; LLVM IR from jrouwe/JoltPhysics :: Jolt/Physics/Body (MassProperties)

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

%"class.JPH::Matrix" = type { [3 x %"class.JPH::Vector"] }
%"class.JPH::Vector" = type { [3 x float] }
%class.anon.2 = type { ptr }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon.3 }
%union.anon.3 = type { <4 x float> }
%"struct.JPH::AssertLastParam" = type { i8 }
%"class.JPH::MassProperties" = type { float, %"class.JPH::Mat44" }

@__const._ZNK3JPH14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3E.indices = external hidden unnamed_addr constant [3 x i32], align 4
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [89 x i8], align 1

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZNK3JPH14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(80) %0, ptr noundef nonnull align 16 dereferenceable(64) %1, ptr noundef nonnull align 16 dereferenceable(16) %2) #1 align 2 {
  %4 = alloca i1, align 1
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca %"class.JPH::Matrix", align 4
  %9 = alloca %"class.JPH::Matrix", align 4
  %10 = alloca %"class.JPH::Vector", align 4
  %11 = alloca i32, align 4
  %12 = alloca [3 x i32], align 4
  %13 = alloca %class.anon.2, align 8
  %14 = alloca %"class.JPH::Mat44", align 16
  %15 = alloca i32, align 4
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca %"class.JPH::Vec3", align 16
  %23 = alloca %"class.JPH::Mat44", align 16
  %24 = alloca %"class.JPH::Mat44", align 16
  %25 = alloca %"class.JPH::Mat44", align 16
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca %"class.JPH::Mat44", align 16
  %28 = alloca i32, align 4
  %29 = alloca %"class.JPH::Vec3", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"struct.JPH::AssertLastParam", align 1
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  %33 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 36, ptr %8) #9
  %34 = getelementptr inbounds %"class.JPH::MassProperties", ptr %33, i32 0, i32 1
  call void @_ZN3JPH6MatrixILj3ELj3EE8CopyPartINS_5Mat44EEEvRKT_jjjjjj(ptr noundef nonnull align 4 dereferenceable(36) %8, ptr noundef nonnull align 16 dereferenceable(64) %34, i32 noundef 0, i32 noundef 0, i32 noundef 3, i32 noundef 3, i32 noundef 0, i32 noundef 0)
  call void @llvm.lifetime.start.p0(i64 36, ptr %9) #9
  call void @_ZN3JPH6MatrixILj3ELj3EE9sIdentityEv(ptr dead_on_unwind writable sret(%"class.JPH::Matrix") align 4 %9)
  call void @llvm.lifetime.start.p0(i64 12, ptr %10) #9
  %35 = call noundef zeroext i1 @_ZN3JPH19EigenValueSymmetricINS_6VectorILj3EEENS_6MatrixILj3ELj3EEEEEbRKT0_RS5_RT_(ptr noundef nonnull align 4 dereferenceable(36) %8, ptr noundef nonnull align 4 dereferenceable(36) %9, ptr noundef nonnull align 4 dereferenceable(12) %10)
  br i1 %35, label %37, label %36

36:                                               ; preds = %3
  store i1 false, ptr %4, align 1
  store i32 1, ptr %11, align 4
  br label %194

37:                                               ; preds = %3
  call void @llvm.lifetime.start.p0(i64 12, ptr %12) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %12, ptr align 4 @__const._ZNK3JPH14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3E.indices, i64 12, i1 false)
  %38 = getelementptr inbounds [3 x i32], ptr %12, i64 0, i64 0
  %39 = getelementptr inbounds [3 x i32], ptr %12, i64 0, i64 0
  %40 = getelementptr inbounds i32, ptr %39, i64 3
  %41 = getelementptr inbounds %class.anon.2, ptr %13, i32 0, i32 0
  store ptr %10, ptr %41, align 8, !tbaa !5
  %42 = getelementptr inbounds %class.anon.2, ptr %13, i32 0, i32 0
  %43 = load ptr, ptr %42, align 8
  call void @"_ZN3JPH13InsertionSortIPiZNKS_14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3EE3$_0EEvT_S8_T0_"(ptr noundef %38, ptr noundef %40, ptr %43)
  call void @llvm.lifetime.start.p0(i64 64, ptr %14) #9
  call void @_ZN3JPH5Mat449sIdentityEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %14)
  %44 = load ptr, ptr %6, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %44, ptr align 16 %14, i64 64, i1 false), !tbaa.struct !9
  call void @llvm.lifetime.end.p0(i64 64, ptr %14) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #9
  store i32 0, ptr %15, align 4, !tbaa !11
  br label %45

45:                                               ; preds = %69, %37
  %46 = load i32, ptr %15, align 4, !tbaa !11
  %47 = icmp slt i32 %46, 3
  br i1 %47, label %49, label %48

48:                                               ; preds = %45
  store i32 2, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #9
  br label %72

49:                                               ; preds = %45
  %50 = load ptr, ptr %6, align 8, !tbaa !5
  %51 = load i32, ptr %15, align 4, !tbaa !11
  %52 = load i32, ptr %15, align 4, !tbaa !11
  %53 = sext i32 %52 to i64
  %54 = getelementptr inbounds [3 x i32], ptr %12, i64 0, i64 %53
  %55 = load i32, ptr %54, align 4, !tbaa !11
  %56 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH6MatrixILj3ELj3EE9GetColumnEi(ptr noundef nonnull align 4 dereferenceable(36) %9, i32 noundef %55)
  call void @_ZN3JPH4Vec3C2ERKNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 4 dereferenceable(12) %56)
  %57 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 0
  %58 = load double, ptr %57, align 16
  %59 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 1
  %60 = load double, ptr %59, align 8
  call void @_ZN3JPH5Mat4410SetColumn3EjNS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %50, i32 noundef %51, double %58, double %60)
  %61 = load ptr, ptr %7, align 8, !tbaa !5
  %62 = load i32, ptr %15, align 4, !tbaa !11
  %63 = load i32, ptr %15, align 4, !tbaa !11
  %64 = sext i32 %63 to i64
  %65 = getelementptr inbounds [3 x i32], ptr %12, i64 0, i64 %64
  %66 = load i32, ptr %65, align 4, !tbaa !11
  %67 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj3EEixEj(ptr noundef nonnull align 4 dereferenceable(12) %10, i32 noundef %66)
  %68 = load float, ptr %67, align 4, !tbaa !13
  call void @_ZN3JPH4Vec312SetComponentEjf(ptr noundef nonnull align 16 dereferenceable(16) %61, i32 noundef %62, float noundef %68)
  br label %69

69:                                               ; preds = %49
  %70 = load i32, ptr %15, align 4, !tbaa !11
  %71 = add nsw i32 %70, 1
  store i32 %71, ptr %15, align 4, !tbaa !11
  br label %45, !llvm.loop !15

72:                                               ; preds = %48
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #9
  %73 = load ptr, ptr %6, align 8, !tbaa !5
  %74 = call { double, double } @_ZNK3JPH5Mat448GetAxisXEv(ptr noundef nonnull align 16 dereferenceable(64) %73)
  %75 = getelementptr inbounds %"class.JPH::Vec3", ptr %18, i32 0, i32 0
  %76 = getelementptr inbounds %union.anon.3, ptr %75, i32 0, i32 0
  %77 = getelementptr inbounds { double, double }, ptr %76, i32 0, i32 0
  %78 = extractvalue { double, double } %74, 0
  store double %78, ptr %77, align 16
  %79 = getelementptr inbounds { double, double }, ptr %76, i32 0, i32 1
  %80 = extractvalue { double, double } %74, 1
  store double %80, ptr %79, align 8
  %81 = load ptr, ptr %6, align 8, !tbaa !5
  %82 = call { double, double } @_ZNK3JPH5Mat448GetAxisYEv(ptr noundef nonnull align 16 dereferenceable(64) %81)
  %83 = getelementptr inbounds %"class.JPH::Vec3", ptr %19, i32 0, i32 0
  %84 = getelementptr inbounds %union.anon.3, ptr %83, i32 0, i32 0
  %85 = getelementptr inbounds { double, double }, ptr %84, i32 0, i32 0
  %86 = extractvalue { double, double } %82, 0
  store double %86, ptr %85, align 16
  %87 = getelementptr inbounds { double, double }, ptr %84, i32 0, i32 1
  %88 = extractvalue { double, double } %82, 1
  store double %88, ptr %87, align 8
  %89 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 0
  %90 = load double, ptr %89, align 16
  %91 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 1
  %92 = load double, ptr %91, align 8
  %93 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %18, double %90, double %92)
  %94 = getelementptr inbounds %"class.JPH::Vec3", ptr %17, i32 0, i32 0
  %95 = getelementptr inbounds %union.anon.3, ptr %94, i32 0, i32 0
  %96 = getelementptr inbounds { double, double }, ptr %95, i32 0, i32 0
  %97 = extractvalue { double, double } %93, 0
  store double %97, ptr %96, align 16
  %98 = getelementptr inbounds { double, double }, ptr %95, i32 0, i32 1
  %99 = extractvalue { double, double } %93, 1
  store double %99, ptr %98, align 8
  %100 = load ptr, ptr %6, align 8, !tbaa !5
  %101 = call { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64) %100)
  %102 = getelementptr inbounds %"class.JPH::Vec3", ptr %20, i32 0, i32 0
  %103 = getelementptr inbounds %union.anon.3, ptr %102, i32 0, i32 0
  %104 = getelementptr inbounds { double, double }, ptr %103, i32 0, i32 0
  %105 = extractvalue { double, double } %101, 0
  store double %105, ptr %104, align 16
  %106 = getelementptr inbounds { double, double }, ptr %103, i32 0, i32 1
  %107 = extractvalue { double, double } %101, 1
  store double %107, ptr %106, align 8
  %108 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 0
  %109 = load double, ptr %108, align 16
  %110 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 1
  %111 = load double, ptr %110, align 8
  %112 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %17, double %109, double %111)
  %113 = fcmp olt float %112, 0.000000e+00
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #9
  br i1 %113, label %114, label %135

114:                                              ; preds = %72
  %115 = load ptr, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #9
  %116 = load ptr, ptr %6, align 8, !tbaa !5
  %117 = call { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64) %116)
  %118 = getelementptr inbounds %"class.JPH::Vec3", ptr %22, i32 0, i32 0
  %119 = getelementptr inbounds %union.anon.3, ptr %118, i32 0, i32 0
  %120 = getelementptr inbounds { double, double }, ptr %119, i32 0, i32 0
  %121 = extractvalue { double, double } %117, 0
  store double %121, ptr %120, align 16
  %122 = getelementptr inbounds { double, double }, ptr %119, i32 0, i32 1
  %123 = extractvalue { double, double } %117, 1
  store double %123, ptr %122, align 8
  %124 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %22)
  %125 = getelementptr inbounds %"class.JPH::Vec3", ptr %21, i32 0, i32 0
  %126 = getelementptr inbounds %union.anon.3, ptr %125, i32 0, i32 0
  %127 = getelementptr inbounds { double, double }, ptr %126, i32 0, i32 0
  %128 = extractvalue { double, double } %124, 0
  store double %128, ptr %127, align 16
  %129 = getelementptr inbounds { double, double }, ptr %126, i32 0, i32 1
  %130 = extractvalue { double, double } %124, 1
  store double %130, ptr %129, align 8
  %131 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 0
  %132 = load double, ptr %131, align 16
  %133 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 1
  %134 = load double, ptr %133, align 8
  call void @_ZN3JPH5Mat448SetAxisZENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %115, double %132, double %134)
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #9
  br label %135

135:                                              ; preds = %114, %72
  call void @llvm.lifetime.start.p0(i64 64, ptr %23) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr %24) #9
  %136 = load ptr, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr %25) #9
  %137 = load ptr, ptr %7, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %26, ptr align 16 %137, i64 16, i1 false), !tbaa.struct !17
  %138 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 0
  %139 = load double, ptr %138, align 16
  %140 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 1
  %141 = load double, ptr %140, align 8
  call void @_ZN3JPH5Mat446sScaleENS_4Vec3E(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %25, double %139, double %141)
  call void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %24, ptr noundef nonnull align 16 dereferenceable(64) %136, ptr noundef nonnull align 16 dereferenceable(64) %25)
  call void @llvm.lifetime.start.p0(i64 64, ptr %27) #9
  %142 = load ptr, ptr %6, align 8, !tbaa !5
  call void @_ZNK3JPH5Mat448InversedEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %27, ptr noundef nonnull align 16 dereferenceable(64) %142)
  call void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %23, ptr noundef nonnull align 16 dereferenceable(64) %24, ptr noundef nonnull align 16 dereferenceable(64) %27)
  call void @llvm.lifetime.end.p0(i64 64, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %24) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #9
  store i32 0, ptr %28, align 4, !tbaa !11
  br label %143

143:                                              ; preds = %190, %135
  %144 = load i32, ptr %28, align 4, !tbaa !11
  %145 = icmp slt i32 %144, 3
  br i1 %145, label %147, label %146

146:                                              ; preds = %143
  store i32 5, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #9
  br label %193

147:                                              ; preds = %143
  br label %148

148:                                              ; preds = %147
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #9
  %149 = load i32, ptr %28, align 4, !tbaa !11
  %150 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %23, i32 noundef %149)
  %151 = getelementptr inbounds %"class.JPH::Vec3", ptr %29, i32 0, i32 0
  %152 = getelementptr inbounds %union.anon.3, ptr %151, i32 0, i32 0
  %153 = getelementptr inbounds { double, double }, ptr %152, i32 0, i32 0
  %154 = extractvalue { double, double } %150, 0
  store double %154, ptr %153, align 16
  %155 = getelementptr inbounds { double, double }, ptr %152, i32 0, i32 1
  %156 = extractvalue { double, double } %150, 1
  store double %156, ptr %155, align 8
  %157 = getelementptr inbounds %"class.JPH::MassProperties", ptr %33, i32 0, i32 1
  %158 = load i32, ptr %28, align 4, !tbaa !11
  %159 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %157, i32 noundef %158)
  %160 = getelementptr inbounds %"class.JPH::Vec3", ptr %30, i32 0, i32 0
  %161 = getelementptr inbounds %union.anon.3, ptr %160, i32 0, i32 0
  %162 = getelementptr inbounds { double, double }, ptr %161, i32 0, i32 0
  %163 = extractvalue { double, double } %159, 0
  store double %163, ptr %162, align 16
  %164 = getelementptr inbounds { double, double }, ptr %161, i32 0, i32 1
  %165 = extractvalue { double, double } %159, 1
  store double %165, ptr %164, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #9
  %166 = getelementptr inbounds %"class.JPH::MassProperties", ptr %33, i32 0, i32 1
  %167 = load i32, ptr %28, align 4, !tbaa !11
  %168 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %166, i32 noundef %167)
  %169 = getelementptr inbounds %"class.JPH::Vec3", ptr %31, i32 0, i32 0
  %170 = getelementptr inbounds %union.anon.3, ptr %169, i32 0, i32 0
  %171 = getelementptr inbounds { double, double }, ptr %170, i32 0, i32 0
  %172 = extractvalue { double, double } %168, 0
  store double %172, ptr %171, align 16
  %173 = getelementptr inbounds { double, double }, ptr %170, i32 0, i32 1
  %174 = extractvalue { double, double } %168, 1
  store double %174, ptr %173, align 8
  %175 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %31)
  %176 = fmul float %175, 0x3DDB7CDFE0000000
  %177 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 0
  %178 = load double, ptr %177, align 16
  %179 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 1
  %180 = load double, ptr %179, align 8
  %181 = call noundef zeroext i1 @_ZNK3JPH4Vec37IsCloseES0_f(ptr noundef nonnull align 16 dereferenceable(16) %29, double %178, double %180, float noundef %176)
  br i1 %181, label %184, label %182

182:                                              ; preds = %148
  %183 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.1, ptr noundef @.str.2, i32 noundef 56)
  br label %184

184:                                              ; preds = %182, %148
  %185 = phi i1 [ false, %148 ], [ %183, %182 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #9
  br i1 %185, label %186, label %187

186:                                              ; preds = %184
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !18
  br label %187

187:                                              ; preds = %186, %184
  br label %188

188:                                              ; preds = %187
  br label %189

189:                                              ; preds = %188
  br label %190

190:                                              ; preds = %189
  %191 = load i32, ptr %28, align 4, !tbaa !11
  %192 = add nsw i32 %191, 1
  store i32 %192, ptr %28, align 4, !tbaa !11
  br label %143, !llvm.loop !19

193:                                              ; preds = %146
  store i1 true, ptr %4, align 1
  store i32 1, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 12, ptr %12) #9
  br label %194

194:                                              ; preds = %193, %36
  call void @llvm.lifetime.end.p0(i64 12, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 36, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 36, ptr %8) #9
  %195 = load i1, ptr %4, align 1
  ret i1 %195
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH6MatrixILj3ELj3EE8CopyPartINS_5Mat44EEEvRKT_jjjjjj(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 16 dereferenceable(64), i32 noundef, i32 noundef, i32 noundef, i32 noundef, i32 noundef, i32 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH6MatrixILj3ELj3EE9sIdentityEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Matrix") align 4) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH19EigenValueSymmetricINS_6VectorILj3EEENS_6MatrixILj3ELj3EEEEEbRKT0_RS5_RT_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(12)) #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @"_ZN3JPH13InsertionSortIPiZNKS_14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3EE3$_0EEvT_S8_T0_"(ptr noundef, ptr noundef, ptr) #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat449sIdentityEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat4410SetColumn3EjNS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), i32 noundef, double, double) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH6MatrixILj3ELj3EE9GetColumnEi(ptr noundef nonnull align 4 dereferenceable(36), i32 noundef) #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec3C2ERKNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec312SetComponentEjf(ptr noundef nonnull align 16 dereferenceable(16), i32 noundef, float noundef) #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj3EEixEj(ptr noundef nonnull align 4 dereferenceable(12), i32 noundef) #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisXEv(ptr noundef nonnull align 16 dereferenceable(64)) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisYEv(ptr noundef nonnull align 16 dereferenceable(64)) #5 align 2

; 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64)) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat448SetAxisZENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat446sScaleENS_4Vec3E(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, double, double) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat448InversedEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64), i32 noundef) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Vec37IsCloseES0_f(ptr noundef nonnull align 16 dereferenceable(16), double, double, float noundef) #5 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: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) #2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 #8 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{i64 0, i64 64, !10}
!10 = !{!7, !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = !{i64 0, i64 16, !10}
!18 = !{i64 2157384471}
!19 = distinct !{!19, !16}


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

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

@__const._ZNK3JPH14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3E.indices = external hidden unnamed_addr constant [3 x i32], align 4
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [89 x i8], align 1

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZNK3JPH14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(80) %0, ptr noundef nonnull align 16 dereferenceable(64) %1, ptr noundef nonnull align 16 dereferenceable(16) %2) local_unnamed_addr #1 align 2 {
  %4 = alloca %"class.JPH::Matrix", align 4
  %5 = alloca %"class.JPH::Matrix", align 4
  %6 = alloca %"class.JPH::Vector", align 4
  %7 = alloca [3 x i32], align 4
  %8 = alloca %"class.JPH::Mat44", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Vec3", align 16
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca %"class.JPH::Mat44", align 16
  %14 = alloca %"class.JPH::Mat44", align 16
  %15 = alloca %"class.JPH::Mat44", align 16
  %16 = alloca %"class.JPH::Mat44", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %4) #9
  %19 = getelementptr inbounds i8, ptr %0, i64 16
  call void @_ZN3JPH6MatrixILj3ELj3EE8CopyPartINS_5Mat44EEEvRKT_jjjjjj(ptr noundef nonnull align 4 dereferenceable(36) %4, ptr noundef nonnull align 16 dereferenceable(64) %19, i32 noundef 0, i32 noundef 0, i32 noundef 3, i32 noundef 3, i32 noundef 0, i32 noundef 0)
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %5) #9
  call void @_ZN3JPH6MatrixILj3ELj3EE9sIdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Matrix") align 4 %5)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %6) #9
  %20 = call noundef zeroext i1 @_ZN3JPH19EigenValueSymmetricINS_6VectorILj3EEENS_6MatrixILj3ELj3EEEEEbRKT0_RS5_RT_(ptr noundef nonnull align 4 dereferenceable(36) %4, ptr noundef nonnull align 4 dereferenceable(36) %5, ptr noundef nonnull align 4 dereferenceable(12) %6)
  br i1 %20, label %21, label %122

21:                                               ; preds = %3
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %7) #9
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(12) %7, ptr noundef nonnull align 4 dereferenceable(12) @__const._ZNK3JPH14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3E.indices, i64 12, i1 false)
  %22 = getelementptr inbounds i8, ptr %7, i64 12
  call void @"_ZN3JPH13InsertionSortIPiZNKS_14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3EE3$_0EEvT_S8_T0_"(ptr noundef nonnull %7, ptr noundef nonnull %22, ptr nonnull %6)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %8) #9
  call void @_ZN3JPH5Mat449sIdentityEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %8)
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(64) %1, ptr noundef nonnull align 16 dereferenceable(64) %8, i64 64, i1 false), !tbaa.struct !5
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #9
  %23 = getelementptr inbounds i8, ptr %9, i64 8
  %24 = load i32, ptr %7, align 4, !tbaa !9
  %25 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH6MatrixILj3ELj3EE9GetColumnEi(ptr noundef nonnull align 4 dereferenceable(36) %5, i32 noundef %24)
  call void @_ZN3JPH4Vec3C2ERKNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16) %9, ptr noundef nonnull align 4 dereferenceable(12) %25)
  %26 = load double, ptr %9, align 16
  %27 = load double, ptr %23, align 8
  call void @_ZN3JPH5Mat4410SetColumn3EjNS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %1, i32 noundef 0, double %26, double %27)
  %28 = load i32, ptr %7, align 4, !tbaa !9
  %29 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj3EEixEj(ptr noundef nonnull align 4 dereferenceable(12) %6, i32 noundef %28)
  %30 = load float, ptr %29, align 4, !tbaa !11
  call void @_ZN3JPH4Vec312SetComponentEjf(ptr noundef nonnull align 16 dereferenceable(16) %2, i32 noundef 0, float noundef %30)
  %31 = getelementptr inbounds i8, ptr %7, i64 4
  %32 = load i32, ptr %31, align 4, !tbaa !9
  %33 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH6MatrixILj3ELj3EE9GetColumnEi(ptr noundef nonnull align 4 dereferenceable(36) %5, i32 noundef %32)
  call void @_ZN3JPH4Vec3C2ERKNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16) %9, ptr noundef nonnull align 4 dereferenceable(12) %33)
  %34 = load double, ptr %9, align 16
  %35 = load double, ptr %23, align 8
  call void @_ZN3JPH5Mat4410SetColumn3EjNS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %1, i32 noundef 1, double %34, double %35)
  %36 = load i32, ptr %31, align 4, !tbaa !9
  %37 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj3EEixEj(ptr noundef nonnull align 4 dereferenceable(12) %6, i32 noundef %36)
  %38 = load float, ptr %37, align 4, !tbaa !11
  call void @_ZN3JPH4Vec312SetComponentEjf(ptr noundef nonnull align 16 dereferenceable(16) %2, i32 noundef 1, float noundef %38)
  %39 = getelementptr inbounds i8, ptr %7, i64 8
  %40 = load i32, ptr %39, align 4, !tbaa !9
  %41 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH6MatrixILj3ELj3EE9GetColumnEi(ptr noundef nonnull align 4 dereferenceable(36) %5, i32 noundef %40)
  call void @_ZN3JPH4Vec3C2ERKNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16) %9, ptr noundef nonnull align 4 dereferenceable(12) %41)
  %42 = load double, ptr %9, align 16
  %43 = load double, ptr %23, align 8
  call void @_ZN3JPH5Mat4410SetColumn3EjNS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %1, i32 noundef 2, double %42, double %43)
  %44 = load i32, ptr %39, align 4, !tbaa !9
  %45 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj3EEixEj(ptr noundef nonnull align 4 dereferenceable(12) %6, i32 noundef %44)
  %46 = load float, ptr %45, align 4, !tbaa !11
  call void @_ZN3JPH4Vec312SetComponentEjf(ptr noundef nonnull align 16 dereferenceable(16) %2, i32 noundef 2, float noundef %46)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #9
  %47 = call { double, double } @_ZNK3JPH5Mat448GetAxisXEv(ptr noundef nonnull align 16 dereferenceable(64) %1)
  %48 = extractvalue { double, double } %47, 0
  store double %48, ptr %11, align 16
  %49 = getelementptr inbounds i8, ptr %11, i64 8
  %50 = extractvalue { double, double } %47, 1
  store double %50, ptr %49, align 8
  %51 = call { double, double } @_ZNK3JPH5Mat448GetAxisYEv(ptr noundef nonnull align 16 dereferenceable(64) %1)
  %52 = extractvalue { double, double } %51, 0
  %53 = extractvalue { double, double } %51, 1
  %54 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %11, double %52, double %53)
  %55 = extractvalue { double, double } %54, 0
  store double %55, ptr %10, align 16
  %56 = getelementptr inbounds i8, ptr %10, i64 8
  %57 = extractvalue { double, double } %54, 1
  store double %57, ptr %56, align 8
  %58 = call { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64) %1)
  %59 = extractvalue { double, double } %58, 0
  %60 = extractvalue { double, double } %58, 1
  %61 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %10, double %59, double %60)
  %62 = fcmp olt float %61, 0.000000e+00
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #9
  br i1 %62, label %63, label %71

63:                                               ; preds = %21
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #9
  %64 = call { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64) %1)
  %65 = extractvalue { double, double } %64, 0
  store double %65, ptr %12, align 16
  %66 = getelementptr inbounds i8, ptr %12, i64 8
  %67 = extractvalue { double, double } %64, 1
  store double %67, ptr %66, align 8
  %68 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %12)
  %69 = extractvalue { double, double } %68, 0
  %70 = extractvalue { double, double } %68, 1
  call void @_ZN3JPH5Mat448SetAxisZENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %1, double %69, double %70)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #9
  br label %71

71:                                               ; preds = %63, %21
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %13) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %14) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %15) #9
  %.sroa.05.0.copyload = load double, ptr %2, align 16
  %.sroa.26.0..sroa_idx = getelementptr inbounds i8, ptr %2, i64 8
  %.sroa.26.0.copyload = load double, ptr %.sroa.26.0..sroa_idx, align 8, !tbaa !6
  call void @_ZN3JPH5Mat446sScaleENS_4Vec3E(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %15, double %.sroa.05.0.copyload, double %.sroa.26.0.copyload)
  call void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %14, ptr noundef nonnull align 16 dereferenceable(64) %1, ptr noundef nonnull align 16 dereferenceable(64) %15)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %16) #9
  call void @_ZNK3JPH5Mat448InversedEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %16, ptr noundef nonnull align 16 dereferenceable(64) %1)
  call void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %13, ptr noundef nonnull align 16 dereferenceable(64) %14, ptr noundef nonnull align 16 dereferenceable(64) %16)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %16) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %15) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %14) #9
  %72 = getelementptr inbounds i8, ptr %17, i64 8
  %73 = getelementptr inbounds i8, ptr %18, i64 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #9
  %74 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %13, i32 noundef 0)
  %75 = extractvalue { double, double } %74, 0
  store double %75, ptr %17, align 16
  %76 = extractvalue { double, double } %74, 1
  store double %76, ptr %72, align 8
  %77 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %19, i32 noundef 0)
  %78 = extractvalue { double, double } %77, 0
  %79 = extractvalue { double, double } %77, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #9
  %80 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %19, i32 noundef 0)
  %81 = extractvalue { double, double } %80, 0
  store double %81, ptr %18, align 16
  %82 = extractvalue { double, double } %80, 1
  store double %82, ptr %73, align 8
  %83 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %84 = fmul float %83, 0x3DDB7CDFE0000000
  %85 = call noundef zeroext i1 @_ZNK3JPH4Vec37IsCloseES0_f(ptr noundef nonnull align 16 dereferenceable(16) %17, double %78, double %79, float noundef %84)
  br i1 %85, label %.critedge, label %86

86:                                               ; preds = %71
  %87 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, i32 noundef 56)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  br i1 %87, label %88, label %89

88:                                               ; preds = %86
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !13
  br label %89

.critedge:                                        ; preds = %71
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  br label %89

89:                                               ; preds = %86, %88, %.critedge
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #9
  %90 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %13, i32 noundef 1)
  %91 = extractvalue { double, double } %90, 0
  store double %91, ptr %17, align 16
  %92 = extractvalue { double, double } %90, 1
  store double %92, ptr %72, align 8
  %93 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %19, i32 noundef 1)
  %94 = extractvalue { double, double } %93, 0
  %95 = extractvalue { double, double } %93, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #9
  %96 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %19, i32 noundef 1)
  %97 = extractvalue { double, double } %96, 0
  store double %97, ptr %18, align 16
  %98 = extractvalue { double, double } %96, 1
  store double %98, ptr %73, align 8
  %99 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %100 = fmul float %99, 0x3DDB7CDFE0000000
  %101 = call noundef zeroext i1 @_ZNK3JPH4Vec37IsCloseES0_f(ptr noundef nonnull align 16 dereferenceable(16) %17, double %94, double %95, float noundef %100)
  br i1 %101, label %.critedge.1, label %102

102:                                              ; preds = %89
  %103 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, i32 noundef 56)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  br i1 %103, label %104, label %105

104:                                              ; preds = %102
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !13
  br label %105

.critedge.1:                                      ; preds = %89
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  br label %105

105:                                              ; preds = %.critedge.1, %104, %102
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #9
  %106 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %13, i32 noundef 2)
  %107 = extractvalue { double, double } %106, 0
  store double %107, ptr %17, align 16
  %108 = extractvalue { double, double } %106, 1
  store double %108, ptr %72, align 8
  %109 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %19, i32 noundef 2)
  %110 = extractvalue { double, double } %109, 0
  %111 = extractvalue { double, double } %109, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #9
  %112 = call { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64) %19, i32 noundef 2)
  %113 = extractvalue { double, double } %112, 0
  store double %113, ptr %18, align 16
  %114 = extractvalue { double, double } %112, 1
  store double %114, ptr %73, align 8
  %115 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %116 = fmul float %115, 0x3DDB7CDFE0000000
  %117 = call noundef zeroext i1 @_ZNK3JPH4Vec37IsCloseES0_f(ptr noundef nonnull align 16 dereferenceable(16) %17, double %110, double %111, float noundef %116)
  br i1 %117, label %.critedge.2, label %118

118:                                              ; preds = %105
  %119 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, i32 noundef 56)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  br i1 %119, label %120, label %121

120:                                              ; preds = %118
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !13
  br label %121

.critedge.2:                                      ; preds = %105
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  br label %121

121:                                              ; preds = %.critedge.2, %120, %118
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %13) #9
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %7) #9
  br label %122

122:                                              ; preds = %3, %121
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %6) #9
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %5) #9
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %4) #9
  ret i1 %20
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH6MatrixILj3ELj3EE8CopyPartINS_5Mat44EEEvRKT_jjjjjj(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 16 dereferenceable(64), i32 noundef, i32 noundef, i32 noundef, i32 noundef, i32 noundef, i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH6MatrixILj3ELj3EE9sIdentityEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Matrix") align 4) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH19EigenValueSymmetricINS_6VectorILj3EEENS_6MatrixILj3ELj3EEEEEbRKT0_RS5_RT_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @"_ZN3JPH13InsertionSortIPiZNKS_14MassProperties34DecomposePrincipalMomentsOfInertiaERNS_5Mat44ERNS_4Vec3EE3$_0EEvT_S8_T0_"(ptr noundef, ptr noundef, ptr) local_unnamed_addr #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat449sIdentityEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat4410SetColumn3EjNS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), i32 noundef, double, double) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH6MatrixILj3ELj3EE9GetColumnEi(ptr noundef nonnull align 4 dereferenceable(36), i32 noundef) local_unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec3C2ERKNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec312SetComponentEjf(ptr noundef nonnull align 16 dereferenceable(16), i32 noundef, float noundef) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj3EEixEj(ptr noundef nonnull align 4 dereferenceable(12), i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisXEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisYEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #5 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat448SetAxisZENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat446sScaleENS_4Vec3E(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat448InversedEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4410GetColumn3Ej(ptr noundef nonnull align 16 dereferenceable(64), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Vec37IsCloseES0_f(ptr noundef nonnull align 16 dereferenceable(16), double, double, float noundef) local_unnamed_addr #5 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: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 #8 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{i64 0, i64 64, !6}
!6 = !{!7, !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, !12, i64 0}
!12 = !{!"float", !7, i64 0}
!13 = !{i64 2157384471}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,LICMPass,LoopRotatePass,SROAPass,SimplifyCFGPass