icmp ult i64 %188, %190
  br i1 %191, label %193, label %192

192:                                              ; preds = %186
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #10
  br label %531

193:                                              ; preds = %186
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #10
  %194 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 10
  %195 = load i32, ptr %16, align 4, !tbaa !43
  %196 = zext i32 %195 to i64
  %197 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %194, i64 noundef %196)
  %198 = load ptr, ptr %197, align 8, !tbaa !5
  store ptr %198, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #10
  %199 = load ptr, ptr %17, align 8, !tbaa !5
  %200 = getelementptr inbounds %"class.JPH::Wheel", ptr %199, i32 0, i32 1
  %201 = call noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %200)
  store ptr %201, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #10
  %202 = load ptr, ptr %18, align 8, !tbaa !5
  %203 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %202, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %20, ptr align 16 %203, i64 16, i1 false), !tbaa.struct !32
  %204 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 0
  %205 = load double, ptr %204, align 16
  %206 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 1
  %207 = load double, ptr %206, align 8
  %208 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %15, double %205, double %207)
  %209 = getelementptr inbounds %"class.JPH::Vec3", ptr %19, i32 0, i32 0
  %210 = getelementptr inbounds %union.anon, ptr %209, i32 0, i32 0
  %211 = getelementptr inbounds { double, double }, ptr %210, i32 0, i32 0
  %212 = extractvalue { double, double } %208, 0
  store double %212, ptr %211, align 16
  %213 = getelementptr inbounds { double, double }, ptr %210, i32 0, i32 1
  %214 = extractvalue { double, double } %208, 1
  store double %214, ptr %213, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #10
  %215 = load ptr, ptr %18, align 8, !tbaa !5
  %216 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %215, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %22, ptr align 16 %216, i64 16, i1 false), !tbaa.struct !32
  %217 = getelementptr inbounds { double, double }, ptr %22, i32 0, i32 0
  %218 = load double, ptr %217, align 16
  %219 = getelementptr inbounds { double, double }, ptr %22, i32 0, i32 1
  %220 = load double, ptr %219, align 8
  %221 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %15, double %218, double %220)
  %222 = getelementptr inbounds %"class.JPH::Vec3", ptr %21, i32 0, i32 0
  %223 = getelementptr inbounds %union.anon, ptr %222, i32 0, i32 0
  %224 = getelementptr inbounds { double, double }, ptr %223, i32 0, i32 0
  %225 = extractvalue { double, double } %221, 0
  store double %225, ptr %224, align 16
  %226 = getelementptr inbounds { double, double }, ptr %223, i32 0, i32 1
  %227 = extractvalue { double, double } %221, 1
  store double %227, ptr %226, align 8
  %228 = load i32, ptr %14, align 4, !tbaa !43
  %229 = icmp eq i32 %228, 0
  br i1 %229, label %238, label %230

230:                                              ; preds = %193
  %231 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 17
  %232 = load i32, ptr %231, align 4, !tbaa !44
  %233 = load i32, ptr %16, align 4, !tbaa !43
  %234 = add i32 %232, %233
  %235 = load i32, ptr %14, align 4, !tbaa !43
  %236 = urem i32 %234, %235
  %237 = icmp ne i32 %236, 0
  br i1 %237, label %238, label %299

238:                                              ; preds = %230, %193
  %239 = load ptr, ptr %17, align 8, !tbaa !5
  %240 = getelementptr inbounds %"class.JPH::Wheel", ptr %239, i32 0, i32 2
  %241 = call noundef zeroext i1 @_ZNK3JPH6BodyID9IsInvalidEv(ptr noundef nonnull align 4 dereferenceable(4) %240)
  br i1 %241, label %298, label %242

242:                                              ; preds = %238
  %243 = load ptr, ptr %4, align 8, !tbaa !5
  %244 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %243, i32 0, i32 3
  %245 = load ptr, ptr %244, align 8, !tbaa !34
  %246 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNK3JPH13PhysicsSystem26GetBodyLockInterfaceNoLockEv(ptr noundef nonnull align 16 dereferenceable(1172) %245)
  %247 = load ptr, ptr %17, align 8, !tbaa !5
  %248 = getelementptr inbounds %"class.JPH::Wheel", ptr %247, i32 0, i32 2
  %249 = call noundef ptr @_ZNK3JPH17BodyLockInterface10TryGetBodyERKNS_6BodyIDE(ptr noundef nonnull align 8 dereferenceable(16) %246, ptr noundef nonnull align 4 dereferenceable(4) %248)
  %250 = load ptr, ptr %17, align 8, !tbaa !5
  %251 = getelementptr inbounds %"class.JPH::Wheel", ptr %250, i32 0, i32 4
  store ptr %249, ptr %251, align 8, !tbaa !45
  %252 = load ptr, ptr %17, align 8, !tbaa !5
  %253 = getelementptr inbounds %"class.JPH::Wheel", ptr %252, i32 0, i32 4
  %254 = load ptr, ptr %253, align 8, !tbaa !45
  %255 = icmp eq ptr %254, null
  br i1 %255, label %256, label %266

256:                                              ; preds = %242
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #10
  call void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %23)
  %257 = load ptr, ptr %17, align 8, !tbaa !5
  %258 = getelementptr inbounds %"class.JPH::Wheel", ptr %257, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %258, ptr align 4 %23, i64 4, i1 false), !tbaa.struct !52
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #10
  call void @llvm.memset.p0.i64(ptr align 4 %24, i8 0, i64 4, i1 false)
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %24) #10
  %259 = load ptr, ptr %17, align 8, !tbaa !5
  %260 = getelementptr inbounds %"class.JPH::Wheel", ptr %259, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %260, ptr align 4 %24, i64 4, i1 false), !tbaa.struct !52
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #10
  %261 = load ptr, ptr %18, align 8, !tbaa !5
  %262 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %261, i32 0, i32 10
  %263 = load float, ptr %262, align 4, !tbaa !53
  %264 = load ptr, ptr %17, align 8, !tbaa !5
  %265 = getelementptr inbounds %"class.JPH::Wheel", ptr %264, i32 0, i32 5
  store float %263, ptr %265, align 16, !tbaa !59
  br label %297

266:                                              ; preds = %242
  %267 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 22
  %268 = call noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %267)
  %269 = load ptr, ptr %4, align 8, !tbaa !5
  %270 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %269, i32 0, i32 3
  %271 = load ptr, ptr %270, align 8, !tbaa !34
  %272 = load i32, ptr %16, align 4, !tbaa !43
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %25, ptr align 16 %19, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %26, ptr align 16 %21, i64 16, i1 false), !tbaa.struct !32
  %273 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %274 = load ptr, ptr %273, align 16, !tbaa !31
  %275 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %274)
  %276 = load ptr, ptr %17, align 8, !tbaa !5
  %277 = getelementptr inbounds %"class.JPH::Wheel", ptr %276, i32 0, i32 4
  %278 = load ptr, ptr %17, align 8, !tbaa !5
  %279 = getelementptr inbounds %"class.JPH::Wheel", ptr %278, i32 0, i32 3
  %280 = load ptr, ptr %17, align 8, !tbaa !5
  %281 = getelementptr inbounds %"class.JPH::Wheel", ptr %280, i32 0, i32 7
  %282 = load ptr, ptr %17, align 8, !tbaa !5
  %283 = getelementptr inbounds %"class.JPH::Wheel", ptr %282, i32 0, i32 9
  %284 = load ptr, ptr %17, align 8, !tbaa !5
  %285 = getelementptr inbounds %"class.JPH::Wheel", ptr %284, i32 0, i32 5
  %286 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 0
  %287 = load double, ptr %286, align 16
  %288 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 1
  %289 = load double, ptr %288, align 8
  %290 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 0
  %291 = load double, ptr %290, align 16
  %292 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 1
  %293 = load double, ptr %292, align 8
  %294 = load ptr, ptr %268, align 8, !tbaa !38
  %295 = getelementptr inbounds ptr, ptr %294, i64 3
  %296 = load ptr, ptr %295, align 8
  call void %296(ptr noundef nonnull align 8 dereferenceable(42) %268, ptr noundef nonnull align 16 dereferenceable(1172) %271, ptr noundef nonnull align 16 dereferenceable(408) %68, i32 noundef %272, double %287, double %289, double %291, double %293, ptr noundef nonnull align 4 dereferenceable(4) %275, ptr noundef nonnull align 8 dereferenceable(8) %277, ptr noundef nonnull align 4 dereferenceable(4) %279, ptr noundef nonnull align 16 dereferenceable(16) %281, ptr noundef nonnull align 16 dereferenceable(16) %283, ptr noundef nonnull align 4 dereferenceable(4) %285)
  br label %297

297:                                              ; preds = %266, %256
  br label %298

298:                                              ; preds = %297, %238
  br label %350

299:                                              ; preds = %230
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #10
  call void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %27)
  %300 = load ptr, ptr %17, align 8, !tbaa !5
  %301 = getelementptr inbounds %"class.JPH::Wheel", ptr %300, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %301, ptr align 4 %27, i64 4, i1 false), !tbaa.struct !52
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #10
  %302 = load ptr, ptr %17, align 8, !tbaa !5
  %303 = getelementptr inbounds %"class.JPH::Wheel", ptr %302, i32 0, i32 4
  store ptr null, ptr %303, align 8, !tbaa !45
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #10
  call void @llvm.memset.p0.i64(ptr align 4 %28, i8 0, i64 4, i1 false)
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %28) #10
  %304 = load ptr, ptr %17, align 8, !tbaa !5
  %305 = getelementptr inbounds %"class.JPH::Wheel", ptr %304, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %305, ptr align 4 %28, i64 4, i1 false), !tbaa.struct !52
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #10
  %306 = load ptr, ptr %18, align 8, !tbaa !5
  %307 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %306, i32 0, i32 10
  %308 = load float, ptr %307, align 4, !tbaa !53
  %309 = load ptr, ptr %17, align 8, !tbaa !5
  %310 = getelementptr inbounds %"class.JPH::Wheel", ptr %309, i32 0, i32 5
  store float %308, ptr %310, align 16, !tbaa !59
  %311 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 22
  %312 = call noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %311)
  %313 = load ptr, ptr %4, align 8, !tbaa !5
  %314 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %313, i32 0, i32 3
  %315 = load ptr, ptr %314, align 8, !tbaa !34
  %316 = load i32, ptr %16, align 4, !tbaa !43
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %29, ptr align 16 %19, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %30, ptr align 16 %21, i64 16, i1 false), !tbaa.struct !32
  %317 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %318 = load ptr, ptr %317, align 16, !tbaa !31
  %319 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %318)
  %320 = load ptr, ptr %17, align 8, !tbaa !5
  %321 = getelementptr inbounds %"class.JPH::Wheel", ptr %320, i32 0, i32 4
  %322 = load ptr, ptr %17, align 8, !tbaa !5
  %323 = getelementptr inbounds %"class.JPH::Wheel", ptr %322, i32 0, i32 3
  %324 = load ptr, ptr %17, align 8, !tbaa !5
  %325 = getelementptr inbounds %"class.JPH::Wheel", ptr %324, i32 0, i32 7
  %326 = load ptr, ptr %17, align 8, !tbaa !5
  %327 = getelementptr inbounds %"class.JPH::Wheel", ptr %326, i32 0, i32 9
  %328 = load ptr, ptr %17, align 8, !tbaa !5
  %329 = getelementptr inbounds %"class.JPH::Wheel", ptr %328, i32 0, i32 5
  %330 = getelementptr inbounds { double, double }, ptr %29, i32 0, i32 0
  %331 = load double, ptr %330, align 16
  %332 = getelementptr inbounds { double, double }, ptr %29, i32 0, i32 1
  %333 = load double, ptr %332, align 8
  %334 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 0
  %335 = load double, ptr %334, align 16
  %336 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 1
  %337 = load double, ptr %336, align 8
  %338 = load ptr, ptr %312, align 8, !tbaa !38
  %339 = getelementptr inbounds ptr, ptr %338, i64 2
  %340 = load ptr, ptr %339, align 8
  %341 = call noundef zeroext i1 %340(ptr noundef nonnull align 8 dereferenceable(42) %312, ptr noundef nonnull align 16 dereferenceable(1172) %315, ptr noundef nonnull align 16 dereferenceable(408) %68, i32 noundef %316, double %331, double %333, double %335, double %337, ptr noundef nonnull align 4 dereferenceable(4) %319, ptr noundef nonnull align 8 dereferenceable(8) %321, ptr noundef nonnull align 4 dereferenceable(4) %323, ptr noundef nonnull align 16 dereferenceable(16) %325, ptr noundef nonnull align 16 dereferenceable(16) %327, ptr noundef nonnull align 4 dereferenceable(4) %329)
  br i1 %341, label %342, label %349

342:                                              ; preds = %299
  %343 = load ptr, ptr %17, align 8, !tbaa !5
  %344 = getelementptr inbounds %"class.JPH::Wheel", ptr %343, i32 0, i32 4
  %345 = load ptr, ptr %344, align 8, !tbaa !45
  %346 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %345)
  %347 = load ptr, ptr %17, align 8, !tbaa !5
  %348 = getelementptr inbounds %"class.JPH::Wheel", ptr %347, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %348, ptr align 4 %346, i64 4, i1 false), !tbaa.struct !52
  br label %349

349:                                              ; preds = %342, %299
  br label %350

350:                                              ; preds = %349, %298
  %351 = load ptr, ptr %17, align 8, !tbaa !5
  %352 = getelementptr inbounds %"class.JPH::Wheel", ptr %351, i32 0, i32 4
  %353 = load ptr, ptr %352, align 8, !tbaa !45
  %354 = icmp ne ptr %353, null
  br i1 %354, label %355, label %527

355:                                              ; preds = %350
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #10
  %356 = load ptr, ptr %17, align 8, !tbaa !5
  %357 = getelementptr inbounds %"class.JPH::Wheel", ptr %356, i32 0, i32 4
  %358 = load ptr, ptr %357, align 8, !tbaa !45
  %359 = load ptr, ptr %17, align 8, !tbaa !5
  %360 = getelementptr inbounds %"class.JPH::Wheel", ptr %359, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %32, ptr align 16 %360, i64 16, i1 false), !tbaa.struct !32
  %361 = getelementptr inbounds { double, double }, ptr %32, i32 0, i32 0
  %362 = load double, ptr %361, align 16
  %363 = getelementptr inbounds { double, double }, ptr %32, i32 0, i32 1
  %364 = load double, ptr %363, align 8
  %365 = call { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %358, double %362, double %364)
  %366 = getelementptr inbounds %"class.JPH::Vec3", ptr %31, i32 0, i32 0
  %367 = getelementptr inbounds %union.anon, ptr %366, i32 0, i32 0
  %368 = getelementptr inbounds { double, double }, ptr %367, i32 0, i32 0
  %369 = extractvalue { double, double } %365, 0
  store double %369, ptr %368, align 16
  %370 = getelementptr inbounds { double, double }, ptr %367, i32 0, i32 1
  %371 = extractvalue { double, double } %365, 1
  store double %371, ptr %370, align 8
  %372 = load ptr, ptr %17, align 8, !tbaa !5
  %373 = getelementptr inbounds %"class.JPH::Wheel", ptr %372, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %373, ptr align 16 %31, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #10
  %374 = load ptr, ptr %17, align 8, !tbaa !5
  %375 = getelementptr inbounds %"class.JPH::Wheel", ptr %374, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %33, ptr align 16 %375, i64 16, i1 false), !tbaa.struct !32
  %376 = load ptr, ptr %17, align 8, !tbaa !5
  %377 = getelementptr inbounds %"class.JPH::Wheel", ptr %376, i32 0, i32 5
  %378 = load float, ptr %377, align 16, !tbaa !59
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %36, ptr align 16 %21, i64 16, i1 false), !tbaa.struct !32
  %379 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 0
  %380 = load double, ptr %379, align 16
  %381 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 1
  %382 = load double, ptr %381, align 8
  %383 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %378, double %380, double %382)
  %384 = getelementptr inbounds %"class.JPH::Vec3", ptr %35, i32 0, i32 0
  %385 = getelementptr inbounds %union.anon, ptr %384, i32 0, i32 0
  %386 = getelementptr inbounds { double, double }, ptr %385, i32 0, i32 0
  %387 = extractvalue { double, double } %383, 0
  store double %387, ptr %386, align 16
  %388 = getelementptr inbounds { double, double }, ptr %385, i32 0, i32 1
  %389 = extractvalue { double, double } %383, 1
  store double %389, ptr %388, align 8
  %390 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 0
  %391 = load double, ptr %390, align 16
  %392 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 1
  %393 = load double, ptr %392, align 8
  %394 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %19, double %391, double %393)
  %395 = getelementptr inbounds %"class.JPH::Vec3", ptr %34, i32 0, i32 0
  %396 = getelementptr inbounds %union.anon, ptr %395, i32 0, i32 0
  %397 = getelementptr inbounds { double, double }, ptr %396, i32 0, i32 0
  %398 = extractvalue { double, double } %394, 0
  store double %398, ptr %397, align 16
  %399 = getelementptr inbounds { double, double }, ptr %396, i32 0, i32 1
  %400 = extractvalue { double, double } %394, 1
  store double %400, ptr %399, align 8
  %401 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 0
  %402 = load double, ptr %401, align 16
  %403 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 1
  %404 = load double, ptr %403, align 8
  %405 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %33, double %402, double %404)
  %406 = load ptr, ptr %17, align 8, !tbaa !5
  %407 = getelementptr inbounds %"class.JPH::Wheel", ptr %406, i32 0, i32 12
  store float %405, ptr %407, align 16, !tbaa !60
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #10
  %408 = load ptr, ptr %17, align 8, !tbaa !5
  %409 = getelementptr inbounds %"class.JPH::Wheel", ptr %408, i32 0, i32 4
  %410 = load ptr, ptr %409, align 8, !tbaa !45
  %411 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %410)
  %412 = zext i1 %411 to i32
  %413 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 13
  %414 = load i8, ptr %413, align 8, !tbaa !40, !range !29, !noundef !30
  %415 = trunc i8 %414 to i1
  %416 = zext i1 %415 to i32
  %417 = or i32 %416, %412
  %418 = icmp ne i32 %417, 0
  %419 = zext i1 %418 to i8
  store i8 %419, ptr %413, align 8, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #10
  %420 = load ptr, ptr %17, align 8, !tbaa !5
  call void @_ZNK3JPH17VehicleConstraint18GetWheelLocalBasisEPKNS_5WheelERNS_4Vec3ES5_S5_(ptr noundef nonnull align 16 dereferenceable(408) %68, ptr noundef %420, ptr noundef nonnull align 16 dereferenceable(16) %37, ptr noundef nonnull align 16 dereferenceable(16) %38, ptr noundef nonnull align 16 dereferenceable(16) %39)
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %37, i64 16, i1 false), !tbaa.struct !32
  %421 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 0
  %422 = load double, ptr %421, align 16
  %423 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 1
  %424 = load double, ptr %423, align 8
  %425 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %15, double %422, double %424)
  %426 = getelementptr inbounds %"class.JPH::Vec3", ptr %40, i32 0, i32 0
  %427 = getelementptr inbounds %union.anon, ptr %426, i32 0, i32 0
  %428 = getelementptr inbounds { double, double }, ptr %427, i32 0, i32 0
  %429 = extractvalue { double, double } %425, 0
  store double %429, ptr %428, align 16
  %430 = getelementptr inbounds { double, double }, ptr %427, i32 0, i32 1
  %431 = extractvalue { double, double } %425, 1
  store double %431, ptr %430, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %37, ptr align 16 %40, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %43, ptr align 16 %39, i64 16, i1 false), !tbaa.struct !32
  %432 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 0
  %433 = load double, ptr %432, align 16
  %434 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 1
  %435 = load double, ptr %434, align 8
  %436 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %15, double %433, double %435)
  %437 = getelementptr inbounds %"class.JPH::Vec3", ptr %42, i32 0, i32 0
  %438 = getelementptr inbounds %union.anon, ptr %437, i32 0, i32 0
  %439 = getelementptr inbounds { double, double }, ptr %438, i32 0, i32 0
  %440 = extractvalue { double, double } %436, 0
  store double %440, ptr %439, align 16
  %441 = getelementptr inbounds { double, double }, ptr %438, i32 0, i32 1
  %442 = extractvalue { double, double } %436, 1
  store double %442, ptr %441, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %39, ptr align 16 %42, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #10
  %443 = load ptr, ptr %17, align 8, !tbaa !5
  %444 = getelementptr inbounds %"class.JPH::Wheel", ptr %443, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %45, ptr align 16 %39, i64 16, i1 false), !tbaa.struct !32
  %445 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 0
  %446 = load double, ptr %445, align 16
  %447 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 1
  %448 = load double, ptr %447, align 8
  %449 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %444, double %446, double %448)
  %450 = getelementptr inbounds %"class.JPH::Vec3", ptr %44, i32 0, i32 0
  %451 = getelementptr inbounds %union.anon, ptr %450, i32 0, i32 0
  %452 = getelementptr inbounds { double, double }, ptr %451, i32 0, i32 0
  %453 = extractvalue { double, double } %449, 0
  store double %453, ptr %452, align 16
  %454 = getelementptr inbounds { double, double }, ptr %451, i32 0, i32 1
  %455 = extractvalue { double, double } %449, 1
  store double %455, ptr %454, align 8
  %456 = load ptr, ptr %17, align 8, !tbaa !5
  %457 = getelementptr inbounds %"class.JPH::Wheel", ptr %456, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %457, ptr align 16 %44, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #10
  %458 = load ptr, ptr %17, align 8, !tbaa !5
  %459 = getelementptr inbounds %"class.JPH::Wheel", ptr %458, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %46, ptr align 16 %37, i64 16, i1 false), !tbaa.struct !32
  %460 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 0
  %461 = load double, ptr %460, align 16
  %462 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 1
  %463 = load double, ptr %462, align 8
  %464 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %459, double %461, double %463)
  %465 = fcmp olt float %464, 0.000000e+00
  br i1 %465, label %466, label %478

466:                                              ; preds = %355
  call void @llvm.lifetime.start.p0(i64 16, ptr %47) #10
  %467 = load ptr, ptr %17, align 8, !tbaa !5
  %468 = getelementptr inbounds %"class.JPH::Wheel", ptr %467, i32 0, i32 10
  %469 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %468)
  %470 = getelementptr inbounds %"class.JPH::Vec3", ptr %47, i32 0, i32 0
  %471 = getelementptr inbounds %union.anon, ptr %470, i32 0, i32 0
  %472 = getelementptr inbounds { double, double }, ptr %471, i32 0, i32 0
  %473 = extractvalue { double, double } %469, 0
  store double %473, ptr %472, align 16
  %474 = getelementptr inbounds { double, double }, ptr %471, i32 0, i32 1
  %475 = extractvalue { double, double } %469, 1
  store double %475, ptr %474, align 8
  %476 = load ptr, ptr %17, align 8, !tbaa !5
  %477 = getelementptr inbounds %"class.JPH::Wheel", ptr %476, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %477, ptr align 16 %47, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #10
  br label %478

478:                                              ; preds = %466, %355
  call void @llvm.lifetime.start.p0(i64 16, ptr %48) #10
  %479 = load ptr, ptr %17, align 8, !tbaa !5
  %480 = getelementptr inbounds %"class.JPH::Wheel", ptr %479, i32 0, i32 10
  %481 = load ptr, ptr %17, align 8, !tbaa !5
  %482 = getelementptr inbounds %"class.JPH::Wheel", ptr %481, i32 0, i32 9
  %483 = call { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16) %482)
  %484 = getelementptr inbounds %"class.JPH::Vec3", ptr %49, i32 0, i32 0
  %485 = getelementptr inbounds %union.anon, ptr %484, i32 0, i32 0
  %486 = getelementptr inbounds { double, double }, ptr %485, i32 0, i32 0
  %487 = extractvalue { double, double } %483, 0
  store double %487, ptr %486, align 16
  %488 = getelementptr inbounds { double, double }, ptr %485, i32 0, i32 1
  %489 = extractvalue { double, double } %483, 1
  store double %489, ptr %488, align 8
  %490 = getelementptr inbounds { double, double }, ptr %49, i32 0, i32 0
  %491 = load double, ptr %490, align 16
  %492 = getelementptr inbounds { double, double }, ptr %49, i32 0, i32 1
  %493 = load double, ptr %492, align 8
  %494 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %480, double %491, double %493)
  %495 = getelementptr inbounds %"class.JPH::Vec3", ptr %48, i32 0, i32 0
  %496 = getelementptr inbounds %union.anon, ptr %495, i32 0, i32 0
  %497 = getelementptr inbounds { double, double }, ptr %496, i32 0, i32 0
  %498 = extractvalue { double, double } %494, 0
  store double %498, ptr %497, align 16
  %499 = getelementptr inbounds { double, double }, ptr %496, i32 0, i32 1
  %500 = extractvalue { double, double } %494, 1
  store double %500, ptr %499, align 8
  %501 = load ptr, ptr %17, align 8, !tbaa !5
  %502 = getelementptr inbounds %"class.JPH::Wheel", ptr %501, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %502, ptr align 16 %48, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %50) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %51) #10
  %503 = load ptr, ptr %17, align 8, !tbaa !5
  %504 = getelementptr inbounds %"class.JPH::Wheel", ptr %503, i32 0, i32 10
  %505 = load ptr, ptr %17, align 8, !tbaa !5
  %506 = getelementptr inbounds %"class.JPH::Wheel", ptr %505, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %52, ptr align 16 %506, i64 16, i1 false), !tbaa.struct !32
  %507 = getelementptr inbounds { double, double }, ptr %52, i32 0, i32 0
  %508 = load double, ptr %507, align 16
  %509 = getelementptr inbounds { double, double }, ptr %52, i32 0, i32 1
  %510 = load double, ptr %509, align 8
  %511 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %504, double %508, double %510)
  %512 = getelementptr inbounds %"class.JPH::Vec3", ptr %51, i32 0, i32 0
  %513 = getelementptr inbounds %union.anon, ptr %512, i32 0, i32 0
  %514 = getelementptr inbounds { double, double }, ptr %513, i32 0, i32 0
  %515 = extractvalue { double, double } %511, 0
  store double %515, ptr %514, align 16
  %516 = getelementptr inbounds { double, double }, ptr %513, i32 0, i32 1
  %517 = extractvalue { double, double } %511, 1
  store double %517, ptr %516, align 8
  %518 = call { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %51)
  %519 = getelementptr inbounds %"class.JPH::Vec3", ptr %50, i32 0, i32 0
  %520 = getelementptr inbounds %union.anon, ptr %519, i32 0, i32 0
  %521 = getelementptr inbounds { double, double }, ptr %520, i32 0, i32 0
  %522 = extractvalue { double, double } %518, 0
  store double %522, ptr %521, align 16
  %523 = getelementptr inbounds { double, double }, ptr %520, i32 0, i32 1
  %524 = extractvalue { double, double } %518, 1
  store double %524, ptr %523, align 8
  %525 = load ptr, ptr %17, align 8, !tbaa !5
  %526 = getelementptr inbounds %"class.JPH::Wheel", ptr %525, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %526, ptr align 16 %50, i64 16, i1 false), !tbaa.struct !32
  call void @llvm.lifetime.end.p0(i64 16, ptr %51) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %50) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #10
  br label %527

527:                                              ; preds = %478, %350
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #10
  br label %528

528:                                              ; preds = %527
  %529 = load i32, ptr %16, align 4, !tbaa !43
  %530 = add i32 %529, 1
  store i32 %530, ptr %16, align 4, !tbaa !43
  br label %186, !llvm.loop !61

531:                                              ; preds = %192
  %532 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 25
  %533 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %532, ptr null) #10
  br i1 %533, label %534, label %537

534:                                              ; preds = %531
  %535 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 25
  %536 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEclES2_S5_(ptr noundef nonnull align 8 dereferenceable(32) %535, ptr noundef nonnull align 16 dereferenceable(408) %68, ptr noundef nonnull align 8 dereferenceable(16) %536)
  br label %537

537:                                              ; preds = %534, %531
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #10
  %538 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 11
  store ptr %538, ptr %53, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #10
  %539 = load ptr, ptr %53, align 8, !tbaa !5
  %540 = call noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %539)
  store ptr %540, ptr %54, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #10
  %541 = load ptr, ptr %53, align 8, !tbaa !5
  %542 = call noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %541)
  store ptr %542, ptr %55, align 8, !tbaa !5
  br label %543

543:                                              ; preds = %614, %537
  %544 = load ptr, ptr %54, align 8, !tbaa !5
  %545 = load ptr, ptr %55, align 8, !tbaa !5
  %546 = icmp ne ptr %544, %545
  br i1 %546, label %548, label %547

547:                                              ; preds = %543
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #10
  br label %617

548:                                              ; preds = %543
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #10
  %549 = load ptr, ptr %54, align 8, !tbaa !5
  store ptr %549, ptr %56, align 8, !tbaa !5
  br label %550

550:                                              ; preds = %548
  %551 = load ptr, ptr %56, align 8, !tbaa !5
  %552 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %551, i32 0, i32 2
  %553 = load float, ptr %552, align 4, !tbaa !63
  %554 = fcmp oge float %553, 0.000000e+00
  br i1 %554, label %558, label %555

555:                                              ; preds = %550
  %556 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.6, ptr noundef @.str.2, i32 noundef 278)
  br i1 %556, label %557, label %558

557:                                              ; preds = %555
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #10, !srcloc !65
  br label %558

558:                                              ; preds = %557, %555, %550
  br label %559

559:                                              ; preds = %558
  br label %560

560:                                              ; preds = %559
  call void @llvm.lifetime.start.p0(i64 8, ptr %58) #10
  %561 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 10
  %562 = load ptr, ptr %56, align 8, !tbaa !5
  %563 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %562, i32 0, i32 0
  %564 = load i32, ptr %563, align 4, !tbaa !66
  %565 = sext i32 %564 to i64
  %566 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %561, i64 noundef %565)
  %567 = load ptr, ptr %566, align 8, !tbaa !5
  store ptr %567, ptr %58, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %59) #10
  %568 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 10
  %569 = load ptr, ptr %56, align 8, !tbaa !5
  %570 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %569, i32 0, i32 1
  %571 = load i32, ptr %570, align 4, !tbaa !67
  %572 = sext i32 %571 to i64
  %573 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %568, i64 noundef %572)
  %574 = load ptr, ptr %573, align 8, !tbaa !5
  store ptr %574, ptr %59, align 8, !tbaa !5
  %575 = load ptr, ptr %58, align 8, !tbaa !5
  %576 = getelementptr inbounds %"class.JPH::Wheel", ptr %575, i32 0, i32 4
  %577 = load ptr, ptr %576, align 8, !tbaa !45
  %578 = icmp ne ptr %577, null
  br i1 %578, label %579, label %608

579:                                              ; preds = %560
  %580 = load ptr, ptr %59, align 8, !tbaa !5
  %581 = getelementptr inbounds %"class.JPH::Wheel", ptr %580, i32 0, i32 4
  %582 = load ptr, ptr %581, align 8, !tbaa !45
  %583 = icmp ne ptr %582, null
  br i1 %583, label %584, label %608

584:                                              ; preds = %579
  call void @llvm.lifetime.start.p0(i64 4, ptr %60) #10
  %585 = load ptr, ptr %59, align 8, !tbaa !5
  %586 = getelementptr inbounds %"class.JPH::Wheel", ptr %585, i32 0, i32 5
  %587 = load float, ptr %586, align 16, !tbaa !59
  %588 = load ptr, ptr %58, align 8, !tbaa !5
  %589 = getelementptr inbounds %"class.JPH::Wheel", ptr %588, i32 0, i32 5
  %590 = load float, ptr %589, align 16, !tbaa !59
  %591 = fsub float %587, %590
  store float %591, ptr %60, align 4, !tbaa !68
  call void @llvm.lifetime.start.p0(i64 4, ptr %61) #10
  %592 = load float, ptr %60, align 4, !tbaa !68
  %593 = load ptr, ptr %56, align 8, !tbaa !5
  %594 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %593, i32 0, i32 2
  %595 = load float, ptr %594, align 4, !tbaa !63
  %596 = fmul float %592, %595
  %597 = load ptr, ptr %4, align 8, !tbaa !5
  %598 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %597, i32 0, i32 0
  %599 = load float, ptr %598, align 8, !tbaa !37
  %600 = fmul float %596, %599
  store float %600, ptr %61, align 4, !tbaa !68
  %601 = load float, ptr %61, align 4, !tbaa !68
  %602 = fneg float %601
  %603 = load ptr, ptr %58, align 8, !tbaa !5
  %604 = getelementptr inbounds %"class.JPH::Wheel", ptr %603, i32 0, i32 13
  store float %602, ptr %604, align 4, !tbaa !69
  %605 = load float, ptr %61, align 4, !tbaa !68
  %606 = load ptr, ptr %59, align 8, !tbaa !5
  %607 = getelementptr inbounds %"class.JPH::Wheel", ptr %606, i32 0, i32 13
  store float %605, ptr %607, align 4, !tbaa !69
  call void @llvm.lifetime.end.p0(i64 4, ptr %61) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %60) #10
  br label %613

608:                                              ; preds = %579, %560
  %609 = load ptr, ptr %59, align 8, !tbaa !5
  %610 = getelementptr inbounds %"class.JPH::Wheel", ptr %609, i32 0, i32 13
  store float 0.000000e+00, ptr %610, align 4, !tbaa !69
  %611 = load ptr, ptr %58, align 8, !tbaa !5
  %612 = getelementptr inbounds %"class.JPH::Wheel", ptr %611, i32 0, i32 13
  store float 0.000000e+00, ptr %612, align 4, !tbaa !69
  br label %613

613:                                              ; preds = %608, %584
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #10
  br label %614

614:                                              ; preds = %613
  %615 = load ptr, ptr %54, align 8, !tbaa !5
  %616 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %615, i32 1
  store ptr %616, ptr %54, align 8, !tbaa !5
  br label %543

617:                                              ; preds = %547
  %618 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 12
  %619 = load ptr, ptr %618, align 16, !tbaa !36
  %620 = load ptr, ptr %4, align 8, !tbaa !5
  %621 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %620, i32 0, i32 0
  %622 = load float, ptr %621, align 8, !tbaa !37
  %623 = load ptr, ptr %4, align 8, !tbaa !5
  %624 = getelementptr inbounds %"class.JPH::PhysicsStepListenerContext", ptr %623, i32 0, i32 3
  %625 = load ptr, ptr %624, align 8, !tbaa !34
  %626 = load ptr, ptr %619, align 8, !tbaa !38
  %627 = getelementptr inbounds ptr, ptr %626, i64 5
  %628 = load ptr, ptr %627, align 8
  call void %628(ptr noundef nonnull align 8 dereferenceable(16) %619, float noundef %622, ptr noundef nonnull align 16 dereferenceable(1172) %625)
  %629 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 26
  %630 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %629, ptr null) #10
  br i1 %630, label %631, label %634

631:                                              ; preds = %617
  %632 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 26
  %633 = load ptr, ptr %4, align 8, !tbaa !5
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEclES2_S5_(ptr noundef nonnull align 8 dereferenceable(32) %632, ptr noundef nonnull align 16 dereferenceable(408) %68, ptr noundef nonnull align 8 dereferenceable(16) %633)
  br label %634

634:                                              ; preds = %631, %617
  %635 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %636 = load ptr, ptr %635, align 16, !tbaa !31
  %637 = call noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122) %636)
  br i1 %637, label %638, label %685

638:                                              ; preds = %634
  call void @llvm.lifetime.start.p0(i64 1, ptr %62) #10
  %639 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 12
  %640 = load ptr, ptr %639, align 16, !tbaa !36
  %641 = load ptr, ptr %640, align 8, !tbaa !38
  %642 = getelementptr inbounds ptr, ptr %641, i64 3
  %643 = load ptr, ptr %642, align 8
  %644 = call noundef zeroext i1 %643(ptr noundef nonnull align 8 dereferenceable(16) %640)
  %645 = zext i1 %644 to i8
  store i8 %645, ptr %62, align 1, !tbaa !70
  %646 = load i8, ptr %62, align 1, !tbaa !70, !range !29, !noundef !30
  %647 = trunc i8 %646 to i1
  br i1 %647, label %648, label %678

648:                                              ; preds = %638
  call void @llvm.lifetime.start.p0(i64 8, ptr %63) #10
  %649 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 10
  store ptr %649, ptr %63, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #10
  %650 = load ptr, ptr %63, align 8, !tbaa !5
  %651 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %650)
  store ptr %651, ptr %64, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %65) #10
  %652 = load ptr, ptr %63, align 8, !tbaa !5
  %653 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %652)
  store ptr %653, ptr %65, align 8, !tbaa !5
  br label %654

654:                                              ; preds = %673, %648
  %655 = load ptr, ptr %64, align 8, !tbaa !5
  %656 = load ptr, ptr %65, align 8, !tbaa !5
  %657 = icmp ne ptr %655, %656
  br i1 %657, label %659, label %658

658:                                              ; preds = %654
  store i32 9, ptr %66, align 4
  br label %676

659:                                              ; preds = %654
  call void @llvm.lifetime.start.p0(i64 8, ptr %67) #10
  %660 = load ptr, ptr %64, align 8, !tbaa !5
  %661 = load ptr, ptr %660, align 8, !tbaa !5
  store ptr %661, ptr %67, align 8, !tbaa !5
  %662 = load ptr, ptr %67, align 8, !tbaa !5
  %663 = getelementptr inbounds %"class.JPH::Wheel", ptr %662, i32 0, i32 15
  %664 = load float, ptr %663, align 4, !tbaa !71
  %665 = call noundef float @_ZSt3absf(float noundef %664)
  %666 = call noundef float @_ZN3JPH16DegreesToRadiansEf(float noundef 1.000000e+01)
  %667 = fcmp ogt float %665, %666
  br i1 %667, label %668, label %669

668:                                              ; preds = %659
  store i8 0, ptr %62, align 1, !tbaa !70
  store i32 9, ptr %66, align 4
  br label %670

669:                                              ; preds = %659
  store i32 0, ptr %66, align 4
  br label %670

670:                                              ; preds = %669, %668
  call void @llvm.lifetime.end.p0(i64 8, ptr %67) #10
  %671 = load i32, ptr %66, align 4
  switch i32 %671, label %676 [
    i32 0, label %672
  ]

672:                                              ; preds = %670
  br label %673

673:                                              ; preds = %672
  %674 = load ptr, ptr %64, align 8, !tbaa !5
  %675 = getelementptr inbounds ptr, ptr %674, i32 1
  store ptr %675, ptr %64, align 8, !tbaa !5
  br label %654

676:                                              ; preds = %670, %658
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #10
  br label %677

677:                                              ; preds = %676
  br label %678

678:                                              ; preds = %677, %638
  %679 = load i8, ptr %62, align 1, !tbaa !70, !range !29, !noundef !30
  %680 = trunc i8 %679 to i1
  br i1 %680, label %684, label %681

681:                                              ; preds = %678
  %682 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 5
  %683 = load ptr, ptr %682, align 16, !tbaa !31
  call void @_ZN3JPH4Body15ResetSleepTimerEv(ptr noundef nonnull align 16 dereferenceable(122) %683)
  br label %684

684:                                              ; preds = %681, %678
  call void @llvm.lifetime.end.p0(i64 1, ptr %62) #10
  br label %685

685:                                              ; preds = %684, %634
  %686 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %68, i32 0, i32 17
  %687 = load i32, ptr %686, align 4, !tbaa !44
  %688 = add i32 %687, 1
  store i32 %688, ptr %686, align 4, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 64, ptr %15) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #10
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32), ptr) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEclES2_S5_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 8 dereferenceable(16)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH16MotionProperties16SetGravityFactorEf(ptr noundef nonnull align 16 dereferenceable(182), float noundef) #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH4Body8AddForceENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) #3 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182)) #3 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1172)) #7 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH6BodyID9IsInvalidEv(ptr noundef nonnull align 4 dereferenceable(4)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNK3JPH13PhysicsSystem26GetBodyLockInterfaceNoLockEv(ptr noundef nonnull align 16 dereferenceable(1172)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH17BodyLockInterface10TryGetBodyERKNS_6BodyIDE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #8

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) #3 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) #5

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) #1

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH16DegreesToRadiansEf(float noundef) #9

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH4Body15ResetSleepTimerEv(ptr noundef nonnull align 16 dereferenceable(122)) #3 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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
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, !16, i64 40}
!10 = !{!"_ZTSN3JPH17VehicleConstraintE", !11, i64 0, !18, i64 32, !16, i64 40, !19, i64 48, !6, i64 64, !19, i64 80, !19, i64 96, !19, i64 112, !20, i64 128, !21, i64 152, !6, i64 176, !16, i64 184, !15, i64 188, !15, i64 192, !15, i64 196, !22, i64 200, !22, i64 204, !19, i64 208, !23, i64 224, !25, i64 272, !26, i64 280, !28, i64 312, !28, i64 344, !28, i64 376}
!11 = !{!"_ZTSN3JPH10ConstraintE", !12, i64 8, !15, i64 12, !15, i64 16, !7, i64 20, !7, i64 21, !16, i64 22, !17, i64 24}
!12 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !13, i64 0}
!13 = !{!"_ZTSSt6atomicIjE", !14, i64 0}
!14 = !{!"_ZTSSt13__atomic_baseIjE", !15, i64 0}
!15 = !{!"int", !7, i64 0}
!16 = !{!"bool", !7, i64 0}
!17 = !{!"long", !7, i64 0}
!18 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!19 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!20 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !17, i64 0, !17, i64 8, !6, i64 16}
!21 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !17, i64 0, !17, i64 8, !6, i64 16}
!22 = !{!"float", !7, i64 0}
!23 = !{!"_ZTSN3JPH19AngleConstraintPartE", !19, i64 0, !19, i64 16, !22, i64 32, !24, i64 36, !22, i64 44}
!24 = !{!"_ZTSN3JPH10SpringPartE", !22, i64 0, !22, i64 4}
!25 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !6, i64 0}
!26 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !27, i64 0, !6, i64 24}
!27 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!28 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEE", !27, i64 0, !6, i64 24}
!29 = !{i8 0, i8 2}
!30 = !{}
!31 = !{!10, !6, i64 64}
!32 = !{i64 0, i64 16, !33}
!33 = !{!7, !7, i64 0}
!34 = !{!35, !6, i64 8}
!35 = !{!"_ZTSN3JPH26PhysicsStepListenerContextE", !22, i64 0, !16, i64 4, !16, i64 5, !6, i64 8}
!36 = !{!10, !6, i64 176}
!37 = !{!35, !22, i64 0}
!38 = !{!39, !39, i64 0}
!39 = !{!"vtable pointer", !8, i64 0}
!40 = !{!10, !16, i64 184}
!41 = !{!10, !15, i64 188}
!42 = !{!10, !15, i64 192}
!43 = !{!15, !15, i64 0}
!44 = !{!10, !15, i64 196}
!45 = !{!46, !6, i64 24}
!46 = !{!"_ZTSN3JPH5WheelE", !47, i64 8, !48, i64 16, !49, i64 20, !6, i64 24, !22, i64 32, !19, i64 48, !19, i64 64, !19, i64 80, !19, i64 96, !19, i64 112, !22, i64 128, !22, i64 132, !22, i64 136, !22, i64 140, !22, i64 144, !50, i64 148, !50, i64 212, !50, i64 276, !50, i64 340}
!47 = !{!"_ZTSN3JPH8RefConstINS_13WheelSettingsEEE", !6, i64 0}
!48 = !{!"_ZTSN3JPH6BodyIDE", !15, i64 0}
!49 = !{!"_ZTSN3JPH10SubShapeIDE", !15, i64 0}
!50 = !{!"_ZTSN3JPH18AxisConstraintPartE", !51, i64 0, !51, i64 12, !51, i64 24, !51, i64 36, !22, i64 48, !24, i64 52, !22, i64 60}
!51 = !{!"_ZTSN3JPH6Float3E", !22, i64 0, !22, i64 4, !22, i64 8}
!52 = !{i64 0, i64 4, !43}
!53 = !{!54, !22, i64 116}
!54 = !{!"_ZTSN3JPH13WheelSettingsE", !55, i64 0, !56, i64 8, !19, i64 16, !19, i64 32, !19, i64 48, !19, i64 64, !19, i64 80, !19, i64 96, !22, i64 112, !22, i64 116, !22, i64 120, !57, i64 124, !22, i64 136, !22, i64 140, !16, i64 144}
!55 = !{!"_ZTSN3JPH18SerializableObjectE"}
!56 = !{!"_ZTSN3JPH9RefTargetINS_13WheelSettingsEEE", !13, i64 0}
!57 = !{!"_ZTSN3JPH14SpringSettingsE", !58, i64 0, !7, i64 4, !22, i64 8}
!58 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!59 = !{!46, !22, i64 32}
!60 = !{!46, !22, i64 128}
!61 = distinct !{!61, !62}
!62 = !{!"llvm.loop.mustprogress"}
!63 = !{!64, !22, i64 8}
!64 = !{!"_ZTSN3JPH18VehicleAntiRollBarE", !15, i64 0, !15, i64 4, !22, i64 8}
!65 = !{i64 2159466913}
!66 = !{!64, !15, i64 0}
!67 = !{!64, !15, i64 4}
!68 = !{!22, !22, i64 0}
!69 = !{!46, !22, i64 132}
!70 = !{!16, !16, i64 0}
!71 = !{!46, !22, i64 140}


; 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.19 }
%union.anon.19 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::SubShapeID" = type { i32 }

@.str.2 = external hidden unnamed_addr constant [95 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [21 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

; 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 ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_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 uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK3JPH17VehicleConstraint18GetWheelLocalBasisEPKNS_5WheelERNS_4Vec3ES5_S5_(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 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 #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraint6OnStepERKNS_26PhysicsStepListenerContextE(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 8 dereferenceable(16) %1) unnamed_addr #4 align 2 {
  %3 = alloca %"class.JPH::Vec3", align 16
  %4 = alloca %"class.JPH::Vec3", align 16
  %5 = alloca %"class.JPH::Vec3", align 16
  %6 = alloca %"class.JPH::Mat44", align 16
  %7 = alloca %"class.JPH::Vec3", align 16
  %8 = alloca %"class.JPH::BodyID", align 4
  %9 = alloca %"class.JPH::SubShapeID", align 4
  %10 = alloca %"class.JPH::BodyID", align 4
  %11 = alloca %"class.JPH::SubShapeID", align 4
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca %"class.JPH::Vec3", align 16
  %15 = alloca %"class.JPH::Vec3", align 16
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = getelementptr inbounds i8, ptr %0, i64 312
  %18 = tail call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %17, ptr null) #9
  br i1 %18, label %19, label %20

19:                                               ; preds = %2
  tail call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEclES2_S5_(ptr noundef nonnull align 8 dereferenceable(32) %17, ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 8 dereferenceable(16) %1)
  br label %20

20:                                               ; preds = %19, %2
  %21 = getelementptr inbounds i8, ptr %0, i64 40
  %22 = load i8, ptr %21, align 8, !tbaa !5, !range !28, !noundef !29
  %23 = trunc nuw i8 %22 to i1
  br i1 %23, label %24, label %47

24:                                               ; preds = %20
  %25 = getelementptr inbounds i8, ptr %0, i64 64
  %26 = load ptr, ptr %25, align 16, !tbaa !30
  %27 = tail call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %26)
  br i1 %27, label %28, label %37

28:                                               ; preds = %24
  %29 = load ptr, ptr %25, align 16, !tbaa !30
  %30 = tail call noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122) %29)
  tail call void @_ZN3JPH16MotionProperties16SetGravityFactorEf(ptr noundef nonnull align 16 dereferenceable(182) %30, float noundef 0.000000e+00)
  %31 = load ptr, ptr %25, align 16, !tbaa !30
  %32 = getelementptr inbounds i8, ptr %0, i64 48
  %33 = tail call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %30)
  %34 = tail call { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16) %32, float noundef %33)
  %35 = extractvalue { double, double } %34, 0
  %36 = extractvalue { double, double } %34, 1
  tail call void @_ZN3JPH4Body8AddForceENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %31, double %35, double %36)
  br label %37

37:                                               ; preds = %28, %24
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #9
  %38 = getelementptr inbounds i8, ptr %0, i64 48
  %39 = tail call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %38)
  %40 = extractvalue { double, double } %39, 0
  store double %40, ptr %3, align 16
  %41 = getelementptr inbounds i8, ptr %3, i64 8
  %42 = extractvalue { double, double } %39, 1
  store double %42, ptr %41, align 8
  %43 = getelementptr inbounds i8, ptr %0, i64 112
  %.sroa.0134.0.copyload = load double, ptr %43, align 16
  %.sroa.2135.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 120
  %.sroa.2135.0.copyload = load double, ptr %.sroa.2135.0..sroa_idx, align 8, !tbaa !31
  %44 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %3, double %.sroa.0134.0.copyload, double %.sroa.2135.0.copyload)
  %45 = extractvalue { double, double } %44, 0
  %46 = extractvalue { double, double } %44, 1
  store double %45, ptr %43, align 16
  store double %46, ptr %.sroa.2135.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #9
  br label %62

47:                                               ; preds = %20
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #9
  %48 = getelementptr inbounds i8, ptr %1, i64 8
  %49 = load ptr, ptr %48, align 8, !tbaa !32
  %50 = tail call { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1172) %49)
  %51 = extractvalue { double, double } %50, 0
  store double %51, ptr %5, align 16
  %52 = getelementptr inbounds i8, ptr %5, i64 8
  %53 = extractvalue { double, double } %50, 1
  store double %53, ptr %52, align 8
  %54 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %5)
  %55 = extractvalue { double, double } %54, 0
  store double %55, ptr %4, align 16
  %56 = getelementptr inbounds i8, ptr %4, i64 8
  %57 = extractvalue { double, double } %54, 1
  store double %57, ptr %56, align 8
  %58 = getelementptr inbounds i8, ptr %0, i64 112
  %.sroa.0130.0.copyload = load double, ptr %58, align 16
  %.sroa.2131.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 120
  %.sroa.2131.0.copyload = load double, ptr %.sroa.2131.0..sroa_idx, align 8, !tbaa !31
  %59 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %4, double %.sroa.0130.0.copyload, double %.sroa.2131.0.copyload)
  %60 = extractvalue { double, double } %59, 0
  %61 = extractvalue { double, double } %59, 1
  store double %60, ptr %58, align 16
  store double %61, ptr %.sroa.2131.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #9
  br label %62

62:                                               ; preds = %47, %37
  %63 = getelementptr inbounds i8, ptr %0, i64 176
  %64 = load ptr, ptr %63, align 16, !tbaa !34
  %65 = load float, ptr %1, align 8, !tbaa !35
  %66 = getelementptr inbounds i8, ptr %1, i64 8
  %67 = load ptr, ptr %66, align 8, !tbaa !32
  %68 = load ptr, ptr %64, align 8, !tbaa !36
  %69 = getelementptr inbounds i8, ptr %68, i64 32
  %70 = load ptr, ptr %69, align 8
  call void %70(ptr noundef nonnull align 8 dereferenceable(16) %64, float noundef %65, ptr noundef nonnull align 16 dereferenceable(1172) %67)
  %71 = getelementptr inbounds i8, ptr %0, i64 64
  %72 = load ptr, ptr %71, align 16, !tbaa !30
  %73 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %72)
  %74 = getelementptr inbounds i8, ptr %0, i64 184
  %75 = zext i1 %73 to i8
  store i8 %75, ptr %74, align 8, !tbaa !38
  %.in.v = select i1 %73, i64 188, i64 192
  %.in = getelementptr inbounds i8, ptr %0, i64 %.in.v
  %76 = load i32, ptr %.in, align 4, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %6) #9
  %77 = load ptr, ptr %71, align 16, !tbaa !30
  call void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %6, ptr noundef nonnull align 16 dereferenceable(122) %77)
  %78 = getelementptr inbounds i8, ptr %0, i64 128
  %79 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %78)
  %.not180 = icmp eq i64 %79, 0
  br i1 %.not180, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %62
  %80 = getelementptr inbounds i8, ptr %7, i64 8
  %81 = icmp eq i32 %76, 0
  %82 = getelementptr inbounds i8, ptr %0, i64 196
  %83 = getelementptr inbounds i8, ptr %0, i64 272
  %.sroa.248.0..sroa_idx = getelementptr inbounds i8, ptr %13, i64 8
  %.sroa.244.0..sroa_idx = getelementptr inbounds i8, ptr %15, i64 8
  %84 = getelementptr inbounds i8, ptr %16, i64 8
  br label %87

._crit_edge:                                      ; preds = %211, %62
  %85 = getelementptr inbounds i8, ptr %0, i64 344
  %86 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %85, ptr null) #9
  br i1 %86, label %216, label %217

87:                                               ; preds = %.lr.ph, %211
  %88 = phi i64 [ 0, %.lr.ph ], [ %213, %211 ]
  %.0169 = phi i32 [ 0, %.lr.ph ], [ %212, %211 ]
  %89 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %78, i64 noundef %88)
  %90 = load ptr, ptr %89, align 8, !tbaa !40
  %91 = getelementptr inbounds i8, ptr %90, i64 8
  %92 = call noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %91)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #9
  %93 = getelementptr inbounds i8, ptr %92, i64 16
  %.sroa.072.0.copyload = load double, ptr %93, align 16
  %.sroa.273.0..sroa_idx = getelementptr inbounds i8, ptr %92, i64 24
  %.sroa.273.0.copyload = load double, ptr %.sroa.273.0..sroa_idx, align 8, !tbaa !31
  %94 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.072.0.copyload, double %.sroa.273.0.copyload)
  %95 = extractvalue { double, double } %94, 0
  store double %95, ptr %7, align 16
  %96 = extractvalue { double, double } %94, 1
  store double %96, ptr %80, align 8
  %97 = getelementptr inbounds i8, ptr %92, i64 48
  %.sroa.069.0.copyload = load double, ptr %97, align 16
  %.sroa.270.0..sroa_idx = getelementptr inbounds i8, ptr %92, i64 56
  %.sroa.270.0.copyload = load double, ptr %.sroa.270.0..sroa_idx, align 8, !tbaa !31
  %98 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.069.0.copyload, double %.sroa.270.0.copyload)
  %99 = extractvalue { double, double } %98, 0
  %100 = extractvalue { double, double } %98, 1
  br i1 %81, label %105, label %101

101:                                              ; preds = %87
  %102 = load i32, ptr %82, align 4, !tbaa !41
  %103 = add i32 %102, %.0169
  %104 = urem i32 %103, %76
  %.not165 = icmp eq i32 %104, 0
  br i1 %.not165, label %133, label %105

105:                                              ; preds = %101, %87
  %106 = getelementptr inbounds i8, ptr %90, i64 16
  %107 = call noundef zeroext i1 @_ZNK3JPH6BodyID9IsInvalidEv(ptr noundef nonnull align 4 dereferenceable(4) %106)
  br i1 %107, label %156, label %108

108:                                              ; preds = %105
  %109 = load ptr, ptr %66, align 8, !tbaa !32
  %110 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNK3JPH13PhysicsSystem26GetBodyLockInterfaceNoLockEv(ptr noundef nonnull align 16 dereferenceable(1172) %109)
  %111 = call noundef ptr @_ZNK3JPH17BodyLockInterface10TryGetBodyERKNS_6BodyIDE(ptr noundef nonnull align 8 dereferenceable(16) %110, ptr noundef nonnull align 4 dereferenceable(4) %106)
  %112 = getelementptr inbounds i8, ptr %90, i64 24
  store ptr %111, ptr %112, align 8, !tbaa !42
  %113 = icmp eq ptr %111, null
  br i1 %113, label %114, label %121

114:                                              ; preds = %108
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #9
  call void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %8)
  %115 = load i32, ptr %8, align 4, !tbaa !39
  store i32 %115, ptr %106, align 16, !tbaa !39
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #9
  store i32 0, ptr %9, align 4
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %9) #9
  %116 = getelementptr inbounds i8, ptr %90, i64 20
  %117 = load i32, ptr %9, align 4, !tbaa !39
  store i32 %117, ptr %116, align 4, !tbaa !39
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #9
  %118 = getelementptr inbounds i8, ptr %92, i64 116
  %119 = load float, ptr %118, align 4, !tbaa !49
  %120 = getelementptr inbounds i8, ptr %90, i64 32
  store float %119, ptr %120, align 16, !tbaa !55
  br label %156

121:                                              ; preds = %108
  %122 = call noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %83)
  %123 = load ptr, ptr %66, align 8, !tbaa !32
  %.sroa.067.0.copyload = load double, ptr %7, align 16
  %.sroa.268.0.copyload = load double, ptr %80, align 8, !tbaa !31
  %124 = load ptr, ptr %71, align 16, !tbaa !30
  %125 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %124)
  %126 = getelementptr inbounds i8, ptr %90, i64 20
  %127 = getelementptr inbounds i8, ptr %90, i64 48
  %128 = getelementptr inbounds i8, ptr %90, i64 80
  %129 = getelementptr inbounds i8, ptr %90, i64 32
  %130 = load ptr, ptr %122, align 8, !tbaa !36
  %131 = getelementptr inbounds i8, ptr %130, i64 24
  %132 = load ptr, ptr %131, align 8
  call void %132(ptr noundef nonnull align 8 dereferenceable(42) %122, ptr noundef nonnull align 16 dereferenceable(1172) %123, ptr noundef nonnull align 16 dereferenceable(408) %0, i32 noundef %.0169, double %.sroa.067.0.copyload, double %.sroa.268.0.copyload, double %99, double %100, ptr noundef nonnull align 4 dereferenceable(4) %125, ptr noundef nonnull align 8 dereferenceable(8) %112, ptr noundef nonnull align 4 dereferenceable(4) %126, ptr noundef nonnull align 16 dereferenceable(16) %127, ptr noundef nonnull align 16 dereferenceable(16) %128, ptr noundef nonnull align 4 dereferenceable(4) %129)
  br label %156

133:                                              ; preds = %101
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %10) #9
  call void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %10)
  %134 = getelementptr inbounds i8, ptr %90, i64 16
  %135 = load i32, ptr %10, align 4, !tbaa !39
  store i32 %135, ptr %134, align 16, !tbaa !39
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %10) #9
  %136 = getelementptr inbounds i8, ptr %90, i64 24
  store ptr null, ptr %136, align 8, !tbaa !42
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %11) #9
  store i32 0, ptr %11, align 4
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %11) #9
  %137 = getelementptr inbounds i8, ptr %90, i64 20
  %138 = load i32, ptr %11, align 4, !tbaa !39
  store i32 %138, ptr %137, align 4, !tbaa !39
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #9
  %139 = getelementptr inbounds i8, ptr %92, i64 116
  %140 = load float, ptr %139, align 4, !tbaa !49
  %141 = getelementptr inbounds i8, ptr %90, i64 32
  store float %140, ptr %141, align 16, !tbaa !55
  %142 = call noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %83)
  %143 = load ptr, ptr %66, align 8, !tbaa !32
  %.sroa.063.0.copyload = load double, ptr %7, align 16
  %.sroa.264.0.copyload = load double, ptr %80, align 8, !tbaa !31
  %144 = load ptr, ptr %71, align 16, !tbaa !30
  %145 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %144)
  %146 = getelementptr inbounds i8, ptr %90, i64 48
  %147 = getelementptr inbounds i8, ptr %90, i64 80
  %148 = load ptr, ptr %142, align 8, !tbaa !36
  %149 = getelementptr inbounds i8, ptr %148, i64 16
  %150 = load ptr, ptr %149, align 8
  %151 = call noundef zeroext i1 %150(ptr noundef nonnull align 8 dereferenceable(42) %142, ptr noundef nonnull align 16 dereferenceable(1172) %143, ptr noundef nonnull align 16 dereferenceable(408) %0, i32 noundef %.0169, double %.sroa.063.0.copyload, double %.sroa.264.0.copyload, double %99, double %100, ptr noundef nonnull align 4 dereferenceable(4) %145, ptr noundef nonnull align 8 dereferenceable(8) %136, ptr noundef nonnull align 4 dereferenceable(4) %137, ptr noundef nonnull align 16 dereferenceable(16) %146, ptr noundef nonnull align 16 dereferenceable(16) %147, ptr noundef nonnull align 4 dereferenceable(4) %141)
  br i1 %151, label %152, label %156

152:                                              ; preds = %133
  %153 = load ptr, ptr %136, align 8, !tbaa !42
  %154 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %153)
  %155 = load i32, ptr %154, align 4, !tbaa !39
  store i32 %155, ptr %134, align 16, !tbaa !39
  br label %156

156:                                              ; preds = %133, %152, %105, %121, %114
  %157 = getelementptr inbounds i8, ptr %90, i64 24
  %158 = load ptr, ptr %157, align 8, !tbaa !42
  %.not166 = icmp eq ptr %158, null
  br i1 %.not166, label %211, label %159

159:                                              ; preds = %156
  %160 = getelementptr inbounds i8, ptr %90, i64 48
  %.sroa.057.0.copyload = load double, ptr %160, align 16
  %.sroa.258.0..sroa_idx = getelementptr inbounds i8, ptr %90, i64 56
  %.sroa.258.0.copyload = load double, ptr %.sroa.258.0..sroa_idx, align 8, !tbaa !31
  %161 = call { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %158, double %.sroa.057.0.copyload, double %.sroa.258.0.copyload)
  %162 = extractvalue { double, double } %161, 0
  %163 = extractvalue { double, double } %161, 1
  %164 = getelementptr inbounds i8, ptr %90, i64 64
  store double %162, ptr %164, align 16
  %.sroa.460.0..sroa_idx = getelementptr inbounds i8, ptr %90, i64 72
  store double %163, ptr %.sroa.460.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #9
  %165 = getelementptr inbounds i8, ptr %90, i64 80
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 16 dereferenceable(16) %165, i64 16, i1 false), !tbaa.struct !56
  %166 = getelementptr inbounds i8, ptr %90, i64 32
  %167 = load float, ptr %166, align 16, !tbaa !55
  %168 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %167, double %99, double %100)
  %169 = extractvalue { double, double } %168, 0
  %170 = extractvalue { double, double } %168, 1
  %171 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %7, double %169, double %170)
  %172 = extractvalue { double, double } %171, 0
  %173 = extractvalue { double, double } %171, 1
  %174 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %12, double %172, double %173)
  %175 = getelementptr inbounds i8, ptr %90, i64 128
  store float %174, ptr %175, align 16, !tbaa !57
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #9
  %176 = load ptr, ptr %157, align 8, !tbaa !42
  %177 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %176)
  %178 = load i8, ptr %74, align 8, !tbaa !38, !range !28, !noundef !29
  %179 = zext i1 %177 to i8
  %180 = or i8 %178, %179
  store i8 %180, ptr %74, align 8, !tbaa !38
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #9
  call void @_ZNK3JPH17VehicleConstraint18GetWheelLocalBasisEPKNS_5WheelERNS_4Vec3ES5_S5_(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull %90, ptr noundef nonnull align 16 dereferenceable(16) %13, ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 16 dereferenceable(16) %15)
  %.sroa.047.0.copyload = load double, ptr %13, align 16
  %.sroa.248.0.copyload = load double, ptr %.sroa.248.0..sroa_idx, align 8, !tbaa !31
  %181 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.047.0.copyload, double %.sroa.248.0.copyload)
  %182 = extractvalue { double, double } %181, 0
  %183 = extractvalue { double, double } %181, 1
  store double %182, ptr %13, align 16
  store double %183, ptr %.sroa.248.0..sroa_idx, align 8, !tbaa !31
  %.sroa.043.0.copyload = load double, ptr %15, align 16
  %.sroa.244.0.copyload = load double, ptr %.sroa.244.0..sroa_idx, align 8, !tbaa !31
  %184 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.043.0.copyload, double %.sroa.244.0.copyload)
  %185 = extractvalue { double, double } %184, 0
  %186 = extractvalue { double, double } %184, 1
  store double %185, ptr %15, align 16
  store double %186, ptr %.sroa.244.0..sroa_idx, align 8, !tbaa !31
  %187 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %165, double %185, double %186)
  %188 = extractvalue { double, double } %187, 0
  %189 = extractvalue { double, double } %187, 1
  %190 = getelementptr inbounds i8, ptr %90, i64 96
  store double %188, ptr %190, align 16
  %.sroa.442.0..sroa_idx = getelementptr inbounds i8, ptr %90, i64 104
  store double %189, ptr %.sroa.442.0..sroa_idx, align 8, !tbaa !31
  %.sroa.037.0.copyload = load double, ptr %13, align 16
  %.sroa.238.0.copyload = load double, ptr %.sroa.248.0..sroa_idx, align 8, !tbaa !31
  %191 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %190, double %.sroa.037.0.copyload, double %.sroa.238.0.copyload)
  %192 = fcmp olt float %191, 0.000000e+00
  br i1 %192, label %193, label %197

193:                                              ; preds = %159
  %194 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %190)
  %195 = extractvalue { double, double } %194, 0
  %196 = extractvalue { double, double } %194, 1
  store double %195, ptr %190, align 16
  store double %196, ptr %.sroa.442.0..sroa_idx, align 8, !tbaa !31
  br label %197

197:                                              ; preds = %193, %159
  %198 = call { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16) %165)
  %199 = extractvalue { double, double } %198, 0
  %200 = extractvalue { double, double } %198, 1
  %201 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %190, double %199, double %200)
  %202 = extractvalue { double, double } %201, 0
  %203 = extractvalue { double, double } %201, 1
  store double %202, ptr %190, align 16
  store double %203, ptr %.sroa.442.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #9
  %.sroa.0.0.copyload = load double, ptr %165, align 16
  %.sroa.2.0..sroa_idx = getelementptr inbounds i8, ptr %90, i64 88
  %.sroa.2.0.copyload = load double, ptr %.sroa.2.0..sroa_idx, align 8, !tbaa !31
  %204 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %190, double %.sroa.0.0.copyload, double %.sroa.2.0.copyload)
  %205 = extractvalue { double, double } %204, 0
  store double %205, ptr %16, align 16
  %206 = extractvalue { double, double } %204, 1
  store double %206, ptr %84, align 8
  %207 = call { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %16)
  %208 = extractvalue { double, double } %207, 0
  %209 = extractvalue { double, double } %207, 1
  %210 = getelementptr inbounds i8, ptr %90, i64 112
  store double %208, ptr %210, align 16
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %90, i64 120
  store double %209, ptr %.sroa.4.0..sroa_idx, align 8, !tbaa !31
  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 16, ptr nonnull %14) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #9
  br label %211

211:                                              ; preds = %197, %156
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #9
  %212 = add i32 %.0169, 1
  %213 = zext i32 %212 to i64
  %214 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %78)
  %215 = icmp ugt i64 %214, %213
  br i1 %215, label %87, label %._crit_edge, !llvm.loop !58

216:                                              ; preds = %._crit_edge
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEclES2_S5_(ptr noundef nonnull align 8 dereferenceable(32) %85, ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 8 dereferenceable(16) %1)
  br label %217

217:                                              ; preds = %216, %._crit_edge
  %218 = getelementptr inbounds i8, ptr %0, i64 152
  %219 = call noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %218)
  %220 = call noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %218)
  %.not170 = icmp eq ptr %219, %220
  br i1 %.not170, label %._crit_edge174, label %.lr.ph173

._crit_edge174:                                   ; preds = %261, %217
  %221 = load ptr, ptr %63, align 16, !tbaa !34
  %222 = load float, ptr %1, align 8, !tbaa !35
  %223 = load ptr, ptr %66, align 8, !tbaa !32
  %224 = load ptr, ptr %221, align 8, !tbaa !36
  %225 = getelementptr inbounds i8, ptr %224, i64 40
  %226 = load ptr, ptr %225, align 8
  call void %226(ptr noundef nonnull align 8 dereferenceable(16) %221, float noundef %222, ptr noundef nonnull align 16 dereferenceable(1172) %223)
  %227 = getelementptr inbounds i8, ptr %0, i64 376
  %228 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %227, ptr null) #9
  br i1 %228, label %265, label %266

.lr.ph173:                                        ; preds = %217, %261
  %.0156171 = phi ptr [ %264, %261 ], [ %219, %217 ]
  %229 = getelementptr inbounds i8, ptr %.0156171, i64 8
  %230 = load float, ptr %229, align 4, !tbaa !60
  %231 = fcmp ult float %230, 0.000000e+00
  br i1 %231, label %232, label %235

232:                                              ; preds = %.lr.ph173
  %233 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.6, ptr noundef nonnull @.str.2, i32 noundef 278)
  br i1 %233, label %234, label %235

234:                                              ; preds = %232
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !62
  br label %235

235:                                              ; preds = %234, %232, %.lr.ph173
  %236 = load i32, ptr %.0156171, align 4, !tbaa !63
  %237 = sext i32 %236 to i64
  %238 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %78, i64 noundef %237)
  %239 = load ptr, ptr %238, align 8, !tbaa !40
  %240 = getelementptr inbounds i8, ptr %.0156171, i64 4
  %241 = load i32, ptr %240, align 4, !tbaa !64
  %242 = sext i32 %241 to i64
  %243 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %78, i64 noundef %242)
  %244 = load ptr, ptr %243, align 8, !tbaa !40
  %245 = getelementptr inbounds i8, ptr %239, i64 24
  %246 = load ptr, ptr %245, align 8, !tbaa !42
  %.not163 = icmp eq ptr %246, null
  br i1 %.not163, label %261, label %247

247:                                              ; preds = %235
  %248 = getelementptr inbounds i8, ptr %244, i64 24
  %249 = load ptr, ptr %248, align 8, !tbaa !42
  %.not164 = icmp eq ptr %249, null
  br i1 %.not164, label %261, label %250

250:                                              ; preds = %247
  %251 = getelementptr inbounds i8, ptr %244, i64 32
  %252 = load float, ptr %251, align 16, !tbaa !55
  %253 = getelementptr inbounds i8, ptr %239, i64 32
  %254 = load float, ptr %253, align 16, !tbaa !55
  %255 = fsub float %252, %254
  %256 = load float, ptr %229, align 4, !tbaa !60
  %257 = fmul float %255, %256
  %258 = load float, ptr %1, align 8, !tbaa !35
  %259 = fmul float %257, %258
  %260 = fneg float %259
  br label %261

261:                                              ; preds = %235, %247, %250
  %.sink186 = phi ptr [ %239, %250 ], [ %244, %247 ], [ %244, %235 ]
  %.sink184 = phi float [ %260, %250 ], [ 0.000000e+00, %247 ], [ 0.000000e+00, %235 ]
  %.sink183 = phi ptr [ %244, %250 ], [ %239, %247 ], [ %239, %235 ]
  %.sink = phi float [ %259, %250 ], [ 0.000000e+00, %247 ], [ 0.000000e+00, %235 ]
  %262 = getelementptr inbounds i8, ptr %.sink186, i64 132
  store float %.sink184, ptr %262, align 4, !tbaa !65
  %263 = getelementptr inbounds i8, ptr %.sink183, i64 132
  store float %.sink, ptr %263, align 4, !tbaa !65
  %264 = getelementptr inbounds i8, ptr %.0156171, i64 12
  %.not = icmp eq ptr %264, %220
  br i1 %.not, label %._crit_edge174, label %.lr.ph173

265:                                              ; preds = %._crit_edge174
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEclES2_S5_(ptr noundef nonnull align 8 dereferenceable(32) %227, ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 8 dereferenceable(16) %1)
  br label %266

266:                                              ; preds = %265, %._crit_edge174
  %267 = load ptr, ptr %71, align 16, !tbaa !30
  %268 = call noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122) %267)
  br i1 %268, label %269, label %.critedge

269:                                              ; preds = %266
  %270 = load ptr, ptr %63, align 16, !tbaa !34
  %271 = load ptr, ptr %270, align 8, !tbaa !36
  %272 = getelementptr inbounds i8, ptr %271, i64 24
  %273 = load ptr, ptr %272, align 8
  %274 = call noundef zeroext i1 %273(ptr noundef nonnull align 8 dereferenceable(16) %270)
  br i1 %274, label %275, label %.thread

275:                                              ; preds = %269
  %276 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %78)
  %277 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %78)
  %.not162175 = icmp eq ptr %276, %277
  br i1 %.not162175, label %.critedge, label %.lr.ph179

278:                                              ; preds = %.lr.ph179
  %279 = getelementptr inbounds i8, ptr %.0157176, i64 8
  %.not162 = icmp eq ptr %279, %277
  br i1 %.not162, label %.critedge, label %.lr.ph179

.lr.ph179:                                        ; preds = %275, %278
  %.0157176 = phi ptr [ %279, %278 ], [ %276, %275 ]
  %280 = load ptr, ptr %.0157176, align 8, !tbaa !40
  %281 = getelementptr inbounds i8, ptr %280, i64 140
  %282 = load float, ptr %281, align 4, !tbaa !66
  %283 = call noundef float @_ZSt3absf(float noundef %282)
  %284 = call noundef float @_ZN3JPH16DegreesToRadiansEf(float noundef 1.000000e+01)
  %285 = fcmp ule float %283, %284
  br i1 %285, label %278, label %.thread

.thread:                                          ; preds = %.lr.ph179, %269
  %286 = load ptr, ptr %71, align 16, !tbaa !30
  call void @_ZN3JPH4Body15ResetSleepTimerEv(ptr noundef nonnull align 16 dereferenceable(122) %286)
  br label %.critedge

.critedge:                                        ; preds = %278, %275, %.thread, %266
  %287 = getelementptr inbounds i8, ptr %0, i64 196
  %288 = load i32, ptr %287, align 4, !tbaa !41
  %289 = add i32 %288, 1
  store i32 %289, ptr %287, align 4, !tbaa !41
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %6) #9
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32), ptr) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEEclES2_S5_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH16MotionProperties16SetGravityFactorEf(ptr noundef nonnull align 16 dereferenceable(182), float noundef) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH4Body8AddForceENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) local_unnamed_addr #3 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #3 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1172)) local_unnamed_addr #7 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_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 noundef zeroext i1 @_ZNK3JPH6BodyID9IsInvalidEv(ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNK3JPH13PhysicsSystem26GetBodyLockInterfaceNoLockEv(ptr noundef nonnull align 16 dereferenceable(1172)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH17BodyLockInterface10TryGetBodyERKNS_6BodyIDE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) local_unnamed_addr #3 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) local_unnamed_addr #5

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) local_unnamed_addr #1

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH16DegreesToRadiansEf(float noundef) local_unnamed_addr #8

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH4Body15ResetSleepTimerEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #3 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 = { 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, !14, i64 40}
!6 = !{!"_ZTSN3JPH17VehicleConstraintE", !7, i64 0, !16, i64 32, !14, i64 40, !17, i64 48, !18, i64 64, !17, i64 80, !17, i64 96, !17, i64 112, !19, i64 128, !20, i64 152, !18, i64 176, !14, i64 184, !11, i64 188, !11, i64 192, !11, i64 196, !21, i64 200, !21, i64 204, !17, i64 208, !22, i64 224, !24, i64 272, !25, i64 280, !27, i64 312, !27, i64 344, !27, i64 376}
!7 = !{!"_ZTSN3JPH10ConstraintE", !8, i64 8, !11, i64 12, !11, i64 16, !12, i64 20, !12, i64 21, !14, i64 22, !15, i64 24}
!8 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !9, i64 0}
!9 = !{!"_ZTSSt6atomicIjE", !10, i64 0}
!10 = !{!"_ZTSSt13__atomic_baseIjE", !11, i64 0}
!11 = !{!"int", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"bool", !12, i64 0}
!15 = !{!"long", !12, i64 0}
!16 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!17 = !{!"_ZTSN3JPH4Vec3E", !12, i64 0}
!18 = !{!"any pointer", !12, i64 0}
!19 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !15, i64 0, !15, i64 8, !18, i64 16}
!20 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !15, i64 0, !15, i64 8, !18, i64 16}
!21 = !{!"float", !12, i64 0}
!22 = !{!"_ZTSN3JPH19AngleConstraintPartE", !17, i64 0, !17, i64 16, !21, i64 32, !23, i64 36, !21, i64 44}
!23 = !{!"_ZTSN3JPH10SpringPartE", !21, i64 0, !21, i64 4}
!24 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !18, i64 0}
!25 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !26, i64 0, !18, i64 24}
!26 = !{!"_ZTSSt14_Function_base", !12, i64 0, !18, i64 16}
!27 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEE", !26, i64 0, !18, i64 24}
!28 = !{i8 0, i8 2}
!29 = !{}
!30 = !{!6, !18, i64 64}
!31 = !{!12, !12, i64 0}
!32 = !{!33, !18, i64 8}
!33 = !{!"_ZTSN3JPH26PhysicsStepListenerContextE", !21, i64 0, !14, i64 4, !14, i64 5, !18, i64 8}
!34 = !{!6, !18, i64 176}
!35 = !{!33, !21, i64 0}
!36 = !{!37, !37, i64 0}
!37 = !{!"vtable pointer", !13, i64 0}
!38 = !{!6, !14, i64 184}
!39 = !{!11, !11, i64 0}
!40 = !{!18, !18, i64 0}
!41 = !{!6, !11, i64 196}
!42 = !{!43, !18, i64 24}
!43 = !{!"_ZTSN3JPH5WheelE", !44, i64 8, !45, i64 16, !46, i64 20, !18, i64 24, !21, i64 32, !17, i64 48, !17, i64 64, !17, i64 80, !17, i64 96, !17, i64 112, !21, i64 128, !21, i64 132, !21, i64 136, !21, i64 140, !21, i64 144, !47, i64 148, !47, i64 212, !47, i64 276, !47, i64 340}
!44 = !{!"_ZTSN3JPH8RefConstINS_13WheelSettingsEEE", !18, i64 0}
!45 = !{!"_ZTSN3JPH6BodyIDE", !11, i64 0}
!46 = !{!"_ZTSN3JPH10SubShapeIDE", !11, i64 0}
!47 = !{!"_ZTSN3JPH18AxisConstraintPartE", !48, i64 0, !48, i64 12, !48, i64 24, !48, i64 36, !21, i64 48, !23, i64 52, !21, i64 60}
!48 = !{!"_ZTSN3JPH6Float3E", !21, i64 0, !21, i64 4, !21, i64 8}
!49 = !{!50, !21, i64 116}
!50 = !{!"_ZTSN3JPH13WheelSettingsE", !51, i64 0, !52, i64 8, !17, i64 16, !17, i64 32, !17, i64 48, !17, i64 64, !17, i64 80, !17, i64 96, !21, i64 112, !21, i64 116, !21, i64 120, !53, i64 124, !21, i64 136, !21, i64 140, !14, i64 144}
!51 = !{!"_ZTSN3JPH18SerializableObjectE"}
!52 = !{!"_ZTSN3JPH9RefTargetINS_13WheelSettingsEEE", !9, i64 0}
!53 = !{!"_ZTSN3JPH14SpringSettingsE", !54, i64 0, !12, i64 4, !21, i64 8}
!54 = !{!"_ZTSN3JPH11ESpringModeE", !12, i64 0}
!55 = !{!43, !21, i64 32}
!56 = !{i64 0, i64 16, !31}
!57 = !{!43, !21, i64 128}
!58 = distinct !{!58, !59}
!59 = !{!"llvm.loop.mustprogress"}
!60 = !{!61, !21, i64 8}
!61 = !{!"_ZTSN3JPH18VehicleAntiRollBarE", !11, i64 0, !11, i64 4, !21, i64 8}
!62 = !{i64 2159466913}
!63 = !{!61, !11, i64 0}
!64 = !{!61, !11, i64 4}
!65 = !{!43, !21, i64 132}
!66 = !{!43, !21, i64 140}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SCCPPass,SROAPass,SimplifyCFGPass,TailCallElimPass