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

; 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"

%"struct.JPH::BodyPair" = type { %"class.JPH::BodyID", %"class.JPH::BodyID" }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.1 }
%union.anon.1 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"struct.JPH::AssertLastParam" = type { i8 }
%"class.JPH::ContactSettings" = type { float, float, float, float, float, float, i8, %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::ContactManifold" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SubShapeID", %"class.JPH::SubShapeID", [4 x i8], %"class.JPH::StaticArray.34", %"class.JPH::StaticArray.34" }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::StaticArray.34" = type { i32, [12 x i8], [64 x %"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage"] }
%"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage" = type { [16 x i8] }
%"class.JPH::ContactConstraintManager" = type { [8 x i8], [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], i32, ptr, ptr, ptr, ptr, ptr, i32, %"struct.std::atomic", ptr }
%"class.JPH::ContactConstraintManager::ManifoldCache" = type <{ %"class.JPH::LFHMAllocator", %"class.JPH::LockFreeHashMap", %"class.JPH::LockFreeHashMap.0", i8, [7 x i8] }>
%"class.JPH::LFHMAllocator" = type { ptr, i32, %"struct.std::atomic" }
%"class.JPH::LockFreeHashMap" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"class.JPH::LockFreeHashMap.0" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::ContactConstraintManager::CachedBodyPair" = type { %"class.JPH::Float3", %"class.JPH::Float3", i32 }
%"class.JPH::Float3" = type { float, float, float }
%"struct.JPH::PhysicsSettings" = type <{ i32, i32, i32, float, float, float, float, float, float, float, float, float, float, float, i32, i32, float, float, float, i8, i8, i8, i8, i8, i8, i8, i8 }>
%"class.JPH::PhysicsUpdateContext" = type <{ ptr, ptr, ptr, ptr, float, float, %"struct.std::atomic", [4 x i8], ptr, ptr, ptr, %"class.JPH::Array.18", i32, [4 x i8], ptr, %"struct.std::atomic", [4 x i8] }>
%"class.JPH::Array.18" = type { %"class.JPH::STLTempAllocator", i64, i64, ptr }
%"class.JPH::STLTempAllocator" = type { ptr }
%"class.JPH::ContactConstraintManager::CachedManifold" = type { i32, %"class.JPH::Float3", %"struct.std::atomic.5", i16, [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"] }
%"struct.std::atomic.5" = type { %"struct.std::__atomic_base.6" }
%"struct.std::__atomic_base.6" = type { i16 }
%"class.JPH::ContactConstraintManager::CachedContactPoint" = type { %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::Vector" }
%"class.JPH::Vector" = type { [2 x float] }
%"class.JPH::ContactConstraintManager::ContactAllocator" = type { %"class.JPH::LFHMAllocatorContext.base", i32, i32, i32 }
%"class.JPH::LFHMAllocatorContext.base" = type <{ ptr, i32, i32, i32 }>
%"class.JPH::ContactConstraintManager::ContactConstraint" = type { ptr, ptr, i64, %"class.JPH::Float3", float, float, float, float, float, %"class.JPH::StaticArray" }
%"class.JPH::StaticArray" = type { i32, [4 x i8], [4 x %"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage"] }
%"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage" = type { [200 x i8] }
%"class.JPH::ContactConstraintManager::WorldContactPoint" = type { %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", ptr }
%"class.JPH::AxisConstraintPart" = type { %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }

@.str.1 = external hidden unnamed_addr constant [106 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [64 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [71 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122)) #1 align 2

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #4 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_14SubShapeIDPairEmi(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(16), i64 noundef, i32 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN3JPHoRERNS_19EPhysicsUpdateErrorES0_(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(56) ptr @_ZN3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK3JPH24ContactConstraintManager13ManifoldCache8ToHandleEPKNS_15LockFreeHashMapINS_14SubShapeIDPairENS0_14CachedManifoldEE8KeyValueE(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache10FromHandleEj(ptr noundef nonnull align 8 dereferenceable(81), i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache4FindERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(56) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue6GetKeyEv(ptr noundef nonnull align 4 dereferenceable(76)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(28) ptr @_ZNK3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK3JPH8BodyPair7GetHashEv(ptr noundef nonnull align 8 dereferenceable(8)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(28) ptr @_ZN3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK3JPH14SubShapeIDPair7GetHashEv(ptr noundef nonnull align 4 dereferenceable(16)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN3JPH24ContactConstraintManager14CachedManifold21sGetRequiredTotalSizeEi(i32 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i16 @_ZNSt13__atomic_baseItEoREt(ptr noundef nonnull align 2 dereferenceable(2), i16 noundef zeroext) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH24ContactConstraintManager20GetContactsFromCacheERNS0_16ContactAllocatorERNS_4BodyES4_RbS5_(ptr noundef nonnull align 8 dereferenceable(248) %0, ptr noundef nonnull align 8 dereferenceable(32) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(122) %3, ptr noundef nonnull align 1 dereferenceable(1) %4, ptr noundef nonnull align 1 dereferenceable(1) %5) #5 align 2 personality ptr @__gxx_personality_v0 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca %"struct.JPH::BodyPair", align 8
  %16 = alloca %"class.JPH::BodyID", align 4
  %17 = alloca %"class.JPH::BodyID", align 4
  %18 = alloca i64, align 8
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca i32, align 4
  %22 = alloca ptr, align 8
  %23 = alloca %"class.JPH::Quat", align 16
  %24 = alloca %"class.JPH::Quat", align 16
  %25 = alloca %"class.JPH::Vec3", align 16
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::Vec3", align 16
  %29 = alloca %"class.JPH::Vec3", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"class.JPH::Quat", align 16
  %33 = alloca %"class.JPH::Quat", align 16
  %34 = alloca %"class.JPH::Quat", align 16
  %35 = alloca %"class.JPH::Quat", align 16
  %36 = alloca ptr, align 8
  %37 = alloca ptr, align 8
  %38 = alloca ptr, align 8
  %39 = alloca %"class.JPH::Mat44", align 16
  %40 = alloca %"class.JPH::Mat44", align 16
  %41 = alloca float, align 4
  %42 = alloca %"class.JPH::Vec3", align 16
  %43 = alloca %"class.JPH::Vec3", align 16
  %44 = alloca i32, align 4
  %45 = alloca i32, align 4
  %46 = alloca ptr, align 8
  %47 = alloca ptr, align 8
  %48 = alloca ptr, align 8
  %49 = alloca %"struct.JPH::AssertLastParam", align 1
  %50 = alloca i64, align 8
  %51 = alloca ptr, align 8
  %52 = alloca ptr, align 8
  %53 = alloca %"class.JPH::ContactSettings", align 16
  %54 = alloca %"class.JPH::Vec3", align 16
  %55 = alloca %"class.JPH::Vec3", align 16
  %56 = alloca %"class.JPH::Vec3", align 16
  %57 = alloca %"class.JPH::ContactManifold", align 16
  %58 = alloca ptr, align 8
  %59 = alloca i32, align 4
  %60 = alloca %"class.JPH::Vec3", align 16
  %61 = alloca %"class.JPH::Mat44", align 16
  %62 = alloca %"class.JPH::Mat44", align 16
  %63 = alloca %"class.JPH::Vec3", align 16
  %64 = alloca float, align 4
  %65 = alloca i32, align 4
  %66 = alloca ptr, align 8
  %67 = alloca %"class.JPH::Vec3", align 16
  %68 = alloca %"class.JPH::Vec3", align 16
  %69 = alloca %"class.JPH::Vec3", align 16
  %70 = alloca %"class.JPH::Vec3", align 16
  %71 = alloca float, align 4
  %72 = alloca %"class.JPH::Vec3", align 16
  %73 = alloca %"class.JPH::Vec3", align 16
  %74 = alloca %"class.JPH::Vec3", align 16
  %75 = alloca %"struct.JPH::AssertLastParam", align 1
  %76 = alloca i32, align 4
  %77 = alloca ptr, align 8
  %78 = alloca i32, align 4
  %79 = alloca ptr, align 8
  %80 = alloca ptr, align 8
  %81 = alloca %"class.JPH::Vec3", align 16
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store ptr %5, ptr %12, align 8, !tbaa !5
  %82 = load ptr, ptr %7, align 8
  %83 = load ptr, ptr %12, align 8, !tbaa !5
  store i8 0, ptr %83, align 1, !tbaa !9
  %84 = load ptr, ptr %11, align 8, !tbaa !5
  store i8 0, ptr %84, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #11
  %85 = load ptr, ptr %9, align 8, !tbaa !5
  %86 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %85)
  %87 = load ptr, ptr %10, align 8, !tbaa !5
  %88 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %87)
  %89 = call noundef zeroext i1 @_ZNK3JPH6BodyIDltERKS0_(ptr noundef nonnull align 4 dereferenceable(4) %86, ptr noundef nonnull align 4 dereferenceable(4) %88)
  br i1 %89, label %90, label %93

90:                                               ; preds = %6
  %91 = load ptr, ptr %9, align 8, !tbaa !5
  store ptr %91, ptr %13, align 8, !tbaa !5
  %92 = load ptr, ptr %10, align 8, !tbaa !5
  store ptr %92, ptr %14, align 8, !tbaa !5
  br label %96

93:                                               ; preds = %6
  %94 = load ptr, ptr %10, align 8, !tbaa !5
  store ptr %94, ptr %13, align 8, !tbaa !5
  %95 = load ptr, ptr %9, align 8, !tbaa !5
  store ptr %95, ptr %14, align 8, !tbaa !5
  br label %96

96:                                               ; preds = %93, %90
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #11
  %97 = load ptr, ptr %13, align 8, !tbaa !5
  %98 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %97)
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %16, ptr align 4 %98, i64 4, i1 false), !tbaa.struct !11
  %99 = load ptr, ptr %14, align 8, !tbaa !5
  %100 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %99)
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %100, i64 4, i1 false), !tbaa.struct !11
  %101 = getelementptr inbounds %"class.JPH::BodyID", ptr %16, i32 0, i32 0
  %102 = load i32, ptr %101, align 4
  %103 = getelementptr inbounds %"class.JPH::BodyID", ptr %17, i32 0, i32 0
  %104 = load i32, ptr %103, align 4
  call void @_ZN3JPH8BodyPairC2ENS_6BodyIDES1_(ptr noundef nonnull align 8 dereferenceable(8) %15, i32 %102, i32 %104)
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #11
  %105 = call noundef i64 @_ZNK3JPH8BodyPair7GetHashEv(ptr noundef nonnull align 8 dereferenceable(8) %15)
  store i64 %105, ptr %18, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #11
  %106 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 1
  %107 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 2
  %108 = load i32, ptr %107, align 8, !tbaa !16
  %109 = xor i32 %108, 1
  %110 = sext i32 %109 to i64
  %111 = getelementptr inbounds [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], ptr %106, i64 0, i64 %110
  store ptr %111, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #11
  %112 = load ptr, ptr %19, align 8, !tbaa !5
  %113 = load i64, ptr %18, align 8, !tbaa !14
  %114 = call noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache4FindERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81) %112, ptr noundef nonnull align 8 dereferenceable(8) %15, i64 noundef %113)
  store ptr %114, ptr %20, align 8, !tbaa !5
  %115 = load ptr, ptr %20, align 8, !tbaa !5
  %116 = icmp eq ptr %115, null
  br i1 %116, label %117, label %118

117:                                              ; preds = %96
  store i32 1, ptr %21, align 4
  br label %791

118:                                              ; preds = %96
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #11
  %119 = load ptr, ptr %20, align 8, !tbaa !5
  %120 = call noundef nonnull align 4 dereferenceable(28) ptr @_ZNK3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40) %119)
  store ptr %120, ptr %22, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #11
  %121 = load ptr, ptr %13, align 8, !tbaa !5
  %122 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %121)
  %123 = getelementptr inbounds %"class.JPH::Quat", ptr %24, i32 0, i32 0
  %124 = getelementptr inbounds %"class.JPH::Vec4", ptr %123, i32 0, i32 0
  %125 = getelementptr inbounds %union.anon.1, ptr %124, i32 0, i32 0
  %126 = getelementptr inbounds { double, double }, ptr %125, i32 0, i32 0
  %127 = extractvalue { double, double } %122, 0
  store double %127, ptr %126, align 16
  %128 = getelementptr inbounds { double, double }, ptr %125, i32 0, i32 1
  %129 = extractvalue { double, double } %122, 1
  store double %129, ptr %128, align 8
  %130 = call { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %24)
  %131 = getelementptr inbounds %"class.JPH::Quat", ptr %23, i32 0, i32 0
  %132 = getelementptr inbounds %"class.JPH::Vec4", ptr %131, i32 0, i32 0
  %133 = getelementptr inbounds %union.anon.1, ptr %132, i32 0, i32 0
  %134 = getelementptr inbounds { double, double }, ptr %133, i32 0, i32 0
  %135 = extractvalue { double, double } %130, 0
  store double %135, ptr %134, align 16
  %136 = getelementptr inbounds { double, double }, ptr %133, i32 0, i32 1
  %137 = extractvalue { double, double } %130, 1
  store double %137, ptr %136, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #11
  %138 = load ptr, ptr %14, align 8, !tbaa !5
  %139 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %138)
  %140 = getelementptr inbounds %"class.JPH::Vec3", ptr %27, i32 0, i32 0
  %141 = getelementptr inbounds %union.anon, ptr %140, i32 0, i32 0
  %142 = getelementptr inbounds { double, double }, ptr %141, i32 0, i32 0
  %143 = extractvalue { double, double } %139, 0
  store double %143, ptr %142, align 16
  %144 = getelementptr inbounds { double, double }, ptr %141, i32 0, i32 1
  %145 = extractvalue { double, double } %139, 1
  store double %145, ptr %144, align 8
  %146 = load ptr, ptr %13, align 8, !tbaa !5
  %147 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %146)
  %148 = getelementptr inbounds %"class.JPH::Vec3", ptr %28, i32 0, i32 0
  %149 = getelementptr inbounds %union.anon, ptr %148, i32 0, i32 0
  %150 = getelementptr inbounds { double, double }, ptr %149, i32 0, i32 0
  %151 = extractvalue { double, double } %147, 0
  store double %151, ptr %150, align 16
  %152 = getelementptr inbounds { double, double }, ptr %149, i32 0, i32 1
  %153 = extractvalue { double, double } %147, 1
  store double %153, ptr %152, align 8
  %154 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 0
  %155 = load double, ptr %154, align 16
  %156 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 1
  %157 = load double, ptr %156, align 8
  %158 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %27, double %155, double %157)
  %159 = getelementptr inbounds %"class.JPH::Vec3", ptr %26, i32 0, i32 0
  %160 = getelementptr inbounds %union.anon, ptr %159, i32 0, i32 0
  %161 = getelementptr inbounds { double, double }, ptr %160, i32 0, i32 0
  %162 = extractvalue { double, double } %158, 0
  store double %162, ptr %161, align 16
  %163 = getelementptr inbounds { double, double }, ptr %160, i32 0, i32 1
  %164 = extractvalue { double, double } %158, 1
  store double %164, ptr %163, align 8
  %165 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 0
  %166 = load double, ptr %165, align 16
  %167 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 1
  %168 = load double, ptr %167, align 8
  %169 = call { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16) %23, double %166, double %168)
  %170 = getelementptr inbounds %"class.JPH::Vec3", ptr %25, i32 0, i32 0
  %171 = getelementptr inbounds %union.anon, ptr %170, i32 0, i32 0
  %172 = getelementptr inbounds { double, double }, ptr %171, i32 0, i32 0
  %173 = extractvalue { double, double } %169, 0
  store double %173, ptr %172, align 16
  %174 = getelementptr inbounds { double, double }, ptr %171, i32 0, i32 1
  %175 = extractvalue { double, double } %169, 1
  store double %175, ptr %174, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #11
  %176 = load ptr, ptr %22, align 8, !tbaa !5
  %177 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %176, i32 0, i32 0
  %178 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %177)
  %179 = getelementptr inbounds %"class.JPH::Vec3", ptr %29, i32 0, i32 0
  %180 = getelementptr inbounds %union.anon, ptr %179, i32 0, i32 0
  %181 = getelementptr inbounds { double, double }, ptr %180, i32 0, i32 0
  %182 = extractvalue { double, double } %178, 0
  store double %182, ptr %181, align 16
  %183 = getelementptr inbounds { double, double }, ptr %180, i32 0, i32 1
  %184 = extractvalue { double, double } %178, 1
  store double %184, ptr %183, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %31, ptr align 16 %29, i64 16, i1 false), !tbaa.struct !20
  %185 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %186 = load double, ptr %185, align 16
  %187 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %188 = load double, ptr %187, align 8
  %189 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %25, double %186, double %188)
  %190 = getelementptr inbounds %"class.JPH::Vec3", ptr %30, i32 0, i32 0
  %191 = getelementptr inbounds %union.anon, ptr %190, i32 0, i32 0
  %192 = getelementptr inbounds { double, double }, ptr %191, i32 0, i32 0
  %193 = extractvalue { double, double } %189, 0
  store double %193, ptr %192, align 16
  %194 = getelementptr inbounds { double, double }, ptr %191, i32 0, i32 1
  %195 = extractvalue { double, double } %189, 1
  store double %195, ptr %194, align 8
  %196 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %30)
  %197 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 3
  %198 = load ptr, ptr %197, align 8, !tbaa !22
  %199 = getelementptr inbounds %"struct.JPH::PhysicsSettings", ptr %198, i32 0, i32 10
  %200 = load float, ptr %199, align 4, !tbaa !23
  %201 = fcmp ogt float %196, %200
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #11
  br i1 %201, label %202, label %203

202:                                              ; preds = %118
  store i32 1, ptr %21, align 4
  br label %790

203:                                              ; preds = %118
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #11
  %204 = load ptr, ptr %14, align 8, !tbaa !5
  %205 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %204)
  %206 = getelementptr inbounds %"class.JPH::Quat", ptr %33, i32 0, i32 0
  %207 = getelementptr inbounds %"class.JPH::Vec4", ptr %206, i32 0, i32 0
  %208 = getelementptr inbounds %union.anon.1, ptr %207, i32 0, i32 0
  %209 = getelementptr inbounds { double, double }, ptr %208, i32 0, i32 0
  %210 = extractvalue { double, double } %205, 0
  store double %210, ptr %209, align 16
  %211 = getelementptr inbounds { double, double }, ptr %208, i32 0, i32 1
  %212 = extractvalue { double, double } %205, 1
  store double %212, ptr %211, align 8
  %213 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 0
  %214 = load double, ptr %213, align 16
  %215 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 1
  %216 = load double, ptr %215, align 8
  %217 = call { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %23, double %214, double %216)
  %218 = getelementptr inbounds %"class.JPH::Quat", ptr %32, i32 0, i32 0
  %219 = getelementptr inbounds %"class.JPH::Vec4", ptr %218, i32 0, i32 0
  %220 = getelementptr inbounds %union.anon.1, ptr %219, i32 0, i32 0
  %221 = getelementptr inbounds { double, double }, ptr %220, i32 0, i32 0
  %222 = extractvalue { double, double } %217, 0
  store double %222, ptr %221, align 16
  %223 = getelementptr inbounds { double, double }, ptr %220, i32 0, i32 1
  %224 = extractvalue { double, double } %217, 1
  store double %224, ptr %223, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %34) #11
  %225 = load ptr, ptr %22, align 8, !tbaa !5
  %226 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %225, i32 0, i32 1
  %227 = call { double, double } @_ZN3JPH4Quat17sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %226)
  %228 = getelementptr inbounds %"class.JPH::Quat", ptr %34, i32 0, i32 0
  %229 = getelementptr inbounds %"class.JPH::Vec4", ptr %228, i32 0, i32 0
  %230 = getelementptr inbounds %union.anon.1, ptr %229, i32 0, i32 0
  %231 = getelementptr inbounds { double, double }, ptr %230, i32 0, i32 0
  %232 = extractvalue { double, double } %227, 0
  store double %232, ptr %231, align 16
  %233 = getelementptr inbounds { double, double }, ptr %230, i32 0, i32 1
  %234 = extractvalue { double, double } %227, 1
  store double %234, ptr %233, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %35, ptr align 16 %34, i64 16, i1 false), !tbaa.struct !20
  %235 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 0
  %236 = load double, ptr %235, align 16
  %237 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 1
  %238 = load double, ptr %237, align 8
  %239 = call noundef float @_ZNK3JPH4Quat3DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %32, double %236, double %238)
  %240 = call noundef float @_ZSt3absf(float noundef %239)
  %241 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 3
  %242 = load ptr, ptr %241, align 8, !tbaa !22
  %243 = getelementptr inbounds %"struct.JPH::PhysicsSettings", ptr %242, i32 0, i32 11
  %244 = load float, ptr %243, align 4, !tbaa !26
  %245 = fcmp olt float %240, %244
  br i1 %245, label %246, label %247

246:                                              ; preds = %203
  store i32 1, ptr %21, align 4
  br label %789

247:                                              ; preds = %203
  %248 = load ptr, ptr %11, align 8, !tbaa !5
  store i8 1, ptr %248, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #11
  %249 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 1
  %250 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 2
  %251 = load i32, ptr %250, align 8, !tbaa !16
  %252 = sext i32 %251 to i64
  %253 = getelementptr inbounds [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], ptr %249, i64 0, i64 %252
  store ptr %253, ptr %36, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #11
  %254 = load ptr, ptr %36, align 8, !tbaa !5
  %255 = load ptr, ptr %8, align 8, !tbaa !5
  %256 = load i64, ptr %18, align 8, !tbaa !14
  %257 = call noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81) %254, ptr noundef nonnull align 8 dereferenceable(32) %255, ptr noundef nonnull align 8 dereferenceable(8) %15, i64 noundef %256)
  store ptr %257, ptr %37, align 8, !tbaa !5
  %258 = load ptr, ptr %37, align 8, !tbaa !5
  %259 = icmp eq ptr %258, null
  br i1 %259, label %260, label %261

260:                                              ; preds = %247
  store i32 1, ptr %21, align 4
  br label %788

261:                                              ; preds = %247
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #11
  %262 = load ptr, ptr %37, align 8, !tbaa !5
  %263 = call noundef nonnull align 4 dereferenceable(28) ptr @_ZN3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40) %262)
  store ptr %263, ptr %38, align 8, !tbaa !5
  %264 = load ptr, ptr %38, align 8, !tbaa !5
  %265 = load ptr, ptr %22, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %264, ptr align 4 %265, i64 28, i1 false)
  %266 = load ptr, ptr %22, align 8, !tbaa !5
  %267 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %266, i32 0, i32 2
  %268 = load i32, ptr %267, align 4, !tbaa !27
  %269 = icmp eq i32 %268, -1
  br i1 %269, label %270, label %271

270:                                              ; preds = %261
  store i32 1, ptr %21, align 4
  br label %787

271:                                              ; preds = %261
  call void @llvm.lifetime.start.p0(i64 64, ptr %39) #11
  %272 = load ptr, ptr %13, align 8, !tbaa !5
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %39, ptr noundef nonnull align 16 dereferenceable(122) %272)
  call void @llvm.lifetime.start.p0(i64 64, ptr %40) #11
  %273 = load ptr, ptr %14, align 8, !tbaa !5
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %40, ptr noundef nonnull align 16 dereferenceable(122) %273)
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #11
  %274 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 10
  %275 = load ptr, ptr %274, align 8, !tbaa !30
  %276 = getelementptr inbounds %"class.JPH::PhysicsUpdateContext", ptr %275, i32 0, i32 4
  %277 = load float, ptr %276, align 8, !tbaa !31
  store float %277, ptr %41, align 4, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %43) #11
  %278 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 10
  %279 = load ptr, ptr %278, align 8, !tbaa !30
  %280 = getelementptr inbounds %"class.JPH::PhysicsUpdateContext", ptr %279, i32 0, i32 0
  %281 = load ptr, ptr %280, align 8, !tbaa !36
  %282 = call { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1172) %281)
  %283 = getelementptr inbounds %"class.JPH::Vec3", ptr %43, i32 0, i32 0
  %284 = getelementptr inbounds %union.anon, ptr %283, i32 0, i32 0
  %285 = getelementptr inbounds { double, double }, ptr %284, i32 0, i32 0
  %286 = extractvalue { double, double } %282, 0
  store double %286, ptr %285, align 16
  %287 = getelementptr inbounds { double, double }, ptr %284, i32 0, i32 1
  %288 = extractvalue { double, double } %282, 1
  store double %288, ptr %287, align 8
  %289 = load float, ptr %41, align 4, !tbaa !35
  %290 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %43, float noundef %289)
  %291 = getelementptr inbounds %"class.JPH::Vec3", ptr %42, i32 0, i32 0
  %292 = getelementptr inbounds %union.anon, ptr %291, i32 0, i32 0
  %293 = getelementptr inbounds { double, double }, ptr %292, i32 0, i32 0
  %294 = extractvalue { double, double } %290, 0
  store double %294, ptr %293, align 16
  %295 = getelementptr inbounds { double, double }, ptr %292, i32 0, i32 1
  %296 = extractvalue { double, double } %290, 1
  store double %296, ptr %295, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %44) #11
  store i32 -1, ptr %44, align 4, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 4, ptr %45) #11
  %297 = load ptr, ptr %22, align 8, !tbaa !5
  %298 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %297, i32 0, i32 2
  %299 = load i32, ptr %298, align 4, !tbaa !27
  store i32 %299, ptr %45, align 4, !tbaa !12
  br label %300

300:                                              ; preds = %780, %271
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #11
  %301 = load ptr, ptr %19, align 8, !tbaa !5
  %302 = load i32, ptr %45, align 4, !tbaa !12
  %303 = call noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache10FromHandleEj(ptr noundef nonnull align 8 dereferenceable(81) %301, i32 noundef %302)
  store ptr %303, ptr %46, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #11
  %304 = load ptr, ptr %46, align 8, !tbaa !5
  %305 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue6GetKeyEv(ptr noundef nonnull align 4 dereferenceable(76) %304)
  store ptr %305, ptr %47, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #11
  %306 = load ptr, ptr %46, align 8, !tbaa !5
  %307 = call noundef nonnull align 4 dereferenceable(56) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76) %306)
  store ptr %307, ptr %48, align 8, !tbaa !5
  br label %308

308:                                              ; preds = %300
  %309 = load ptr, ptr %48, align 8, !tbaa !5
  %310 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %309, i32 0, i32 3
  %311 = load i16, ptr %310, align 2, !tbaa !37
  %312 = zext i16 %311 to i32
  %313 = icmp sgt i32 %312, 0
  br i1 %313, label %317, label %314

314:                                              ; preds = %308
  %315 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.11, ptr noundef @.str.1, i32 noundef 885)
  br i1 %315, label %316, label %317

316:                                              ; preds = %314
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #11, !srcloc !42
  br label %317

317:                                              ; preds = %316, %314, %308
  br label %318

318:                                              ; preds = %317
  br label %319

319:                                              ; preds = %318
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #11
  %320 = load ptr, ptr %47, align 8, !tbaa !5
  %321 = call noundef i64 @_ZNK3JPH14SubShapeIDPair7GetHashEv(ptr noundef nonnull align 4 dereferenceable(16) %320)
  store i64 %321, ptr %50, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #11
  %322 = load ptr, ptr %36, align 8, !tbaa !5
  %323 = load ptr, ptr %8, align 8, !tbaa !5
  %324 = load ptr, ptr %47, align 8, !tbaa !5
  %325 = load i64, ptr %50, align 8, !tbaa !14
  %326 = load ptr, ptr %48, align 8, !tbaa !5
  %327 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %326, i32 0, i32 3
  %328 = load i16, ptr %327, align 2, !tbaa !37
  %329 = zext i16 %328 to i32
  %330 = call noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_14SubShapeIDPairEmi(ptr noundef nonnull align 8 dereferenceable(81) %322, ptr noundef nonnull align 8 dereferenceable(32) %323, ptr noundef nonnull align 4 dereferenceable(16) %324, i64 noundef %325, i32 noundef %329)
  store ptr %330, ptr %51, align 8, !tbaa !5
  %331 = load ptr, ptr %51, align 8, !tbaa !5
  %332 = icmp eq ptr %331, null
  br i1 %332, label %333, label %334

333:                                              ; preds = %319
  store i32 2, ptr %21, align 4
  br label %777

334:                                              ; preds = %319
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #11
  %335 = load ptr, ptr %51, align 8, !tbaa !5
  %336 = call noundef nonnull align 4 dereferenceable(56) ptr @_ZN3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76) %335)
  store ptr %336, ptr %52, align 8, !tbaa !5
  %337 = load ptr, ptr %52, align 8, !tbaa !5
  %338 = load ptr, ptr %48, align 8, !tbaa !5
  %339 = load ptr, ptr %48, align 8, !tbaa !5
  %340 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %339, i32 0, i32 3
  %341 = load i16, ptr %340, align 2, !tbaa !37
  %342 = zext i16 %341 to i32
  %343 = call noundef i32 @_ZN3JPH24ContactConstraintManager14CachedManifold21sGetRequiredTotalSizeEi(i32 noundef %342)
  %344 = sext i32 %343 to i64
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %337, ptr align 4 %338, i64 %344, i1 false)
  %345 = load i32, ptr %44, align 4, !tbaa !12
  %346 = load ptr, ptr %52, align 8, !tbaa !5
  %347 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %346, i32 0, i32 0
  store i32 %345, ptr %347, align 4, !tbaa !43
  %348 = load ptr, ptr %36, align 8, !tbaa !5
  %349 = load ptr, ptr %51, align 8, !tbaa !5
  %350 = call noundef i32 @_ZNK3JPH24ContactConstraintManager13ManifoldCache8ToHandleEPKNS_15LockFreeHashMapINS_14SubShapeIDPairENS0_14CachedManifoldEE8KeyValueE(ptr noundef nonnull align 8 dereferenceable(81) %348, ptr noundef %349)
  store i32 %350, ptr %44, align 4, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 64, ptr %53) #11
  call void @_ZN3JPH15ContactSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(64) %53)
  %351 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 5
  %352 = load ptr, ptr %351, align 8, !tbaa !44
  %353 = load ptr, ptr %13, align 8, !tbaa !5
  %354 = load ptr, ptr %47, align 8, !tbaa !5
  %355 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %354)
  %356 = load ptr, ptr %14, align 8, !tbaa !5
  %357 = load ptr, ptr %47, align 8, !tbaa !5
  %358 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %357)
  %359 = call noundef float %352(ptr noundef nonnull align 16 dereferenceable(122) %353, ptr noundef nonnull align 4 dereferenceable(4) %355, ptr noundef nonnull align 16 dereferenceable(122) %356, ptr noundef nonnull align 4 dereferenceable(4) %358)
  %360 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 0
  store float %359, ptr %360, align 16, !tbaa !45
  %361 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 6
  %362 = load ptr, ptr %361, align 8, !tbaa !48
  %363 = load ptr, ptr %13, align 8, !tbaa !5
  %364 = load ptr, ptr %47, align 8, !tbaa !5
  %365 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %364)
  %366 = load ptr, ptr %14, align 8, !tbaa !5
  %367 = load ptr, ptr %47, align 8, !tbaa !5
  %368 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %367)
  %369 = call noundef float %362(ptr noundef nonnull align 16 dereferenceable(122) %363, ptr noundef nonnull align 4 dereferenceable(4) %365, ptr noundef nonnull align 16 dereferenceable(122) %366, ptr noundef nonnull align 4 dereferenceable(4) %368)
  %370 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 1
  store float %369, ptr %370, align 4, !tbaa !49
  %371 = load ptr, ptr %13, align 8, !tbaa !5
  %372 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %371)
  br i1 %372, label %376, label %373

373:                                              ; preds = %334
  %374 = load ptr, ptr %14, align 8, !tbaa !5
  %375 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %374)
  br label %376

376:                                              ; preds = %373, %334
  %377 = phi i1 [ true, %334 ], [ %375, %373 ]
  %378 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 6
  %379 = zext i1 %377 to i8
  store i8 %379, ptr %378, align 8, !tbaa !50
  call void @llvm.lifetime.start.p0(i64 16, ptr %54) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %55) #11
  %380 = load ptr, ptr %52, align 8, !tbaa !5
  %381 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %380, i32 0, i32 1
  %382 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %381)
  %383 = getelementptr inbounds %"class.JPH::Vec3", ptr %56, i32 0, i32 0
  %384 = getelementptr inbounds %union.anon, ptr %383, i32 0, i32 0
  %385 = getelementptr inbounds { double, double }, ptr %384, i32 0, i32 0
  %386 = extractvalue { double, double } %382, 0
  store double %386, ptr %385, align 16
  %387 = getelementptr inbounds { double, double }, ptr %384, i32 0, i32 1
  %388 = extractvalue { double, double } %382, 1
  store double %388, ptr %387, align 8
  %389 = getelementptr inbounds { double, double }, ptr %56, i32 0, i32 0
  %390 = load double, ptr %389, align 16
  %391 = getelementptr inbounds { double, double }, ptr %56, i32 0, i32 1
  %392 = load double, ptr %391, align 8
  %393 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %40, double %390, double %392)
  %394 = getelementptr inbounds %"class.JPH::Vec3", ptr %55, i32 0, i32 0
  %395 = getelementptr inbounds %union.anon, ptr %394, i32 0, i32 0
  %396 = getelementptr inbounds { double, double }, ptr %395, i32 0, i32 0
  %397 = extractvalue { double, double } %393, 0
  store double %397, ptr %396, align 16
  %398 = getelementptr inbounds { double, double }, ptr %395, i32 0, i32 1
  %399 = extractvalue { double, double } %393, 1
  store double %399, ptr %398, align 8
  %400 = call { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %55)
  %401 = getelementptr inbounds %"class.JPH::Vec3", ptr %54, i32 0, i32 0
  %402 = getelementptr inbounds %union.anon, ptr %401, i32 0, i32 0
  %403 = getelementptr inbounds { double, double }, ptr %402, i32 0, i32 0
  %404 = extractvalue { double, double } %400, 0
  store double %404, ptr %403, align 16
  %405 = getelementptr inbounds { double, double }, ptr %402, i32 0, i32 1
  %406 = extractvalue { double, double } %400, 1
  store double %406, ptr %405, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %55) #11
  %407 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 4
  %408 = load ptr, ptr %407, align 8, !tbaa !51
  %409 = icmp ne ptr %408, null
  br i1 %409, label %410, label %595

410:                                              ; preds = %376
  call void @llvm.lifetime.start.p0(i64 2128, ptr %57) #11
  call void @_ZN3JPH15ContactManifoldC2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %57) #11
  %411 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %411, ptr align 16 %54, i64 16, i1 false), !tbaa.struct !20
  %412 = load ptr, ptr %47, align 8, !tbaa !5
  %413 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %412)
          to label %414 unwind label %464

414:                                              ; preds = %410
  %415 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %415, ptr align 4 %413, i64 4, i1 false), !tbaa.struct !11
  %416 = load ptr, ptr %47, align 8, !tbaa !5
  %417 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %416)
          to label %418 unwind label %464

418:                                              ; preds = %414
  %419 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %419, ptr align 4 %417, i64 4, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %60) #11
  %420 = invoke { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64) %39)
          to label %421 unwind label %468

421:                                              ; preds = %418
  %422 = getelementptr inbounds %"class.JPH::Vec3", ptr %60, i32 0, i32 0
  %423 = getelementptr inbounds %union.anon, ptr %422, i32 0, i32 0
  %424 = getelementptr inbounds { double, double }, ptr %423, i32 0, i32 0
  %425 = extractvalue { double, double } %420, 0
  store double %425, ptr %424, align 16
  %426 = getelementptr inbounds { double, double }, ptr %423, i32 0, i32 1
  %427 = extractvalue { double, double } %420, 1
  store double %427, ptr %426, align 8
  %428 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %428, ptr align 16 %60, i64 16, i1 false), !tbaa.struct !20
  call void @llvm.lifetime.end.p0(i64 16, ptr %60) #11
  %429 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 6
  %430 = load ptr, ptr %52, align 8, !tbaa !5
  %431 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %430, i32 0, i32 3
  %432 = load i16, ptr %431, align 2, !tbaa !37
  %433 = zext i16 %432 to i32
  invoke void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040) %429, i32 noundef %433)
          to label %434 unwind label %464

434:                                              ; preds = %421
  %435 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 7
  %436 = load ptr, ptr %52, align 8, !tbaa !5
  %437 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %436, i32 0, i32 3
  %438 = load i16, ptr %437, align 2, !tbaa !37
  %439 = zext i16 %438 to i32
  invoke void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040) %435, i32 noundef %439)
          to label %440 unwind label %464

440:                                              ; preds = %434
  call void @llvm.lifetime.start.p0(i64 64, ptr %61) #11
  call void @llvm.lifetime.start.p0(i64 64, ptr %62) #11
  %441 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 0
  %442 = invoke { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %441)
          to label %443 unwind label %472

443:                                              ; preds = %440
  %444 = getelementptr inbounds %"class.JPH::Vec3", ptr %63, i32 0, i32 0
  %445 = getelementptr inbounds %union.anon, ptr %444, i32 0, i32 0
  %446 = getelementptr inbounds { double, double }, ptr %445, i32 0, i32 0
  %447 = extractvalue { double, double } %442, 0
  store double %447, ptr %446, align 16
  %448 = getelementptr inbounds { double, double }, ptr %445, i32 0, i32 1
  %449 = extractvalue { double, double } %442, 1
  store double %449, ptr %448, align 8
  %450 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 0
  %451 = load double, ptr %450, align 16
  %452 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 1
  %453 = load double, ptr %452, align 8
  invoke void @_ZNK3JPH5Mat4414PostTranslatedENS_4Vec3E(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %62, ptr noundef nonnull align 16 dereferenceable(64) %40, double %451, double %453)
          to label %454 unwind label %472

454:                                              ; preds = %443
  invoke void @_ZNK3JPH5Mat447ToMat44Ev(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %61, ptr noundef nonnull align 16 dereferenceable(64) %62)
          to label %455 unwind label %472

455:                                              ; preds = %454
  call void @llvm.lifetime.end.p0(i64 64, ptr %62) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %64) #11
  store float 0xC7EFFFFFE0000000, ptr %64, align 4, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 4, ptr %65) #11
  store i32 0, ptr %65, align 4, !tbaa !12
  br label %456

456:                                              ; preds = %561, %455
  %457 = load i32, ptr %65, align 4, !tbaa !12
  %458 = load ptr, ptr %52, align 8, !tbaa !5
  %459 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %458, i32 0, i32 3
  %460 = load i16, ptr %459, align 2, !tbaa !37
  %461 = zext i16 %460 to i32
  %462 = icmp ult i32 %457, %461
  br i1 %462, label %476, label %463

463:                                              ; preds = %456
  store i32 6, ptr %21, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #11
  br label %577

464:                                              ; preds = %434, %421, %414, %410
  %465 = landingpad { ptr, i32 }
          cleanup
  %466 = extractvalue { ptr, i32 } %465, 0
  store ptr %466, ptr %58, align 8
  %467 = extractvalue { ptr, i32 } %465, 1
  store i32 %467, ptr %59, align 4
  br label %594

468:                                              ; preds = %418
  %469 = landingpad { ptr, i32 }
          cleanup
  %470 = extractvalue { ptr, i32 } %469, 0
  store ptr %470, ptr %58, align 8
  %471 = extractvalue { ptr, i32 } %469, 1
  store i32 %471, ptr %59, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %60) #11
  br label %594

472:                                              ; preds = %454, %443, %440
  %473 = landingpad { ptr, i32 }
          cleanup
  %474 = extractvalue { ptr, i32 } %473, 0
  store ptr %474, ptr %58, align 8
  %475 = extractvalue { ptr, i32 } %473, 1
  store i32 %475, ptr %59, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %62) #11
  br label %593

476:                                              ; preds = %456
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #11
  %477 = load ptr, ptr %52, align 8, !tbaa !5
  %478 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %477, i32 0, i32 4
  %479 = load i32, ptr %65, align 4, !tbaa !12
  %480 = zext i32 %479 to i64
  %481 = getelementptr inbounds [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"], ptr %478, i64 0, i64 %480
  store ptr %481, ptr %66, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %67) #11
  %482 = load ptr, ptr %66, align 8, !tbaa !5
  %483 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %482, i32 0, i32 0
  %484 = invoke { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %483)
          to label %485 unwind label %564

485:                                              ; preds = %476
  %486 = getelementptr inbounds %"class.JPH::Vec3", ptr %68, i32 0, i32 0
  %487 = getelementptr inbounds %union.anon, ptr %486, i32 0, i32 0
  %488 = getelementptr inbounds { double, double }, ptr %487, i32 0, i32 0
  %489 = extractvalue { double, double } %484, 0
  store double %489, ptr %488, align 16
  %490 = getelementptr inbounds { double, double }, ptr %487, i32 0, i32 1
  %491 = extractvalue { double, double } %484, 1
  store double %491, ptr %490, align 8
  %492 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 0
  %493 = load double, ptr %492, align 16
  %494 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 1
  %495 = load double, ptr %494, align 8
  %496 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %39, double %493, double %495)
          to label %497 unwind label %564

497:                                              ; preds = %485
  %498 = getelementptr inbounds %"class.JPH::Vec3", ptr %67, i32 0, i32 0
  %499 = getelementptr inbounds %union.anon, ptr %498, i32 0, i32 0
  %500 = getelementptr inbounds { double, double }, ptr %499, i32 0, i32 0
  %501 = extractvalue { double, double } %496, 0
  store double %501, ptr %500, align 16
  %502 = getelementptr inbounds { double, double }, ptr %499, i32 0, i32 1
  %503 = extractvalue { double, double } %496, 1
  store double %503, ptr %502, align 8
  %504 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 6
  %505 = load i32, ptr %65, align 4, !tbaa !12
  %506 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %504, i32 noundef %505)
          to label %507 unwind label %564

507:                                              ; preds = %497
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %506, ptr align 16 %67, i64 16, i1 false), !tbaa.struct !20
  call void @llvm.lifetime.end.p0(i64 16, ptr %67) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %69) #11
  %508 = load ptr, ptr %66, align 8, !tbaa !5
  %509 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %508, i32 0, i32 1
  %510 = invoke { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %509)
          to label %511 unwind label %568

511:                                              ; preds = %507
  %512 = getelementptr inbounds %"class.JPH::Vec3", ptr %70, 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 } %510, 0
  store double %515, ptr %514, align 16
  %516 = getelementptr inbounds { double, double }, ptr %513, i32 0, i32 1
  %517 = extractvalue { double, double } %510, 1
  store double %517, ptr %516, align 8
  %518 = getelementptr inbounds { double, double }, ptr %70, i32 0, i32 0
  %519 = load double, ptr %518, align 16
  %520 = getelementptr inbounds { double, double }, ptr %70, i32 0, i32 1
  %521 = load double, ptr %520, align 8
  %522 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %61, double %519, double %521)
          to label %523 unwind label %568

523:                                              ; preds = %511
  %524 = getelementptr inbounds %"class.JPH::Vec3", ptr %69, i32 0, i32 0
  %525 = getelementptr inbounds %union.anon, ptr %524, i32 0, i32 0
  %526 = getelementptr inbounds { double, double }, ptr %525, i32 0, i32 0
  %527 = extractvalue { double, double } %522, 0
  store double %527, ptr %526, align 16
  %528 = getelementptr inbounds { double, double }, ptr %525, i32 0, i32 1
  %529 = extractvalue { double, double } %522, 1
  store double %529, ptr %528, align 8
  %530 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 7
  %531 = load i32, ptr %65, align 4, !tbaa !12
  %532 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %530, i32 noundef %531)
          to label %533 unwind label %568

533:                                              ; preds = %523
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %532, ptr align 16 %69, i64 16, i1 false), !tbaa.struct !20
  call void @llvm.lifetime.end.p0(i64 16, ptr %69) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %71) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %72) #11
  %534 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 6
  %535 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %534, i32 noundef 0)
          to label %536 unwind label %572

536:                                              ; preds = %533
  %537 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 7
  %538 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %537, i32 noundef 0)
          to label %539 unwind label %572

539:                                              ; preds = %536
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %73, ptr align 16 %538, i64 16, i1 false), !tbaa.struct !20
  %540 = getelementptr inbounds { double, double }, ptr %73, i32 0, i32 0
  %541 = load double, ptr %540, align 16
  %542 = getelementptr inbounds { double, double }, ptr %73, i32 0, i32 1
  %543 = load double, ptr %542, align 8
  %544 = invoke { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %535, double %541, double %543)
          to label %545 unwind label %572

545:                                              ; preds = %539
  %546 = getelementptr inbounds %"class.JPH::Vec3", ptr %72, i32 0, i32 0
  %547 = getelementptr inbounds %union.anon, ptr %546, i32 0, i32 0
  %548 = getelementptr inbounds { double, double }, ptr %547, i32 0, i32 0
  %549 = extractvalue { double, double } %544, 0
  store double %549, ptr %548, align 16
  %550 = getelementptr inbounds { double, double }, ptr %547, i32 0, i32 1
  %551 = extractvalue { double, double } %544, 1
  store double %551, ptr %550, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %74, ptr align 16 %54, i64 16, i1 false), !tbaa.struct !20
  %552 = getelementptr inbounds { double, double }, ptr %74, i32 0, i32 0
  %553 = load double, ptr %552, align 16
  %554 = getelementptr inbounds { double, double }, ptr %74, i32 0, i32 1
  %555 = load double, ptr %554, align 8
  %556 = invoke noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %72, double %553, double %555)
          to label %557 unwind label %572

557:                                              ; preds = %545
  store float %556, ptr %71, align 4, !tbaa !35
  %558 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %64, ptr noundef nonnull align 4 dereferenceable(4) %71)
          to label %559 unwind label %572

559:                                              ; preds = %557
  %560 = load float, ptr %558, align 4, !tbaa !35
  store float %560, ptr %64, align 4, !tbaa !35
  call void @llvm.lifetime.end.p0(i64 16, ptr %72) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %71) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #11
  br label %561

561:                                              ; preds = %559
  %562 = load i32, ptr %65, align 4, !tbaa !12
  %563 = add i32 %562, 1
  store i32 %563, ptr %65, align 4, !tbaa !12
  br label %456, !llvm.loop !52

564:                                              ; preds = %497, %485, %476
  %565 = landingpad { ptr, i32 }
          cleanup
  %566 = extractvalue { ptr, i32 } %565, 0
  store ptr %566, ptr %58, align 8
  %567 = extractvalue { ptr, i32 } %565, 1
  store i32 %567, ptr %59, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %67) #11
  br label %576

568:                                              ; preds = %523, %511, %507
  %569 = landingpad { ptr, i32 }
          cleanup
  %570 = extractvalue { ptr, i32 } %569, 0
  store ptr %570, ptr %58, align 8
  %571 = extractvalue { ptr, i32 } %569, 1
  store i32 %571, ptr %59, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %69) #11
  br label %576

572:                                              ; preds = %557, %545, %539, %536, %533
  %573 = landingpad { ptr, i32 }
          cleanup
  %574 = extractvalue { ptr, i32 } %573, 0
  store ptr %574, ptr %58, align 8
  %575 = extractvalue { ptr, i32 } %573, 1
  store i32 %575, ptr %59, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %72) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %71) #11
  br label %576

576:                                              ; preds = %572, %568, %564
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #11
  br label %592

577:                                              ; preds = %463
  %578 = load float, ptr %64, align 4, !tbaa !35
  %579 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %57, i32 0, i32 2
  store float %578, ptr %579, align 16, !tbaa !54
  %580 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 4
  %581 = load ptr, ptr %580, align 8, !tbaa !51
  %582 = load ptr, ptr %13, align 8, !tbaa !5
  %583 = load ptr, ptr %14, align 8, !tbaa !5
  %584 = load ptr, ptr %581, align 8, !tbaa !58
  %585 = getelementptr inbounds ptr, ptr %584, i64 4
  %586 = load ptr, ptr %585, align 8
  invoke void %586(ptr noundef nonnull align 8 dereferenceable(8) %581, ptr noundef nonnull align 16 dereferenceable(122) %582, ptr noundef nonnull align 16 dereferenceable(122) %583, ptr noundef nonnull align 16 dereferenceable(2128) %57, ptr noundef nonnull align 16 dereferenceable(64) %53)
          to label %587 unwind label %588

587:                                              ; preds = %577
  call void @llvm.lifetime.end.p0(i64 4, ptr %64) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %61) #11
  call void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %57) #11
  call void @llvm.lifetime.end.p0(i64 2128, ptr %57) #11
  br label %595

588:                                              ; preds = %577
  %589 = landingpad { ptr, i32 }
          cleanup
  %590 = extractvalue { ptr, i32 } %589, 0
  store ptr %590, ptr %58, align 8
  %591 = extractvalue { ptr, i32 } %589, 1
  store i32 %591, ptr %59, align 4
  br label %592

592:                                              ; preds = %588, %576
  call void @llvm.lifetime.end.p0(i64 4, ptr %64) #11
  br label %593

593:                                              ; preds = %592, %472
  call void @llvm.lifetime.end.p0(i64 64, ptr %61) #11
  br label %594

594:                                              ; preds = %593, %468, %464
  call void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %57) #11
  call void @llvm.lifetime.end.p0(i64 2128, ptr %57) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %54) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %53) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %40) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %39) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #11
  br label %794

595:                                              ; preds = %587, %376
  br label %596

596:                                              ; preds = %595
  %597 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 6
  %598 = load i8, ptr %597, align 8, !tbaa !50, !range !60, !noundef !61
  %599 = trunc i8 %598 to i1
  br i1 %599, label %609, label %600

600:                                              ; preds = %596
  %601 = load ptr, ptr %13, align 8, !tbaa !5
  %602 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %601)
  br i1 %602, label %606, label %603

603:                                              ; preds = %600
  %604 = load ptr, ptr %14, align 8, !tbaa !5
  %605 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %604)
  br i1 %605, label %606, label %609

606:                                              ; preds = %603, %600
  %607 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef @.str.12, ptr noundef @.str.1, i32 noundef 934, ptr noundef @.str.13)
  br i1 %607, label %608, label %609

608:                                              ; preds = %606
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #11, !srcloc !62
  br label %609

609:                                              ; preds = %608, %606, %603, %596
  br label %610

610:                                              ; preds = %609
  br label %611

611:                                              ; preds = %610
  %612 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 6
  %613 = load i8, ptr %612, align 8, !tbaa !50, !range !60, !noundef !61
  %614 = trunc i8 %613 to i1
  br i1 %614, label %769, label %615

615:                                              ; preds = %611
  %616 = load ptr, ptr %13, align 8, !tbaa !5
  %617 = call noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %616)
  br i1 %617, label %618, label %622

618:                                              ; preds = %615
  %619 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 2
  %620 = load float, ptr %619, align 8, !tbaa !63
  %621 = fcmp une float %620, 0.000000e+00
  br i1 %621, label %629, label %622

622:                                              ; preds = %618, %615
  %623 = load ptr, ptr %14, align 8, !tbaa !5
  %624 = call noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %623)
  br i1 %624, label %625, label %769

625:                                              ; preds = %622
  %626 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 4
  %627 = load float, ptr %626, align 16, !tbaa !64
  %628 = fcmp une float %627, 0.000000e+00
  br i1 %628, label %629, label %769

629:                                              ; preds = %625, %618
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #11
  %630 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 9
  %631 = call noundef i32 @_ZNSt13__atomic_baseIjEppEi(ptr noundef nonnull align 4 dereferenceable(4) %630, i32 noundef 0) #11
  store i32 %631, ptr %76, align 4, !tbaa !12
  %632 = load i32, ptr %76, align 4, !tbaa !12
  %633 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 8
  %634 = load i32, ptr %633, align 8, !tbaa !65
  %635 = icmp uge i32 %632, %634
  br i1 %635, label %636, label %640

636:                                              ; preds = %629
  %637 = load ptr, ptr %8, align 8, !tbaa !5
  %638 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactAllocator", ptr %637, i32 0, i32 3
  %639 = call noundef i32 @_ZN3JPHoRERNS_19EPhysicsUpdateErrorES0_(ptr noundef nonnull align 4 dereferenceable(4) %638, i32 noundef 4)
  store i32 2, ptr %21, align 4
  br label %766

640:                                              ; preds = %629
  %641 = load ptr, ptr %12, align 8, !tbaa !5
  store i8 1, ptr %641, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %77) #11
  %642 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 7
  %643 = load ptr, ptr %642, align 8, !tbaa !66
  %644 = load i32, ptr %76, align 4, !tbaa !12
  %645 = zext i32 %644 to i64
  %646 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %643, i64 %645
  store ptr %646, ptr %77, align 8, !tbaa !5
  %647 = load ptr, ptr %77, align 8, !tbaa !5
  call void @llvm.memset.p0.i64(ptr align 8 %647, i8 0, i64 864, i1 false)
  call void @_ZN3JPH24ContactConstraintManager17ContactConstraintC2Ev(ptr noundef nonnull align 8 dereferenceable(864) %647) #11
  %648 = load ptr, ptr %13, align 8, !tbaa !5
  %649 = load ptr, ptr %77, align 8, !tbaa !5
  %650 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %649, i32 0, i32 0
  store ptr %648, ptr %650, align 8, !tbaa !67
  %651 = load ptr, ptr %14, align 8, !tbaa !5
  %652 = load ptr, ptr %77, align 8, !tbaa !5
  %653 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %652, i32 0, i32 1
  store ptr %651, ptr %653, align 8, !tbaa !70
  %654 = load i64, ptr %50, align 8, !tbaa !14
  %655 = load ptr, ptr %77, align 8, !tbaa !5
  %656 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %655, i32 0, i32 2
  store i64 %654, ptr %656, align 8, !tbaa !71
  %657 = load ptr, ptr %77, align 8, !tbaa !5
  %658 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %657, i32 0, i32 3
  call void @_ZNK3JPH4Vec311StoreFloat3EPNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16) %54, ptr noundef %658)
  %659 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 0
  %660 = load float, ptr %659, align 16, !tbaa !45
  %661 = load ptr, ptr %77, align 8, !tbaa !5
  %662 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %661, i32 0, i32 4
  store float %660, ptr %662, align 4, !tbaa !72
  %663 = load ptr, ptr %13, align 8, !tbaa !5
  %664 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %663)
  %665 = icmp ne ptr %664, null
  br i1 %665, label %666, label %673

666:                                              ; preds = %640
  %667 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 2
  %668 = load float, ptr %667, align 8, !tbaa !63
  %669 = load ptr, ptr %13, align 8, !tbaa !5
  %670 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %669)
  %671 = call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %670)
  %672 = fmul float %668, %671
  br label %674

673:                                              ; preds = %640
  br label %674

674:                                              ; preds = %673, %666
  %675 = phi float [ %672, %666 ], [ 0.000000e+00, %673 ]
  %676 = load ptr, ptr %77, align 8, !tbaa !5
  %677 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %676, i32 0, i32 5
  store float %675, ptr %677, align 8, !tbaa !73
  %678 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 3
  %679 = load float, ptr %678, align 4, !tbaa !74
  %680 = load ptr, ptr %77, align 8, !tbaa !5
  %681 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %680, i32 0, i32 6
  store float %679, ptr %681, align 4, !tbaa !75
  %682 = load ptr, ptr %14, align 8, !tbaa !5
  %683 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %682)
  %684 = icmp ne ptr %683, null
  br i1 %684, label %685, label %692

685:                                              ; preds = %674
  %686 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 4
  %687 = load float, ptr %686, align 16, !tbaa !64
  %688 = load ptr, ptr %14, align 8, !tbaa !5
  %689 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %688)
  %690 = call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %689)
  %691 = fmul float %687, %690
  br label %693

692:                                              ; preds = %674
  br label %693

693:                                              ; preds = %692, %685
  %694 = phi float [ %691, %685 ], [ 0.000000e+00, %692 ]
  %695 = load ptr, ptr %77, align 8, !tbaa !5
  %696 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %695, i32 0, i32 7
  store float %694, ptr %696, align 8, !tbaa !76
  %697 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %53, i32 0, i32 5
  %698 = load float, ptr %697, align 4, !tbaa !77
  %699 = load ptr, ptr %77, align 8, !tbaa !5
  %700 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %699, i32 0, i32 8
  store float %698, ptr %700, align 4, !tbaa !78
  %701 = load ptr, ptr %77, align 8, !tbaa !5
  %702 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %701, i32 0, i32 9
  %703 = load ptr, ptr %52, align 8, !tbaa !5
  %704 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %703, i32 0, i32 3
  %705 = load i16, ptr %704, align 2, !tbaa !37
  %706 = zext i16 %705 to i32
  call void @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE6resizeEj(ptr noundef nonnull align 8 dereferenceable(808) %702, i32 noundef %706)
  call void @llvm.lifetime.start.p0(i64 4, ptr %78) #11
  store i32 0, ptr %78, align 4, !tbaa !12
  br label %707

707:                                              ; preds = %745, %693
  %708 = load i32, ptr %78, align 4, !tbaa !12
  %709 = load ptr, ptr %52, align 8, !tbaa !5
  %710 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %709, i32 0, i32 3
  %711 = load i16, ptr %710, align 2, !tbaa !37
  %712 = zext i16 %711 to i32
  %713 = icmp ult i32 %708, %712
  br i1 %713, label %715, label %714

714:                                              ; preds = %707
  store i32 11, ptr %21, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %78) #11
  br label %748

715:                                              ; preds = %707
  call void @llvm.lifetime.start.p0(i64 8, ptr %79) #11
  %716 = load ptr, ptr %52, align 8, !tbaa !5
  %717 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %716, i32 0, i32 4
  %718 = load i32, ptr %78, align 4, !tbaa !12
  %719 = zext i32 %718 to i64
  %720 = getelementptr inbounds [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"], ptr %717, i64 0, i64 %719
  store ptr %720, ptr %79, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %80) #11
  %721 = load ptr, ptr %77, align 8, !tbaa !5
  %722 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %721, i32 0, i32 9
  %723 = load i32, ptr %78, align 4, !tbaa !12
  %724 = call noundef nonnull align 8 dereferenceable(200) ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEixEj(ptr noundef nonnull align 8 dereferenceable(808) %722, i32 noundef %723)
  store ptr %724, ptr %80, align 8, !tbaa !5
  %725 = load ptr, ptr %80, align 8, !tbaa !5
  %726 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %725, i32 0, i32 0
  %727 = load ptr, ptr %79, align 8, !tbaa !5
  %728 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %727, i32 0, i32 2
  %729 = load float, ptr %728, align 4, !tbaa !79
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %726, float noundef %729)
  %730 = load ptr, ptr %80, align 8, !tbaa !5
  %731 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %730, i32 0, i32 1
  %732 = load ptr, ptr %79, align 8, !tbaa !5
  %733 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %732, i32 0, i32 3
  %734 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8) %733, i32 noundef 0)
  %735 = load float, ptr %734, align 4, !tbaa !35
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %731, float noundef %735)
  %736 = load ptr, ptr %80, align 8, !tbaa !5
  %737 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %736, i32 0, i32 2
  %738 = load ptr, ptr %79, align 8, !tbaa !5
  %739 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %738, i32 0, i32 3
  %740 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8) %739, i32 noundef 1)
  %741 = load float, ptr %740, align 4, !tbaa !35
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %737, float noundef %741)
  %742 = load ptr, ptr %79, align 8, !tbaa !5
  %743 = load ptr, ptr %80, align 8, !tbaa !5
  %744 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %743, i32 0, i32 3
  store ptr %742, ptr %744, align 8, !tbaa !82
  call void @llvm.lifetime.end.p0(i64 8, ptr %80) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %79) #11
  br label %745

745:                                              ; preds = %715
  %746 = load i32, ptr %78, align 4, !tbaa !12
  %747 = add i32 %746, 1
  store i32 %747, ptr %78, align 4, !tbaa !12
  br label %707, !llvm.loop !86

748:                                              ; preds = %714
  %749 = load ptr, ptr %77, align 8, !tbaa !5
  %750 = load float, ptr %41, align 4, !tbaa !35
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %81, ptr align 16 %42, i64 16, i1 false), !tbaa.struct !20
  %751 = load ptr, ptr %13, align 8, !tbaa !5
  %752 = load ptr, ptr %14, align 8, !tbaa !5
  %753 = getelementptr inbounds { double, double }, ptr %81, i32 0, i32 0
  %754 = load double, ptr %753, align 16
  %755 = getelementptr inbounds { double, double }, ptr %81, i32 0, i32 1
  %756 = load double, ptr %755, align 8
  call void @_ZN3JPH24ContactConstraintManager54CalculateFrictionAndNonPenetrationConstraintPropertiesERNS0_17ContactConstraintERKNS_15ContactSettingsEfNS_4Vec3ERKNS_5Mat44ES9_RKNS_4BodyESC_(ptr noundef nonnull align 8 dereferenceable(248) %82, ptr noundef nonnull align 8 dereferenceable(864) %749, ptr noundef nonnull align 16 dereferenceable(64) %53, float noundef %750, double %754, double %756, ptr noundef nonnull align 16 dereferenceable(64) %39, ptr noundef nonnull align 16 dereferenceable(64) %40, ptr noundef nonnull align 16 dereferenceable(122) %751, ptr noundef nonnull align 16 dereferenceable(122) %752)
  %757 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %82, i32 0, i32 10
  %758 = load ptr, ptr %757, align 8, !tbaa !30
  %759 = getelementptr inbounds %"class.JPH::PhysicsUpdateContext", ptr %758, i32 0, i32 10
  %760 = load ptr, ptr %759, align 8, !tbaa !87
  %761 = load i32, ptr %76, align 4, !tbaa !12
  %762 = load ptr, ptr %13, align 8, !tbaa !5
  %763 = call noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122) %762)
  %764 = load ptr, ptr %14, align 8, !tbaa !5
  %765 = call noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122) %764)
  call void @_ZN3JPH13IslandBuilder11LinkContactEjjj(ptr noundef nonnull align 8 dereferenceable(112) %760, i32 noundef %761, i32 noundef %763, i32 noundef %765)
  call void @llvm.lifetime.end.p0(i64 8, ptr %77) #11
  store i32 0, ptr %21, align 4
  br label %766

766:                                              ; preds = %748, %636
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #11
  %767 = load i32, ptr %21, align 4
  switch i32 %767, label %776 [
    i32 0, label %768
  ]

768:                                              ; preds = %766
  br label %769

769:                                              ; preds = %768, %625, %622, %611
  %770 = load ptr, ptr %48, align 8, !tbaa !5
  %771 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %770, i32 0, i32 2
  %772 = call noundef zeroext i16 @_ZNSt13__atomic_baseItEoREt(ptr noundef nonnull align 2 dereferenceable(2) %771, i16 noundef zeroext 1) #11
  %773 = load ptr, ptr %48, align 8, !tbaa !5
  %774 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %773, i32 0, i32 0
  %775 = load i32, ptr %774, align 4, !tbaa !43
  store i32 %775, ptr %45, align 4, !tbaa !12
  store i32 0, ptr %21, align 4
  br label %776

776:                                              ; preds = %769, %766
  call void @llvm.lifetime.end.p0(i64 16, ptr %54) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %53) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #11
  br label %777

777:                                              ; preds = %776, %333
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #11
  %778 = load i32, ptr %21, align 4
  switch i32 %778, label %799 [
    i32 0, label %779
    i32 2, label %783
  ]

779:                                              ; preds = %777
  br label %780

780:                                              ; preds = %779
  %781 = load i32, ptr %45, align 4, !tbaa !12
  %782 = icmp ne i32 %781, -1
  br i1 %782, label %300, label %783, !llvm.loop !88

783:                                              ; preds = %780, %777
  %784 = load i32, ptr %44, align 4, !tbaa !12
  %785 = load ptr, ptr %38, align 8, !tbaa !5
  %786 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %785, i32 0, i32 2
  store i32 %784, ptr %786, align 4, !tbaa !27
  call void @llvm.lifetime.end.p0(i64 4, ptr %45) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %44) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %40) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %39) #11
  store i32 0, ptr %21, align 4
  br label %787

787:                                              ; preds = %783, %270
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #11
  br label %788

788:                                              ; preds = %787, %260
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #11
  br label %789

789:                                              ; preds = %788, %246
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #11
  br label %790

790:                                              ; preds = %789, %202
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #11
  br label %791

791:                                              ; preds = %790, %117
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #11
  %792 = load i32, ptr %21, align 4
  switch i32 %792, label %799 [
    i32 0, label %793
    i32 1, label %793
  ]

793:                                              ; preds = %791, %791
  ret void

794:                                              ; preds = %594
  %795 = load ptr, ptr %58, align 8
  %796 = load i32, ptr %59, align 4
  %797 = insertvalue { ptr, i32 } poison, ptr %795, 0
  %798 = insertvalue { ptr, i32 } %797, i32 %796, 1
  resume { ptr, i32 } %798

799:                                              ; preds = %791, %777
  unreachable
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH6BodyIDltERKS0_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8BodyPairC2ENS_6BodyIDES1_(ptr noundef nonnull align 8 dereferenceable(8), i32, i32) unnamed_addr #1 align 2

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

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16)) #8 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Quat17sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) #6

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH4Quat3DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1172)) #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH15ContactSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(64)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122)) #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15ContactManifoldC2Ev(ptr noundef nonnull align 16 dereferenceable(2128)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64)) #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4414PostTranslatedENS_4Vec3E(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZNK3JPH5Mat447ToMat44Ev(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #6

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNSt13__atomic_baseIjEppEi(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) #1 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #9

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager17ContactConstraintC2Ev(ptr noundef nonnull align 8 dereferenceable(864)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH4Vec311StoreFloat3EPNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE6resizeEj(ptr noundef nonnull align 8 dereferenceable(808), i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(200) ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEixEj(ptr noundef nonnull align 8 dereferenceable(808), i32 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64), float noundef) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8), i32 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager54CalculateFrictionAndNonPenetrationConstraintPropertiesERNS0_17ContactConstraintERKNS_15ContactSettingsEfNS_4Vec3ERKNS_5Mat44ES9_RKNS_4BodyESC_(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef nonnull align 8 dereferenceable(864), ptr noundef nonnull align 16 dereferenceable(64), float noundef, double, double, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122)) #2 align 2

declare void @_ZN3JPH13IslandBuilder11LinkContactEjjj(ptr noundef nonnull align 8 dereferenceable(112), i32 noundef, i32 noundef, i32 noundef) #10

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122)) #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 #5 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 #7 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #10 = { "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 #11 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"bool", !7, i64 0}
!11 = !{i64 0, i64 4, !12}
!12 = !{!13, !13, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!15, !15, i64 0}
!15 = !{!"long", !7, i64 0}
!16 = !{!17, !13, i64 184}
!17 = !{!"_ZTSN3JPH24ContactConstraintManagerE", !7, i64 8, !13, i64 184, !6, i64 192, !6, i64 200, !6, i64 208, !6, i64 216, !6, i64 224, !13, i64 232, !18, i64 236, !6, i64 240}
!18 = !{!"_ZTSSt6atomicIjE", !19, i64 0}
!19 = !{!"_ZTSSt13__atomic_baseIjE", !13, i64 0}
!20 = !{i64 0, i64 16, !21}
!21 = !{!7, !7, i64 0}
!22 = !{!17, !6, i64 192}
!23 = !{!24, !25, i64 40}
!24 = !{!"_ZTSN3JPH15PhysicsSettingsE", !13, i64 0, !13, i64 4, !13, i64 8, !25, i64 12, !25, i64 16, !25, i64 20, !25, i64 24, !25, i64 28, !25, i64 32, !25, i64 36, !25, i64 40, !25, i64 44, !25, i64 48, !25, i64 52, !13, i64 56, !13, i64 60, !25, i64 64, !25, i64 68, !25, i64 72, !10, i64 76, !10, i64 77, !10, i64 78, !10, i64 79, !10, i64 80, !10, i64 81, !10, i64 82}
!25 = !{!"float", !7, i64 0}
!26 = !{!24, !25, i64 44}
!27 = !{!28, !13, i64 24}
!28 = !{!"_ZTSN3JPH24ContactConstraintManager14CachedBodyPairE", !29, i64 0, !29, i64 12, !13, i64 24}
!29 = !{!"_ZTSN3JPH6Float3E", !25, i64 0, !25, i64 4, !25, i64 8}
!30 = !{!17, !6, i64 240}
!31 = !{!32, !25, i64 32}
!32 = !{!"_ZTSN3JPH20PhysicsUpdateContextE", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24, !25, i64 32, !25, i64 36, !18, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !33, i64 72, !13, i64 104, !6, i64 112, !18, i64 120}
!33 = !{!"_ZTSN3JPH5ArrayINS_20PhysicsUpdateContext4StepENS_16STLTempAllocatorIS2_EEEE", !34, i64 0, !15, i64 8, !15, i64 16, !6, i64 24}
!34 = !{!"_ZTSN3JPH16STLTempAllocatorINS_20PhysicsUpdateContext4StepEEE", !6, i64 0}
!35 = !{!25, !25, i64 0}
!36 = !{!32, !6, i64 0}
!37 = !{!38, !41, i64 18}
!38 = !{!"_ZTSN3JPH24ContactConstraintManager14CachedManifoldE", !13, i64 0, !29, i64 4, !39, i64 16, !41, i64 18, !7, i64 20}
!39 = !{!"_ZTSSt6atomicItE", !40, i64 0}
!40 = !{!"_ZTSSt13__atomic_baseItE", !41, i64 0}
!41 = !{!"short", !7, i64 0}
!42 = !{i64 2159366240}
!43 = !{!38, !13, i64 0}
!44 = !{!17, !6, i64 208}
!45 = !{!46, !25, i64 0}
!46 = !{!"_ZTSN3JPH15ContactSettingsE", !25, i64 0, !25, i64 4, !25, i64 8, !25, i64 12, !25, i64 16, !25, i64 20, !10, i64 24, !47, i64 32, !47, i64 48}
!47 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!48 = !{!17, !6, i64 216}
!49 = !{!46, !25, i64 4}
!50 = !{!46, !10, i64 24}
!51 = !{!17, !6, i64 200}
!52 = distinct !{!52, !53}
!53 = !{!"llvm.loop.mustprogress"}
!54 = !{!55, !25, i64 32}
!55 = !{!"_ZTSN3JPH15ContactManifoldE", !47, i64 0, !47, i64 16, !25, i64 32, !56, i64 36, !56, i64 40, !57, i64 48, !57, i64 1088}
!56 = !{!"_ZTSN3JPH10SubShapeIDE", !13, i64 0}
!57 = !{!"_ZTSN3JPH11StaticArrayINS_4Vec3ELj64EEE", !13, i64 0, !7, i64 16}
!58 = !{!59, !59, i64 0}
!59 = !{!"vtable pointer", !8, i64 0}
!60 = !{i8 0, i8 2}
!61 = !{}
!62 = !{i64 2159366781}
!63 = !{!46, !25, i64 8}
!64 = !{!46, !25, i64 16}
!65 = !{!17, !13, i64 232}
!66 = !{!17, !6, i64 224}
!67 = !{!68, !6, i64 0}
!68 = !{!"_ZTSN3JPH24ContactConstraintManager17ContactConstraintE", !6, i64 0, !6, i64 8, !15, i64 16, !29, i64 24, !25, i64 36, !25, i64 40, !25, i64 44, !25, i64 48, !25, i64 52, !69, i64 56}
!69 = !{!"_ZTSN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEE", !13, i64 0, !7, i64 8}
!70 = !{!68, !6, i64 8}
!71 = !{!68, !15, i64 16}
!72 = !{!68, !25, i64 36}
!73 = !{!68, !25, i64 40}
!74 = !{!46, !25, i64 12}
!75 = !{!68, !25, i64 44}
!76 = !{!68, !25, i64 48}
!77 = !{!46, !25, i64 20}
!78 = !{!68, !25, i64 52}
!79 = !{!80, !25, i64 24}
!80 = !{!"_ZTSN3JPH24ContactConstraintManager18CachedContactPointE", !29, i64 0, !29, i64 12, !25, i64 24, !81, i64 28}
!81 = !{!"_ZTSN3JPH6VectorILj2EEE", !7, i64 0}
!82 = !{!83, !6, i64 192}
!83 = !{!"_ZTSN3JPH24ContactConstraintManager17WorldContactPointE", !84, i64 0, !84, i64 64, !84, i64 128, !6, i64 192}
!84 = !{!"_ZTSN3JPH18AxisConstraintPartE", !29, i64 0, !29, i64 12, !29, i64 24, !29, i64 36, !25, i64 48, !85, i64 52, !25, i64 60}
!85 = !{!"_ZTSN3JPH10SpringPartE", !25, i64 0, !25, i64 4}
!86 = distinct !{!86, !53}
!87 = !{!32, !6, i64 64}
!88 = distinct !{!88, !53}


; 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"

%"struct.JPH::BodyPair" = type { %"class.JPH::BodyID", %"class.JPH::BodyID" }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.1 }
%union.anon.1 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::ContactSettings" = type { float, float, float, float, float, float, i8, %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::ContactManifold" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SubShapeID", %"class.JPH::SubShapeID", [4 x i8], %"class.JPH::StaticArray.34", %"class.JPH::StaticArray.34" }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::StaticArray.34" = type { i32, [12 x i8], [64 x %"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage"] }
%"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage" = type { [16 x i8] }
%"class.JPH::ContactConstraintManager::ManifoldCache" = type <{ %"class.JPH::LFHMAllocator", %"class.JPH::LockFreeHashMap", %"class.JPH::LockFreeHashMap.0", i8, [7 x i8] }>
%"class.JPH::LFHMAllocator" = type { ptr, i32, %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::LockFreeHashMap" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"class.JPH::LockFreeHashMap.0" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"class.JPH::ContactConstraintManager::CachedContactPoint" = type { %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::Vector" }
%"class.JPH::Float3" = type { float, float, float }
%"class.JPH::Vector" = type { [2 x float] }
%"class.JPH::ContactConstraintManager::ContactConstraint" = type { ptr, ptr, i64, %"class.JPH::Float3", float, float, float, float, float, %"class.JPH::StaticArray" }
%"class.JPH::StaticArray" = type { i32, [4 x i8], [4 x %"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage"] }
%"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage" = type { [200 x i8] }

@.str.1 = external hidden unnamed_addr constant [106 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [64 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [71 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 align 2

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

; Function Attrs: 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) #3

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #4 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_14SubShapeIDPairEmi(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(16), i64 noundef, i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN3JPHoRERNS_19EPhysicsUpdateErrorES0_(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(56) ptr @_ZN3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK3JPH24ContactConstraintManager13ManifoldCache8ToHandleEPKNS_15LockFreeHashMapINS_14SubShapeIDPairENS0_14CachedManifoldEE8KeyValueE(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache10FromHandleEj(ptr noundef nonnull align 8 dereferenceable(81), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache4FindERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(56) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue6GetKeyEv(ptr noundef nonnull align 4 dereferenceable(76)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(28) ptr @_ZNK3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK3JPH8BodyPair7GetHashEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(28) ptr @_ZN3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK3JPH14SubShapeIDPair7GetHashEv(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN3JPH24ContactConstraintManager14CachedManifold21sGetRequiredTotalSizeEi(i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i16 @_ZNSt13__atomic_baseItEoREt(ptr noundef nonnull align 2 dereferenceable(2), i16 noundef zeroext) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH24ContactConstraintManager20GetContactsFromCacheERNS0_16ContactAllocatorERNS_4BodyES4_RbS5_(ptr noundef nonnull align 8 dereferenceable(248) %0, ptr noundef nonnull align 8 dereferenceable(32) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(122) %3, ptr nocapture noundef nonnull writeonly align 1 dereferenceable(1) %4, ptr nocapture noundef nonnull writeonly align 1 dereferenceable(1) %5) local_unnamed_addr #5 align 2 personality ptr @__gxx_personality_v0 {
  %7 = alloca %"struct.JPH::BodyPair", align 8
  %8 = alloca %"class.JPH::Quat", align 16
  %9 = alloca %"class.JPH::Quat", 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::Quat", align 16
  %14 = alloca %"class.JPH::Mat44", align 16
  %15 = alloca %"class.JPH::Mat44", align 16
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = alloca %"class.JPH::ContactSettings", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::ContactManifold", align 16
  %21 = alloca %"class.JPH::Mat44", align 16
  %22 = alloca %"class.JPH::Mat44", align 16
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca %"class.JPH::Vec3", align 16
  store i8 0, ptr %5, align 1, !tbaa !5
  store i8 0, ptr %4, align 1, !tbaa !5
  %26 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
  %27 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %3)
  %28 = tail call noundef zeroext i1 @_ZNK3JPH6BodyIDltERKS0_(ptr noundef nonnull align 4 dereferenceable(4) %26, ptr noundef nonnull align 4 dereferenceable(4) %27)
  %. = select i1 %28, ptr %3, ptr %2
  %.206 = select i1 %28, ptr %2, ptr %3
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #11
  %29 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  %.sroa.0132.0.copyload = load i32, ptr %29, align 4, !tbaa !9
  %30 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %.sroa.0131.0.copyload = load i32, ptr %30, align 4, !tbaa !9
  call void @_ZN3JPH8BodyPairC2ENS_6BodyIDES1_(ptr noundef nonnull align 8 dereferenceable(8) %7, i32 %.sroa.0132.0.copyload, i32 %.sroa.0131.0.copyload)
  %31 = call noundef i64 @_ZNK3JPH8BodyPair7GetHashEv(ptr noundef nonnull align 8 dereferenceable(8) %7)
  %32 = getelementptr inbounds i8, ptr %0, i64 8
  %33 = getelementptr inbounds i8, ptr %0, i64 184
  %34 = load i32, ptr %33, align 8, !tbaa !11
  %35 = xor i32 %34, 1
  %36 = sext i32 %35 to i64
  %37 = getelementptr inbounds [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], ptr %32, i64 0, i64 %36
  %38 = call noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache4FindERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81) %37, ptr noundef nonnull align 8 dereferenceable(8) %7, i64 noundef %31)
  %39 = icmp eq ptr %38, null
  br i1 %39, label %364, label %40

40:                                               ; preds = %6
  %41 = call noundef nonnull align 4 dereferenceable(28) ptr @_ZNK3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40) %38)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #11
  %42 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  %43 = extractvalue { double, double } %42, 0
  store double %43, ptr %9, align 16
  %44 = getelementptr inbounds i8, ptr %9, i64 8
  %45 = extractvalue { double, double } %42, 1
  store double %45, ptr %44, align 8
  %46 = call { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %9)
  %47 = extractvalue { double, double } %46, 0
  store double %47, ptr %8, align 16
  %48 = getelementptr inbounds i8, ptr %8, i64 8
  %49 = extractvalue { double, double } %46, 1
  store double %49, ptr %48, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #11
  %50 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %51 = extractvalue { double, double } %50, 0
  store double %51, ptr %11, align 16
  %52 = getelementptr inbounds i8, ptr %11, i64 8
  %53 = extractvalue { double, double } %50, 1
  store double %53, ptr %52, align 8
  %54 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  %55 = extractvalue { double, double } %54, 0
  %56 = extractvalue { double, double } %54, 1
  %57 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %11, double %55, double %56)
  %58 = extractvalue { double, double } %57, 0
  %59 = extractvalue { double, double } %57, 1
  %60 = call { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16) %8, double %58, double %59)
  %61 = extractvalue { double, double } %60, 0
  store double %61, ptr %10, align 16
  %62 = getelementptr inbounds i8, ptr %10, i64 8
  %63 = extractvalue { double, double } %60, 1
  store double %63, ptr %62, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #11
  %64 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %41)
  %65 = extractvalue { double, double } %64, 0
  %66 = extractvalue { double, double } %64, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #11
  %67 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %10, double %65, double %66)
  %68 = extractvalue { double, double } %67, 0
  store double %68, ptr %12, align 16
  %69 = getelementptr inbounds i8, ptr %12, i64 8
  %70 = extractvalue { double, double } %67, 1
  store double %70, ptr %69, align 8
  %71 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %12)
  %72 = getelementptr inbounds i8, ptr %0, i64 192
  %73 = load ptr, ptr %72, align 8, !tbaa !16
  %74 = getelementptr inbounds i8, ptr %73, i64 40
  %75 = load float, ptr %74, align 4, !tbaa !17
  %76 = fcmp ogt float %71, %75
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #11
  br i1 %76, label %363, label %77

77:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #11
  %78 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %79 = extractvalue { double, double } %78, 0
  %80 = extractvalue { double, double } %78, 1
  %81 = call { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %8, double %79, double %80)
  %82 = extractvalue { double, double } %81, 0
  store double %82, ptr %13, align 16
  %83 = getelementptr inbounds i8, ptr %13, i64 8
  %84 = extractvalue { double, double } %81, 1
  store double %84, ptr %83, align 8
  %85 = getelementptr inbounds i8, ptr %41, i64 12
  %86 = call { double, double } @_ZN3JPH4Quat17sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %85)
  %87 = extractvalue { double, double } %86, 0
  %88 = extractvalue { double, double } %86, 1
  %89 = call noundef float @_ZNK3JPH4Quat3DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %87, double %88)
  %90 = call noundef float @_ZSt3absf(float noundef %89)
  %91 = load ptr, ptr %72, align 8, !tbaa !16
  %92 = getelementptr inbounds i8, ptr %91, i64 44
  %93 = load float, ptr %92, align 4, !tbaa !20
  %94 = fcmp olt float %90, %93
  br i1 %94, label %362, label %95

95:                                               ; preds = %77
  store i8 1, ptr %4, align 1, !tbaa !5
  %96 = load i32, ptr %33, align 8, !tbaa !11
  %97 = sext i32 %96 to i64
  %98 = getelementptr inbounds [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], ptr %32, i64 0, i64 %97
  %99 = call noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81) %98, ptr noundef nonnull align 8 dereferenceable(32) %1, ptr noundef nonnull align 8 dereferenceable(8) %7, i64 noundef %31)
  %100 = icmp eq ptr %99, null
  br i1 %100, label %362, label %101

101:                                              ; preds = %95
  %102 = call noundef nonnull align 4 dereferenceable(28) ptr @_ZN3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40) %99)
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(28) %102, ptr noundef nonnull align 4 dereferenceable(28) %41, i64 28, i1 false)
  %103 = getelementptr inbounds i8, ptr %41, i64 24
  %104 = load i32, ptr %103, align 4, !tbaa !21
  %105 = icmp eq i32 %104, -1
  br i1 %105, label %362, label %106

106:                                              ; preds = %101
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %14) #11
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %14, ptr noundef nonnull align 16 dereferenceable(122) %.206)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %15) #11
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %15, ptr noundef nonnull align 16 dereferenceable(122) %.)
  %107 = getelementptr inbounds i8, ptr %0, i64 240
  %108 = load ptr, ptr %107, align 8, !tbaa !24
  %109 = getelementptr inbounds i8, ptr %108, i64 32
  %110 = load float, ptr %109, align 8, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #11
  %111 = load ptr, ptr %108, align 8, !tbaa !30
  %112 = call { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1172) %111)
  %113 = extractvalue { double, double } %112, 0
  store double %113, ptr %16, align 16
  %114 = getelementptr inbounds i8, ptr %16, i64 8
  %115 = extractvalue { double, double } %112, 1
  store double %115, ptr %114, align 8
  %116 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %16, float noundef %110)
  %117 = extractvalue { double, double } %116, 0
  %118 = extractvalue { double, double } %116, 1
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #11
  %119 = load i32, ptr %103, align 4, !tbaa !21
  %120 = getelementptr inbounds i8, ptr %0, i64 208
  %121 = getelementptr inbounds i8, ptr %0, i64 216
  %122 = getelementptr inbounds i8, ptr %17, i64 4
  %123 = getelementptr inbounds i8, ptr %17, i64 24
  %124 = getelementptr inbounds i8, ptr %19, i64 8
  %125 = getelementptr inbounds i8, ptr %18, i64 8
  %126 = getelementptr inbounds i8, ptr %0, i64 200
  %127 = getelementptr inbounds i8, ptr %20, i64 16
  %128 = getelementptr inbounds i8, ptr %20, i64 36
  %129 = getelementptr inbounds i8, ptr %20, i64 40
  %.sroa.553.0..sroa_idx = getelementptr inbounds i8, ptr %20, i64 8
  %130 = getelementptr inbounds i8, ptr %20, i64 48
  %131 = getelementptr inbounds i8, ptr %20, i64 1088
  %132 = getelementptr inbounds i8, ptr %25, i64 8
  %133 = getelementptr inbounds i8, ptr %20, i64 32
  %134 = getelementptr inbounds i8, ptr %17, i64 8
  %135 = getelementptr inbounds i8, ptr %17, i64 16
  %136 = getelementptr inbounds i8, ptr %0, i64 236
  %137 = getelementptr inbounds i8, ptr %0, i64 232
  %138 = getelementptr inbounds i8, ptr %0, i64 224
  %139 = getelementptr inbounds i8, ptr %17, i64 12
  %140 = getelementptr inbounds i8, ptr %17, i64 20
  br label %141

141:                                              ; preds = %357, %106
  %.0182 = phi i32 [ %119, %106 ], [ %360, %357 ]
  %.0179 = phi i32 [ -1, %106 ], [ %162, %357 ]
  %142 = call noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache10FromHandleEj(ptr noundef nonnull align 8 dereferenceable(81) %37, i32 noundef %.0182)
  %143 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue6GetKeyEv(ptr noundef nonnull align 4 dereferenceable(76) %142)
  %144 = call noundef nonnull align 4 dereferenceable(56) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76) %142)
  %145 = getelementptr inbounds i8, ptr %144, i64 18
  %146 = load i16, ptr %145, align 2, !tbaa !31
  %.not = icmp eq i16 %146, 0
  br i1 %.not, label %147, label %150

147:                                              ; preds = %141
  %148 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.11, ptr noundef nonnull @.str.1, i32 noundef 885)
  br i1 %148, label %149, label %150

149:                                              ; preds = %147
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #11, !srcloc !36
  br label %150

150:                                              ; preds = %149, %147, %141
  %151 = call noundef i64 @_ZNK3JPH14SubShapeIDPair7GetHashEv(ptr noundef nonnull align 4 dereferenceable(16) %143)
  %152 = load i16, ptr %145, align 2, !tbaa !31
  %153 = zext i16 %152 to i32
  %154 = call noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_14SubShapeIDPairEmi(ptr noundef nonnull align 8 dereferenceable(81) %98, ptr noundef nonnull align 8 dereferenceable(32) %1, ptr noundef nonnull align 4 dereferenceable(16) %143, i64 noundef %151, i32 noundef %153)
  %155 = icmp eq ptr %154, null
  br i1 %155, label %.thread209, label %156

156:                                              ; preds = %150
  %157 = call noundef nonnull align 4 dereferenceable(56) ptr @_ZN3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76) %154)
  %158 = load i16, ptr %145, align 2, !tbaa !31
  %159 = zext i16 %158 to i32
  %160 = call noundef i32 @_ZN3JPH24ContactConstraintManager14CachedManifold21sGetRequiredTotalSizeEi(i32 noundef %159)
  %161 = sext i32 %160 to i64
  call void @llvm.memcpy.p0.p0.i64(ptr nonnull align 4 %157, ptr nonnull align 4 %144, i64 %161, i1 false)
  store i32 %.0179, ptr %157, align 4, !tbaa !37
  %162 = call noundef i32 @_ZNK3JPH24ContactConstraintManager13ManifoldCache8ToHandleEPKNS_15LockFreeHashMapINS_14SubShapeIDPairENS0_14CachedManifoldEE8KeyValueE(ptr noundef nonnull align 8 dereferenceable(81) %98, ptr noundef nonnull %154)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %17) #11
  call void @_ZN3JPH15ContactSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(64) %17)
  %163 = load ptr, ptr %120, align 8, !tbaa !38
  %164 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %143)
  %165 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %143)
  %166 = call noundef float %163(ptr noundef nonnull align 16 dereferenceable(122) %.206, ptr noundef nonnull align 4 dereferenceable(4) %164, ptr noundef nonnull align 16 dereferenceable(122) %., ptr noundef nonnull align 4 dereferenceable(4) %165)
  store float %166, ptr %17, align 16, !tbaa !39
  %167 = load ptr, ptr %121, align 8, !tbaa !42
  %168 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %143)
  %169 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %143)
  %170 = call noundef float %167(ptr noundef nonnull align 16 dereferenceable(122) %.206, ptr noundef nonnull align 4 dereferenceable(4) %168, ptr noundef nonnull align 16 dereferenceable(122) %., ptr noundef nonnull align 4 dereferenceable(4) %169)
  store float %170, ptr %122, align 4, !tbaa !43
  %171 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  br i1 %171, label %174, label %172

172:                                              ; preds = %156
  %173 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  br label %174

174:                                              ; preds = %172, %156
  %175 = phi i1 [ true, %156 ], [ %173, %172 ]
  %176 = zext i1 %175 to i8
  store i8 %176, ptr %123, align 8, !tbaa !44
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #11
  %177 = getelementptr inbounds i8, ptr %157, i64 4
  %178 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %177)
  %179 = extractvalue { double, double } %178, 0
  %180 = extractvalue { double, double } %178, 1
  %181 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %15, double %179, double %180)
  %182 = extractvalue { double, double } %181, 0
  store double %182, ptr %19, align 16
  %183 = extractvalue { double, double } %181, 1
  store double %183, ptr %124, align 8
  %184 = call { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %19)
  %185 = extractvalue { double, double } %184, 0
  store double %185, ptr %18, align 16
  %186 = extractvalue { double, double } %184, 1
  store double %186, ptr %125, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #11
  %187 = load ptr, ptr %126, align 8, !tbaa !45
  %.not197 = icmp eq ptr %187, null
  br i1 %.not197, label %272, label %188

188:                                              ; preds = %174
  call void @llvm.lifetime.start.p0(i64 2128, ptr nonnull %20) #11
  call void @_ZN3JPH15ContactManifoldC2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %20) #11
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %127, ptr noundef nonnull align 16 dereferenceable(16) %18, i64 16, i1 false), !tbaa.struct !46
  %189 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %143)
  %190 = load i32, ptr %189, align 4, !tbaa !9
  store i32 %190, ptr %128, align 4, !tbaa !9
  %191 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %143)
  %192 = load i32, ptr %191, align 4, !tbaa !9
  store i32 %192, ptr %129, align 8, !tbaa !9
  %193 = invoke { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64) %14)
          to label %194 unwind label %218

194:                                              ; preds = %188
  %195 = extractvalue { double, double } %193, 0
  %196 = extractvalue { double, double } %193, 1
  store double %195, ptr %20, align 16
  store double %196, ptr %.sroa.553.0..sroa_idx, align 8, !tbaa !47
  %197 = getelementptr inbounds i8, ptr %157, i64 18
  %198 = load i16, ptr %197, align 2, !tbaa !31
  %199 = zext i16 %198 to i32
  invoke void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040) %130, i32 noundef %199)
          to label %200 unwind label %216

200:                                              ; preds = %194
  %201 = load i16, ptr %197, align 2, !tbaa !31
  %202 = zext i16 %201 to i32
  invoke void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040) %131, i32 noundef %202)
          to label %203 unwind label %216

203:                                              ; preds = %200
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %21) #11
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %22) #11
  %204 = invoke { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %20)
          to label %205 unwind label %220

205:                                              ; preds = %203
  %206 = extractvalue { double, double } %204, 0
  %207 = extractvalue { double, double } %204, 1
  invoke void @_ZNK3JPH5Mat4414PostTranslatedENS_4Vec3E(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %22, ptr noundef nonnull align 16 dereferenceable(64) %15, double %206, double %207)
          to label %208 unwind label %220

208:                                              ; preds = %205
  call void @_ZNK3JPH5Mat447ToMat44Ev(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %21, ptr noundef nonnull align 16 dereferenceable(64) %22)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %22) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %23) #11
  store float 0xC7EFFFFFE0000000, ptr %23, align 4, !tbaa !48
  %209 = load i16, ptr %197, align 2, !tbaa !31
  %.not235 = icmp eq i16 %209, 0
  br i1 %.not235, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %208
  %210 = getelementptr inbounds i8, ptr %157, i64 20
  br label %222

._crit_edge:                                      ; preds = %251, %208
  %211 = phi float [ 0xC7EFFFFFE0000000, %208 ], [ %256, %251 ]
  store float %211, ptr %133, align 16, !tbaa !49
  %212 = load ptr, ptr %126, align 8, !tbaa !45
  %213 = load ptr, ptr %212, align 8, !tbaa !53
  %214 = getelementptr inbounds i8, ptr %213, i64 32
  %215 = load ptr, ptr %214, align 8
  invoke void %215(ptr noundef nonnull align 8 dereferenceable(8) %212, ptr noundef nonnull align 16 dereferenceable(122) %.206, ptr noundef nonnull align 16 dereferenceable(122) %., ptr noundef nonnull align 16 dereferenceable(2128) %20, ptr noundef nonnull align 16 dereferenceable(64) %17)
          to label %266 unwind label %267

216:                                              ; preds = %200, %194
  %217 = landingpad { ptr, i32 }
          cleanup
  br label %271

218:                                              ; preds = %188
  %219 = landingpad { ptr, i32 }
          cleanup
  br label %271

220:                                              ; preds = %205, %203
  %221 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %22) #11
  br label %270

222:                                              ; preds = %.lr.ph, %251
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %251 ]
  %223 = getelementptr inbounds [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"], ptr %210, i64 0, i64 %indvars.iv
  %224 = invoke { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %223)
          to label %225 unwind label %260

225:                                              ; preds = %222
  %226 = extractvalue { double, double } %224, 0
  %227 = extractvalue { double, double } %224, 1
  %228 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %14, double %226, double %227)
          to label %229 unwind label %260

229:                                              ; preds = %225
  %230 = trunc nuw nsw i64 %indvars.iv to i32
  %231 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %130, i32 noundef %230)
          to label %232 unwind label %260

232:                                              ; preds = %229
  %233 = extractvalue { double, double } %228, 1
  %234 = extractvalue { double, double } %228, 0
  store double %234, ptr %231, align 16
  %.sroa.542.0..sroa_idx = getelementptr inbounds i8, ptr %231, i64 8
  store double %233, ptr %.sroa.542.0..sroa_idx, align 8, !tbaa !47
  %235 = getelementptr inbounds i8, ptr %223, i64 12
  %236 = invoke { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %235)
          to label %237 unwind label %262

237:                                              ; preds = %232
  %238 = extractvalue { double, double } %236, 0
  %239 = extractvalue { double, double } %236, 1
  %240 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %21, double %238, double %239)
          to label %241 unwind label %262

241:                                              ; preds = %237
  %242 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %131, i32 noundef %230)
          to label %243 unwind label %262

243:                                              ; preds = %241
  %244 = extractvalue { double, double } %240, 1
  %245 = extractvalue { double, double } %240, 0
  store double %245, ptr %242, align 16
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %242, i64 8
  store double %244, ptr %.sroa.5.0..sroa_idx, align 8, !tbaa !47
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %24) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %25) #11
  %246 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %130, i32 noundef 0)
          to label %247 unwind label %264

247:                                              ; preds = %243
  %248 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %131, i32 noundef 0)
          to label %249 unwind label %264

249:                                              ; preds = %247
  %.sroa.034.0.copyload = load double, ptr %248, align 16
  %.sroa.235.0..sroa_idx = getelementptr inbounds i8, ptr %248, i64 8
  %.sroa.235.0.copyload = load double, ptr %.sroa.235.0..sroa_idx, align 8, !tbaa !47
  %250 = invoke { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %246, double %.sroa.034.0.copyload, double %.sroa.235.0.copyload)
          to label %251 unwind label %264

251:                                              ; preds = %249
  %252 = extractvalue { double, double } %250, 0
  store double %252, ptr %25, align 16
  %253 = extractvalue { double, double } %250, 1
  store double %253, ptr %132, align 8
  %.sroa.032.0.copyload = load double, ptr %18, align 16
  %.sroa.233.0.copyload = load double, ptr %125, align 8, !tbaa !47
  %254 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %25, double %.sroa.032.0.copyload, double %.sroa.233.0.copyload)
  store float %254, ptr %24, align 4, !tbaa !48
  %255 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull align 4 dereferenceable(4) %24)
  %256 = load float, ptr %255, align 4, !tbaa !48
  store float %256, ptr %23, align 4, !tbaa !48
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %24) #11
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %257 = load i16, ptr %197, align 2, !tbaa !31
  %258 = zext i16 %257 to i64
  %259 = icmp ult i64 %indvars.iv.next, %258
  br i1 %259, label %222, label %._crit_edge, !llvm.loop !55

260:                                              ; preds = %229, %225, %222
  %261 = landingpad { ptr, i32 }
          cleanup
  br label %269

262:                                              ; preds = %241, %237, %232
  %263 = landingpad { ptr, i32 }
          cleanup
  br label %269

264:                                              ; preds = %249, %247, %243
  %265 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %24) #11
  br label %269

266:                                              ; preds = %._crit_edge
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %21) #11
  call void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %20) #11
  call void @llvm.lifetime.end.p0(i64 2128, ptr nonnull %20) #11
  br label %272

267:                                              ; preds = %._crit_edge
  %268 = landingpad { ptr, i32 }
          cleanup
  br label %269

269:                                              ; preds = %260, %262, %264, %267
  %.pn.pn = phi { ptr, i32 } [ %268, %267 ], [ %265, %264 ], [ %263, %262 ], [ %261, %260 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #11
  br label %270

270:                                              ; preds = %269, %220
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %269 ], [ %221, %220 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %21) #11
  br label %271

271:                                              ; preds = %270, %218, %216
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %270 ], [ %217, %216 ], [ %219, %218 ]
  call void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %20) #11
  call void @llvm.lifetime.end.p0(i64 2128, ptr nonnull %20) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %17) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %15) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %14) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #11
  resume { ptr, i32 } %.pn.pn.pn.pn

272:                                              ; preds = %174, %266
  %273 = load i8, ptr %123, align 8, !tbaa !44, !range !57, !noundef !58
  %274 = trunc nuw i8 %273 to i1
  br i1 %274, label %282, label %275

275:                                              ; preds = %272
  %276 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  br i1 %276, label %279, label %277

277:                                              ; preds = %275
  %278 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  br i1 %278, label %279, label %282

279:                                              ; preds = %277, %275
  %280 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.1, i32 noundef 934, ptr noundef nonnull @.str.13)
  br i1 %280, label %281, label %282

281:                                              ; preds = %279
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #11, !srcloc !59
  br label %282

282:                                              ; preds = %281, %279, %277, %272
  %283 = load i8, ptr %123, align 8, !tbaa !44, !range !57, !noundef !58
  %284 = trunc nuw i8 %283 to i1
  br i1 %284, label %357, label %285

285:                                              ; preds = %282
  %286 = call noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  %287 = load float, ptr %134, align 8
  %288 = fcmp une float %287, 0.000000e+00
  %or.cond = select i1 %286, i1 %288, i1 false
  br i1 %or.cond, label %293, label %289

289:                                              ; preds = %285
  %290 = call noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %291 = load float, ptr %135, align 16
  %292 = fcmp une float %291, 0.000000e+00
  %or.cond5 = select i1 %290, i1 %292, i1 false
  br i1 %or.cond5, label %293, label %357

293:                                              ; preds = %289, %285
  %294 = call noundef i32 @_ZNSt13__atomic_baseIjEppEi(ptr noundef nonnull align 4 dereferenceable(4) %136, i32 noundef 0) #11
  %295 = load i32, ptr %137, align 8, !tbaa !60
  %.not198 = icmp ult i32 %294, %295
  br i1 %.not198, label %298, label %.thread217

.thread217:                                       ; preds = %293
  %296 = getelementptr inbounds i8, ptr %1, i64 28
  %297 = call noundef i32 @_ZN3JPHoRERNS_19EPhysicsUpdateErrorES0_(ptr noundef nonnull align 4 dereferenceable(4) %296, i32 noundef 4)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %17) #11
  br label %.thread209

298:                                              ; preds = %293
  store i8 1, ptr %5, align 1, !tbaa !5
  %299 = load ptr, ptr %138, align 8, !tbaa !61
  %300 = zext i32 %294 to i64
  %301 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %299, i64 %300
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(864) %301, i8 0, i64 864, i1 false)
  call void @_ZN3JPH24ContactConstraintManager17ContactConstraintC2Ev(ptr noundef nonnull align 8 dereferenceable(864) %301) #11
  store ptr %.206, ptr %301, align 8, !tbaa !62
  %302 = getelementptr inbounds i8, ptr %301, i64 8
  store ptr %., ptr %302, align 8, !tbaa !65
  %303 = getelementptr inbounds i8, ptr %301, i64 16
  store i64 %151, ptr %303, align 8, !tbaa !66
  %304 = getelementptr inbounds i8, ptr %301, i64 24
  call void @_ZNK3JPH4Vec311StoreFloat3EPNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16) %18, ptr noundef nonnull %304)
  %305 = load float, ptr %17, align 16, !tbaa !39
  %306 = getelementptr inbounds i8, ptr %301, i64 36
  store float %305, ptr %306, align 4, !tbaa !67
  %307 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  %.not199 = icmp eq ptr %307, null
  br i1 %.not199, label %313, label %308

308:                                              ; preds = %298
  %309 = load float, ptr %134, align 8, !tbaa !68
  %310 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  %311 = call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %310)
  %312 = fmul float %309, %311
  br label %313

313:                                              ; preds = %298, %308
  %314 = phi float [ %312, %308 ], [ 0.000000e+00, %298 ]
  %315 = getelementptr inbounds i8, ptr %301, i64 40
  store float %314, ptr %315, align 8, !tbaa !69
  %316 = load float, ptr %139, align 4, !tbaa !70
  %317 = getelementptr inbounds i8, ptr %301, i64 44
  store float %316, ptr %317, align 4, !tbaa !71
  %318 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %.not200 = icmp eq ptr %318, null
  br i1 %.not200, label %324, label %319

319:                                              ; preds = %313
  %320 = load float, ptr %135, align 16, !tbaa !72
  %321 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %322 = call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %321)
  %323 = fmul float %320, %322
  br label %324

324:                                              ; preds = %313, %319
  %325 = phi float [ %323, %319 ], [ 0.000000e+00, %313 ]
  %326 = getelementptr inbounds i8, ptr %301, i64 48
  store float %325, ptr %326, align 8, !tbaa !73
  %327 = load float, ptr %140, align 4, !tbaa !74
  %328 = getelementptr inbounds i8, ptr %301, i64 52
  store float %327, ptr %328, align 4, !tbaa !75
  %329 = getelementptr inbounds i8, ptr %301, i64 56
  %330 = getelementptr inbounds i8, ptr %157, i64 18
  %331 = load i16, ptr %330, align 2, !tbaa !31
  %332 = zext i16 %331 to i32
  call void @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE6resizeEj(ptr noundef nonnull align 8 dereferenceable(808) %329, i32 noundef %332)
  %333 = load i16, ptr %330, align 2, !tbaa !31
  %.not236 = icmp eq i16 %333, 0
  br i1 %.not236, label %._crit_edge234, label %.lr.ph233

.lr.ph233:                                        ; preds = %324
  %334 = getelementptr inbounds i8, ptr %157, i64 20
  br label %335

335:                                              ; preds = %.lr.ph233, %335
  %indvars.iv245 = phi i64 [ 0, %.lr.ph233 ], [ %indvars.iv.next246, %335 ]
  %336 = getelementptr inbounds [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"], ptr %334, i64 0, i64 %indvars.iv245
  %337 = trunc nuw nsw i64 %indvars.iv245 to i32
  %338 = call noundef nonnull align 8 dereferenceable(200) ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEixEj(ptr noundef nonnull align 8 dereferenceable(808) %329, i32 noundef %337)
  %339 = getelementptr inbounds i8, ptr %336, i64 24
  %340 = load float, ptr %339, align 4, !tbaa !76
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %338, float noundef %340)
  %341 = getelementptr inbounds i8, ptr %338, i64 64
  %342 = getelementptr inbounds i8, ptr %336, i64 28
  %343 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8) %342, i32 noundef 0)
  %344 = load float, ptr %343, align 4, !tbaa !48
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %341, float noundef %344)
  %345 = getelementptr inbounds i8, ptr %338, i64 128
  %346 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8) %342, i32 noundef 1)
  %347 = load float, ptr %346, align 4, !tbaa !48
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %345, float noundef %347)
  %348 = getelementptr inbounds i8, ptr %338, i64 192
  store ptr %336, ptr %348, align 8, !tbaa !79
  %indvars.iv.next246 = add nuw nsw i64 %indvars.iv245, 1
  %349 = load i16, ptr %330, align 2, !tbaa !31
  %350 = zext i16 %349 to i64
  %351 = icmp ult i64 %indvars.iv.next246, %350
  br i1 %351, label %335, label %._crit_edge234, !llvm.loop !83

._crit_edge234:                                   ; preds = %335, %324
  call void @_ZN3JPH24ContactConstraintManager54CalculateFrictionAndNonPenetrationConstraintPropertiesERNS0_17ContactConstraintERKNS_15ContactSettingsEfNS_4Vec3ERKNS_5Mat44ES9_RKNS_4BodyESC_(ptr noundef nonnull align 8 dereferenceable(248) %0, ptr noundef nonnull align 8 dereferenceable(864) %301, ptr noundef nonnull align 16 dereferenceable(64) %17, float noundef %110, double %117, double %118, ptr noundef nonnull align 16 dereferenceable(64) %14, ptr noundef nonnull align 16 dereferenceable(64) %15, ptr noundef nonnull align 16 dereferenceable(122) %.206, ptr noundef nonnull align 16 dereferenceable(122) %.)
  %352 = load ptr, ptr %107, align 8, !tbaa !24
  %353 = getelementptr inbounds i8, ptr %352, i64 64
  %354 = load ptr, ptr %353, align 8, !tbaa !84
  %355 = call noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122) %.206)
  %356 = call noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  call void @_ZN3JPH13IslandBuilder11LinkContactEjjj(ptr noundef nonnull align 8 dereferenceable(112) %354, i32 noundef %294, i32 noundef %355, i32 noundef %356)
  br label %357

357:                                              ; preds = %._crit_edge234, %289, %282
  %358 = getelementptr inbounds i8, ptr %144, i64 16
  %359 = call noundef zeroext i16 @_ZNSt13__atomic_baseItEoREt(ptr noundef nonnull align 2 dereferenceable(2) %358, i16 noundef zeroext 1) #11
  %360 = load i32, ptr %144, align 4, !tbaa !37
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %17) #11
  %.not205 = icmp eq i32 %360, -1
  br i1 %.not205, label %.thread209, label %141, !llvm.loop !85

.thread209:                                       ; preds = %150, %357, %.thread217
  %.1180216 = phi i32 [ %162, %.thread217 ], [ %.0179, %150 ], [ %162, %357 ]
  %361 = getelementptr inbounds i8, ptr %102, i64 24
  store i32 %.1180216, ptr %361, align 4, !tbaa !21
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %15) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %14) #11
  br label %362

362:                                              ; preds = %95, %101, %.thread209, %77
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #11
  br label %363

363:                                              ; preds = %40, %362
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #11
  br label %364

364:                                              ; preds = %6, %363
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #11
  ret void
}

; 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 #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH6BodyIDltERKS0_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8BodyPairC2ENS_6BodyIDES1_(ptr noundef nonnull align 8 dereferenceable(8), i32, i32) unnamed_addr #1 align 2

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

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #8 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Quat17sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) local_unnamed_addr #6

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH4Quat3DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #7 align 2

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

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH15ContactSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(64)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #6 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 #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15ContactManifoldC2Ev(ptr noundef nonnull align 16 dereferenceable(2128)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4414PostTranslatedENS_4Vec3E(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZNK3JPH5Mat447ToMat44Ev(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) local_unnamed_addr #5 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 #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #6

; 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: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNSt13__atomic_baseIjEppEi(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #9

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager17ContactConstraintC2Ev(ptr noundef nonnull align 8 dereferenceable(864)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH4Vec311StoreFloat3EPNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE6resizeEj(ptr noundef nonnull align 8 dereferenceable(808), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(200) ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEixEj(ptr noundef nonnull align 8 dereferenceable(808), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64), float noundef) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8), i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager54CalculateFrictionAndNonPenetrationConstraintPropertiesERNS0_17ContactConstraintERKNS_15ContactSettingsEfNS_4Vec3ERKNS_5Mat44ES9_RKNS_4BodyESC_(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef nonnull align 8 dereferenceable(864), ptr noundef nonnull align 16 dereferenceable(64), float noundef, double, double, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #2 align 2

declare void @_ZN3JPH13IslandBuilder11LinkContactEjjj(ptr noundef nonnull align 8 dereferenceable(112), i32 noundef, i32 noundef, i32 noundef) local_unnamed_addr #10

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 #5 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 #7 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { 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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #10 = { "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 #11 = { 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 = !{!"bool", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 184}
!12 = !{!"_ZTSN3JPH24ContactConstraintManagerE", !7, i64 8, !10, i64 184, !13, i64 192, !13, i64 200, !13, i64 208, !13, i64 216, !13, i64 224, !10, i64 232, !14, i64 236, !13, i64 240}
!13 = !{!"any pointer", !7, i64 0}
!14 = !{!"_ZTSSt6atomicIjE", !15, i64 0}
!15 = !{!"_ZTSSt13__atomic_baseIjE", !10, i64 0}
!16 = !{!12, !13, i64 192}
!17 = !{!18, !19, i64 40}
!18 = !{!"_ZTSN3JPH15PhysicsSettingsE", !10, i64 0, !10, i64 4, !10, i64 8, !19, i64 12, !19, i64 16, !19, i64 20, !19, i64 24, !19, i64 28, !19, i64 32, !19, i64 36, !19, i64 40, !19, i64 44, !19, i64 48, !19, i64 52, !10, i64 56, !10, i64 60, !19, i64 64, !19, i64 68, !19, i64 72, !6, i64 76, !6, i64 77, !6, i64 78, !6, i64 79, !6, i64 80, !6, i64 81, !6, i64 82}
!19 = !{!"float", !7, i64 0}
!20 = !{!18, !19, i64 44}
!21 = !{!22, !10, i64 24}
!22 = !{!"_ZTSN3JPH24ContactConstraintManager14CachedBodyPairE", !23, i64 0, !23, i64 12, !10, i64 24}
!23 = !{!"_ZTSN3JPH6Float3E", !19, i64 0, !19, i64 4, !19, i64 8}
!24 = !{!12, !13, i64 240}
!25 = !{!26, !19, i64 32}
!26 = !{!"_ZTSN3JPH20PhysicsUpdateContextE", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24, !19, i64 32, !19, i64 36, !14, i64 40, !13, i64 48, !13, i64 56, !13, i64 64, !27, i64 72, !10, i64 104, !13, i64 112, !14, i64 120}
!27 = !{!"_ZTSN3JPH5ArrayINS_20PhysicsUpdateContext4StepENS_16STLTempAllocatorIS2_EEEE", !28, i64 0, !29, i64 8, !29, i64 16, !13, i64 24}
!28 = !{!"_ZTSN3JPH16STLTempAllocatorINS_20PhysicsUpdateContext4StepEEE", !13, i64 0}
!29 = !{!"long", !7, i64 0}
!30 = !{!26, !13, i64 0}
!31 = !{!32, !35, i64 18}
!32 = !{!"_ZTSN3JPH24ContactConstraintManager14CachedManifoldE", !10, i64 0, !23, i64 4, !33, i64 16, !35, i64 18, !7, i64 20}
!33 = !{!"_ZTSSt6atomicItE", !34, i64 0}
!34 = !{!"_ZTSSt13__atomic_baseItE", !35, i64 0}
!35 = !{!"short", !7, i64 0}
!36 = !{i64 2159366240}
!37 = !{!32, !10, i64 0}
!38 = !{!12, !13, i64 208}
!39 = !{!40, !19, i64 0}
!40 = !{!"_ZTSN3JPH15ContactSettingsE", !19, i64 0, !19, i64 4, !19, i64 8, !19, i64 12, !19, i64 16, !19, i64 20, !6, i64 24, !41, i64 32, !41, i64 48}
!41 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!42 = !{!12, !13, i64 216}
!43 = !{!40, !19, i64 4}
!44 = !{!40, !6, i64 24}
!45 = !{!12, !13, i64 200}
!46 = !{i64 0, i64 16, !47}
!47 = !{!7, !7, i64 0}
!48 = !{!19, !19, i64 0}
!49 = !{!50, !19, i64 32}
!50 = !{!"_ZTSN3JPH15ContactManifoldE", !41, i64 0, !41, i64 16, !19, i64 32, !51, i64 36, !51, i64 40, !52, i64 48, !52, i64 1088}
!51 = !{!"_ZTSN3JPH10SubShapeIDE", !10, i64 0}
!52 = !{!"_ZTSN3JPH11StaticArrayINS_4Vec3ELj64EEE", !10, i64 0, !7, i64 16}
!53 = !{!54, !54, i64 0}
!54 = !{!"vtable pointer", !8, i64 0}
!55 = distinct !{!55, !56}
!56 = !{!"llvm.loop.mustprogress"}
!57 = !{i8 0, i8 2}
!58 = !{}
!59 = !{i64 2159366781}
!60 = !{!12, !10, i64 232}
!61 = !{!12, !13, i64 224}
!62 = !{!63, !13, i64 0}
!63 = !{!"_ZTSN3JPH24ContactConstraintManager17ContactConstraintE", !13, i64 0, !13, i64 8, !29, i64 16, !23, i64 24, !19, i64 36, !19, i64 40, !19, i64 44, !19, i64 48, !19, i64 52, !64, i64 56}
!64 = !{!"_ZTSN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEE", !10, i64 0, !7, i64 8}
!65 = !{!63, !13, i64 8}
!66 = !{!63, !29, i64 16}
!67 = !{!63, !19, i64 36}
!68 = !{!40, !19, i64 8}
!69 = !{!63, !19, i64 40}
!70 = !{!40, !19, i64 12}
!71 = !{!63, !19, i64 44}
!72 = !{!40, !19, i64 16}
!73 = !{!63, !19, i64 48}
!74 = !{!40, !19, i64 20}
!75 = !{!63, !19, i64 52}
!76 = !{!77, !19, i64 24}
!77 = !{!"_ZTSN3JPH24ContactConstraintManager18CachedContactPointE", !23, i64 0, !23, i64 12, !19, i64 24, !78, i64 28}
!78 = !{!"_ZTSN3JPH6VectorILj2EEE", !7, i64 0}
!79 = !{!80, !13, i64 192}
!80 = !{!"_ZTSN3JPH24ContactConstraintManager17WorldContactPointE", !81, i64 0, !81, i64 64, !81, i64 128, !13, i64 192}
!81 = !{!"_ZTSN3JPH18AxisConstraintPartE", !23, i64 0, !23, i64 12, !23, i64 24, !23, i64 36, !19, i64 48, !82, i64 52, !19, i64 60}
!82 = !{!"_ZTSN3JPH10SpringPartE", !19, i64 0, !19, i64 4}
!83 = distinct !{!83, !56}
!84 = !{!26, !13, i64 64}
!85 = distinct !{!85, !56}


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