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

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

%"class.JPH::Body" = type <{ %"class.JPH::Vec3", %"class.JPH::Quat", %"class.JPH::AABox", %"class.JPH::RefConst.20", ptr, i64, %"class.JPH::CollisionGroup", float, float, %"class.JPH::BodyID", i16, i8, %"class.JPH::BroadPhaseLayer", i8, %"struct.std::atomic.22", [6 x i8] }>
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.19 }
%union.anon.19 = type { <4 x float> }
%"class.JPH::AABox" = type { %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::RefConst.20" = type { ptr }
%"class.JPH::CollisionGroup" = type { %"class.JPH::RefConst.21", i32, i32 }
%"class.JPH::RefConst.21" = type { ptr }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::BroadPhaseLayer" = type { i8 }
%"struct.std::atomic.22" = type { %"struct.std::__atomic_base.23" }
%"struct.std::__atomic_base.23" = type { i8 }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::VehicleConstraint" = type <{ %"class.JPH::Constraint", %"class.JPH::PhysicsStepListener", i8, [7 x i8], %"class.JPH::Vec3", ptr, [8 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Array.14", %"class.JPH::Array.2", ptr, i8, [3 x i8], i32, i32, i32, float, float, %"class.JPH::Vec3", %"class.JPH::AngleConstraintPart", %"class.JPH::RefConst", %"class.std::function", %"class.std::function.17", %"class.std::function.17", %"class.std::function.17", [8 x i8] }>
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.13", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.13" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::PhysicsStepListener" = type { ptr }
%"class.JPH::Array.14" = type { i64, i64, ptr }
%"class.JPH::Array.2" = type { i64, i64, ptr }
%"class.JPH::AngleConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }
%"class.JPH::RefConst" = type { ptr }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }
%"class.std::function.17" = type { %"class.std::_Function_base", ptr }
%"class.JPH::Wheel" = type <{ ptr, %"class.JPH::RefConst.26", %"class.JPH::BodyID", %"class.JPH::SubShapeID", ptr, float, [12 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, float, float, float, %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", [12 x i8] }>
%"class.JPH::RefConst.26" = type { ptr }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::AxisConstraintPart" = type { %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::SpringPart", float }
%"class.JPH::Float3" = type { float, float, float }
%"class.JPH::WheelSettings" = type <{ %"class.JPH::SerializableObject", %"class.JPH::RefTarget.6", [4 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, float, %"class.JPH::SpringSettings", float, float, i8, [15 x i8] }>
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget.6" = type { %"struct.std::atomic" }
%"class.JPH::SpringSettings" = type { i8, %union.anon.7, float }
%union.anon.7 = type { float }

@_ZN3JPH4Body13sFixedToWorldE = external global %"class.JPH::Body", align 16

; 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: 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) #1

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #4 align 2

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

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

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

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #5 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK3JPH17VehicleConstraint29CalculateSuspensionForcePointERKNS_5WheelERNS_4Vec3ES5_(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 16 dereferenceable(404), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17VehicleConstraint38CalculatePitchRollConstraintPropertiesERKNS_5Mat44E(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 16 dereferenceable(64)) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), double, double, ptr noundef nonnull align 16 dereferenceable(122), double, double, double, double, float noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(48)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3JPH17VehicleConstraint23SolvePositionConstraintEff(ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1, float noundef %2) unnamed_addr #6 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca float, align 4
  %6 = alloca float, align 4
  %7 = alloca i8, align 1
  %8 = alloca %"class.JPH::Mat44", align 16
  %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 %"class.JPH::Vec3", align 16
  %15 = alloca %"class.JPH::Vec3", align 16
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca float, align 4
  %22 = alloca %"class.JPH::Vec3", align 16
  %23 = alloca %"class.JPH::Vec3", align 16
  %24 = alloca %"class.JPH::Vec3", 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
  store ptr %0, ptr %4, align 8, !tbaa !5
  store float %1, ptr %5, align 4, !tbaa !9
  store float %2, ptr %6, align 4, !tbaa !9
  %31 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 1, ptr %7) #7
  store i8 0, ptr %7, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 64, ptr %8) #7
  %32 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 5
  %33 = load ptr, ptr %32, align 16, !tbaa !13
  call void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %8, ptr noundef nonnull align 16 dereferenceable(122) %33)
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %34 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 10
  store ptr %34, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %35 = load ptr, ptr %9, align 8, !tbaa !5
  %36 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %35)
  store ptr %36, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %37 = load ptr, ptr %9, align 8, !tbaa !5
  %38 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %37)
  store ptr %38, ptr %11, align 8, !tbaa !5
  br label %39

39:                                               ; preds = %172, %3
  %40 = load ptr, ptr %10, align 8, !tbaa !5
  %41 = load ptr, ptr %11, align 8, !tbaa !5
  %42 = icmp ne ptr %40, %41
  br i1 %42, label %44, label %43

43:                                               ; preds = %39
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  br label %175

44:                                               ; preds = %39
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %45 = load ptr, ptr %10, align 8, !tbaa !5
  %46 = load ptr, ptr %45, align 8, !tbaa !5
  store ptr %46, ptr %12, align 8, !tbaa !5
  %47 = load ptr, ptr %12, align 8, !tbaa !5
  %48 = getelementptr inbounds %"class.JPH::Wheel", ptr %47, i32 0, i32 4
  %49 = load ptr, ptr %48, align 8, !tbaa !31
  %50 = icmp ne ptr %49, null
  br i1 %50, label %51, label %171

51:                                               ; preds = %44
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %52 = load ptr, ptr %12, align 8, !tbaa !5
  %53 = getelementptr inbounds %"class.JPH::Wheel", ptr %52, i32 0, i32 1
  %54 = call noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %53)
  store ptr %54, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #7
  %55 = load ptr, ptr %13, align 8, !tbaa !5
  %56 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %55, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %15, ptr align 16 %56, i64 16, i1 false), !tbaa.struct !38
  %57 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 0
  %58 = load double, ptr %57, align 16
  %59 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 1
  %60 = load double, ptr %59, align 8
  %61 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %58, double %60)
  %62 = getelementptr inbounds %"class.JPH::Vec3", ptr %14, i32 0, i32 0
  %63 = getelementptr inbounds %union.anon, ptr %62, i32 0, i32 0
  %64 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 0
  %65 = extractvalue { double, double } %61, 0
  store double %65, ptr %64, align 16
  %66 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 1
  %67 = extractvalue { double, double } %61, 1
  store double %67, ptr %66, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #7
  %68 = load ptr, ptr %13, align 8, !tbaa !5
  %69 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %68, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %17, ptr align 16 %69, i64 16, i1 false), !tbaa.struct !38
  %70 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 0
  %71 = load double, ptr %70, align 16
  %72 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 1
  %73 = load double, ptr %72, align 8
  %74 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %71, double %73)
  %75 = getelementptr inbounds %"class.JPH::Vec3", ptr %16, i32 0, i32 0
  %76 = getelementptr inbounds %union.anon, 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
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #7
  %81 = load ptr, ptr %13, align 8, !tbaa !5
  %82 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %81, i32 0, i32 9
  %83 = load float, ptr %82, align 16, !tbaa !40
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %20, ptr align 16 %14, i64 16, i1 false), !tbaa.struct !38
  %84 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 0
  %85 = load double, ptr %84, align 16
  %86 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 1
  %87 = load double, ptr %86, align 8
  %88 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %83, double %85, double %87)
  %89 = getelementptr inbounds %"class.JPH::Vec3", ptr %19, i32 0, i32 0
  %90 = getelementptr inbounds %union.anon, ptr %89, i32 0, i32 0
  %91 = getelementptr inbounds { double, double }, ptr %90, i32 0, i32 0
  %92 = extractvalue { double, double } %88, 0
  store double %92, ptr %91, align 16
  %93 = getelementptr inbounds { double, double }, ptr %90, i32 0, i32 1
  %94 = extractvalue { double, double } %88, 1
  store double %94, ptr %93, align 8
  %95 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 0
  %96 = load double, ptr %95, align 16
  %97 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 1
  %98 = load double, ptr %97, align 8
  %99 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %16, double %96, double %98)
  %100 = getelementptr inbounds %"class.JPH::Vec3", ptr %18, i32 0, i32 0
  %101 = getelementptr inbounds %union.anon, ptr %100, i32 0, i32 0
  %102 = getelementptr inbounds { double, double }, ptr %101, i32 0, i32 0
  %103 = extractvalue { double, double } %99, 0
  store double %103, ptr %102, align 16
  %104 = getelementptr inbounds { double, double }, ptr %101, i32 0, i32 1
  %105 = extractvalue { double, double } %99, 1
  store double %105, ptr %104, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #7
  %106 = load ptr, ptr %12, align 8, !tbaa !5
  %107 = getelementptr inbounds %"class.JPH::Wheel", ptr %106, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %22, ptr align 16 %107, i64 16, i1 false), !tbaa.struct !38
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %23, ptr align 16 %18, i64 16, i1 false), !tbaa.struct !38
  %108 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 0
  %109 = load double, ptr %108, align 16
  %110 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 1
  %111 = load double, ptr %110, align 8
  %112 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %22, double %109, double %111)
  %113 = load ptr, ptr %12, align 8, !tbaa !5
  %114 = getelementptr inbounds %"class.JPH::Wheel", ptr %113, i32 0, i32 12
  %115 = load float, ptr %114, align 16, !tbaa !46
  %116 = fsub float %112, %115
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #7
  store float %116, ptr %21, align 4, !tbaa !9
  %117 = load float, ptr %21, align 4, !tbaa !9
  %118 = fcmp olt float %117, 0.000000e+00
  br i1 %118, label %119, label %170

119:                                              ; preds = %51
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #7
  %120 = load ptr, ptr %12, align 8, !tbaa !5
  %121 = getelementptr inbounds %"class.JPH::Wheel", ptr %120, i32 0, i32 9
  %122 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %121)
  %123 = getelementptr inbounds %"class.JPH::Vec3", ptr %24, i32 0, i32 0
  %124 = getelementptr inbounds %union.anon, ptr %123, i32 0, i32 0
  %125 = getelementptr inbounds { double, double }, ptr %124, i32 0, i32 0
  %126 = extractvalue { double, double } %122, 0
  store double %126, ptr %125, align 16
  %127 = getelementptr inbounds { double, double }, ptr %124, i32 0, i32 1
  %128 = extractvalue { double, double } %122, 1
  store double %128, ptr %127, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #7
  %129 = load ptr, ptr %12, align 8, !tbaa !5
  call void @_ZNK3JPH17VehicleConstraint29CalculateSuspensionForcePointERKNS_5WheelERNS_4Vec3ES5_(ptr noundef nonnull align 16 dereferenceable(408) %31, ptr noundef nonnull align 16 dereferenceable(404) %129, ptr noundef nonnull align 16 dereferenceable(16) %25, ptr noundef nonnull align 16 dereferenceable(16) %26)
  %130 = load ptr, ptr %12, align 8, !tbaa !5
  %131 = getelementptr inbounds %"class.JPH::Wheel", ptr %130, i32 0, i32 18
  %132 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 5
  %133 = load ptr, ptr %132, align 16, !tbaa !13
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %27, ptr align 16 %25, i64 16, i1 false), !tbaa.struct !38
  %134 = load ptr, ptr %12, align 8, !tbaa !5
  %135 = getelementptr inbounds %"class.JPH::Wheel", ptr %134, i32 0, i32 4
  %136 = load ptr, ptr %135, align 8, !tbaa !31
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %28, ptr align 16 %26, i64 16, i1 false), !tbaa.struct !38
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %29, ptr align 16 %24, i64 16, i1 false), !tbaa.struct !38
  %137 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 0
  %138 = load double, ptr %137, align 16
  %139 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 1
  %140 = load double, ptr %139, align 8
  %141 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 0
  %142 = load double, ptr %141, align 16
  %143 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 1
  %144 = load double, ptr %143, align 8
  %145 = getelementptr inbounds { double, double }, ptr %29, i32 0, i32 0
  %146 = load double, ptr %145, align 16
  %147 = getelementptr inbounds { double, double }, ptr %29, i32 0, i32 1
  %148 = load double, ptr %147, align 8
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %131, ptr noundef nonnull align 16 dereferenceable(122) %133, double %138, double %140, ptr noundef nonnull align 16 dereferenceable(122) %136, double %142, double %144, double %146, double %148, float noundef 0.000000e+00)
  %149 = load ptr, ptr %12, align 8, !tbaa !5
  %150 = getelementptr inbounds %"class.JPH::Wheel", ptr %149, i32 0, i32 18
  %151 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 5
  %152 = load ptr, ptr %151, align 16, !tbaa !13
  %153 = load ptr, ptr %12, align 8, !tbaa !5
  %154 = getelementptr inbounds %"class.JPH::Wheel", ptr %153, i32 0, i32 4
  %155 = load ptr, ptr %154, align 8, !tbaa !31
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %30, ptr align 16 %24, i64 16, i1 false), !tbaa.struct !38
  %156 = load float, ptr %21, align 4, !tbaa !9
  %157 = load float, ptr %6, align 4, !tbaa !9
  %158 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 0
  %159 = load double, ptr %158, align 16
  %160 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 1
  %161 = load double, ptr %160, align 8
  %162 = call noundef zeroext i1 @_ZNK3JPH18AxisConstraintPart23SolvePositionConstraintERNS_4BodyES2_NS_4Vec3Eff(ptr noundef nonnull align 4 dereferenceable(64) %150, ptr noundef nonnull align 16 dereferenceable(122) %152, ptr noundef nonnull align 16 dereferenceable(122) %155, double %159, double %161, float noundef %156, float noundef %157)
  %163 = zext i1 %162 to i32
  %164 = load i8, ptr %7, align 1, !tbaa !11, !range !47, !noundef !48
  %165 = trunc i8 %164 to i1
  %166 = zext i1 %165 to i32
  %167 = or i32 %166, %163
  %168 = icmp ne i32 %167, 0
  %169 = zext i1 %168 to i8
  store i8 %169, ptr %7, align 1, !tbaa !11
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #7
  br label %170

170:                                              ; preds = %119, %51
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  br label %171

171:                                              ; preds = %170, %44
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  br label %172

172:                                              ; preds = %171
  %173 = load ptr, ptr %10, align 8, !tbaa !5
  %174 = getelementptr inbounds ptr, ptr %173, i32 1
  store ptr %174, ptr %10, align 8, !tbaa !5
  br label %39

175:                                              ; preds = %43
  call void @_ZN3JPH17VehicleConstraint38CalculatePitchRollConstraintPropertiesERKNS_5Mat44E(ptr noundef nonnull align 16 dereferenceable(408) %31, ptr noundef nonnull align 16 dereferenceable(64) %8)
  %176 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 21
  %177 = call noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(48) %176)
  br i1 %177, label %178, label %196

178:                                              ; preds = %175
  %179 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 21
  %180 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 5
  %181 = load ptr, ptr %180, align 16, !tbaa !13
  %182 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 19
  %183 = load float, ptr %182, align 4, !tbaa !49
  %184 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %31, i32 0, i32 18
  %185 = load float, ptr %184, align 8, !tbaa !50
  %186 = fsub float %183, %185
  %187 = load float, ptr %6, align 4, !tbaa !9
  %188 = call noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart23SolvePositionConstraintERNS_4BodyES2_ff(ptr noundef nonnull align 16 dereferenceable(48) %179, ptr noundef nonnull align 16 dereferenceable(122) %181, ptr noundef nonnull align 16 dereferenceable(122) @_ZN3JPH4Body13sFixedToWorldE, float noundef %186, float noundef %187)
  %189 = zext i1 %188 to i32
  %190 = load i8, ptr %7, align 1, !tbaa !11, !range !47, !noundef !48
  %191 = trunc i8 %190 to i1
  %192 = zext i1 %191 to i32
  %193 = or i32 %192, %189
  %194 = icmp ne i32 %193, 0
  %195 = zext i1 %194 to i8
  store i8 %195, ptr %7, align 1, !tbaa !11
  br label %196

196:                                              ; preds = %178, %175
  %197 = load i8, ptr %7, align 1, !tbaa !11, !range !47, !noundef !48
  %198 = trunc i8 %197 to i1
  call void @llvm.lifetime.end.p0(i64 64, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #7
  ret i1 %198
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH18AxisConstraintPart23SolvePositionConstraintERNS_4BodyES2_NS_4Vec3Eff(ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), double, double, float noundef, float noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart23SolvePositionConstraintERNS_4BodyES2_ff(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), float noundef, float noundef) #4 align 2

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


; 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::Body" = type <{ %"class.JPH::Vec3", %"class.JPH::Quat", %"class.JPH::AABox", %"class.JPH::RefConst.20", ptr, i64, %"class.JPH::CollisionGroup", float, float, %"class.JPH::BodyID", i16, i8, %"class.JPH::BroadPhaseLayer", i8, %"struct.std::atomic.22", [6 x i8] }>
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.19 }
%union.anon.19 = type { <4 x float> }
%"class.JPH::AABox" = type { %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::RefConst.20" = type { ptr }
%"class.JPH::CollisionGroup" = type { %"class.JPH::RefConst.21", i32, i32 }
%"class.JPH::RefConst.21" = type { ptr }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::BroadPhaseLayer" = type { i8 }
%"struct.std::atomic.22" = type { %"struct.std::__atomic_base.23" }
%"struct.std::__atomic_base.23" = type { i8 }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }

@_ZN3JPH4Body13sFixedToWorldE = external global %"class.JPH::Body", align 16

; 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 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) #1

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #4 align 2

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

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

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

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #5 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK3JPH17VehicleConstraint29CalculateSuspensionForcePointERKNS_5WheelERNS_4Vec3ES5_(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 16 dereferenceable(404), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17VehicleConstraint38CalculatePitchRollConstraintPropertiesERKNS_5Mat44E(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), double, double, ptr noundef nonnull align 16 dereferenceable(122), double, double, double, double, float noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(48)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3JPH17VehicleConstraint23SolvePositionConstraintEff(ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1, float noundef %2) unnamed_addr #6 align 2 {
  %4 = alloca %"class.JPH::Mat44", align 16
  %5 = alloca %"class.JPH::Vec3", align 16
  %6 = alloca %"class.JPH::Vec3", align 16
  %7 = alloca %"class.JPH::Vec3", align 16
  %8 = alloca %"class.JPH::Vec3", align 16
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %4) #7
  %9 = getelementptr inbounds i8, ptr %0, i64 64
  %10 = load ptr, ptr %9, align 16, !tbaa !5
  call void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %4, ptr noundef nonnull align 16 dereferenceable(122) %10)
  %11 = getelementptr inbounds i8, ptr %0, i64 128
  %12 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %11)
  %13 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %11)
  %.not49 = icmp eq ptr %12, %13
  br i1 %.not49, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %3
  %14 = getelementptr inbounds i8, ptr %5, i64 8
  %.sroa.26.0..sroa_idx = getelementptr inbounds i8, ptr %7, i64 8
  %.sroa.24.0..sroa_idx = getelementptr inbounds i8, ptr %8, i64 8
  br label %17

._crit_edge:                                      ; preds = %58, %3
  %.0.lcssa = phi i1 [ false, %3 ], [ %.2, %58 ]
  call void @_ZN3JPH17VehicleConstraint38CalculatePitchRollConstraintPropertiesERKNS_5Mat44E(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 16 dereferenceable(64) %4)
  %15 = getelementptr inbounds i8, ptr %0, i64 224
  %16 = call noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(48) %15)
  br i1 %16, label %60, label %69

17:                                               ; preds = %.lr.ph, %58
  %.051 = phi i1 [ false, %.lr.ph ], [ %.2, %58 ]
  %.04650 = phi ptr [ %12, %.lr.ph ], [ %59, %58 ]
  %18 = load ptr, ptr %.04650, align 8, !tbaa !28
  %19 = getelementptr inbounds i8, ptr %18, i64 24
  %20 = load ptr, ptr %19, align 8, !tbaa !29
  %.not48 = icmp eq ptr %20, null
  br i1 %.not48, label %58, label %21

21:                                               ; preds = %17
  %22 = getelementptr inbounds i8, ptr %18, i64 8
  %23 = call noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %22)
  %24 = getelementptr inbounds i8, ptr %23, i64 48
  %.sroa.018.0.copyload = load double, ptr %24, align 16
  %.sroa.219.0..sroa_idx = getelementptr inbounds i8, ptr %23, i64 56
  %.sroa.219.0.copyload = load double, ptr %.sroa.219.0..sroa_idx, align 8, !tbaa !36
  %25 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %4, double %.sroa.018.0.copyload, double %.sroa.219.0.copyload)
  %26 = extractvalue { double, double } %25, 0
  %27 = extractvalue { double, double } %25, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #7
  %28 = getelementptr inbounds i8, ptr %23, i64 16
  %.sroa.016.0.copyload = load double, ptr %28, align 16
  %.sroa.217.0..sroa_idx = getelementptr inbounds i8, ptr %23, i64 24
  %.sroa.217.0.copyload = load double, ptr %.sroa.217.0..sroa_idx, align 8, !tbaa !36
  %29 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %4, double %.sroa.016.0.copyload, double %.sroa.217.0.copyload)
  %30 = extractvalue { double, double } %29, 0
  store double %30, ptr %5, align 16
  %31 = extractvalue { double, double } %29, 1
  store double %31, ptr %14, align 8
  %32 = getelementptr inbounds i8, ptr %23, i64 112
  %33 = load float, ptr %32, align 16, !tbaa !37
  %34 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %33, double %26, double %27)
  %35 = extractvalue { double, double } %34, 0
  %36 = extractvalue { double, double } %34, 1
  %37 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %5, double %35, double %36)
  %38 = extractvalue { double, double } %37, 0
  %39 = extractvalue { double, double } %37, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #7
  %40 = getelementptr inbounds i8, ptr %18, i64 80
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %40, i64 16, i1 false), !tbaa.struct !43
  %41 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %6, double %38, double %39)
  %42 = getelementptr inbounds i8, ptr %18, i64 128
  %43 = load float, ptr %42, align 16, !tbaa !44
  %44 = fsub float %41, %43
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  %45 = fcmp olt float %44, 0.000000e+00
  br i1 %45, label %46, label %57

46:                                               ; preds = %21
  %47 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %40)
  %48 = extractvalue { double, double } %47, 0
  %49 = extractvalue { double, double } %47, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #7
  call void @_ZNK3JPH17VehicleConstraint29CalculateSuspensionForcePointERKNS_5WheelERNS_4Vec3ES5_(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 16 dereferenceable(404) %18, ptr noundef nonnull align 16 dereferenceable(16) %7, ptr noundef nonnull align 16 dereferenceable(16) %8)
  %50 = getelementptr inbounds i8, ptr %18, i64 212
  %51 = load ptr, ptr %9, align 16, !tbaa !5
  %.sroa.05.0.copyload = load double, ptr %7, align 16
  %.sroa.26.0.copyload = load double, ptr %.sroa.26.0..sroa_idx, align 8, !tbaa !36
  %52 = load ptr, ptr %19, align 8, !tbaa !29
  %.sroa.03.0.copyload = load double, ptr %8, align 16
  %.sroa.24.0.copyload = load double, ptr %.sroa.24.0..sroa_idx, align 8, !tbaa !36
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %50, ptr noundef nonnull align 16 dereferenceable(122) %51, double %.sroa.05.0.copyload, double %.sroa.26.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %52, double %.sroa.03.0.copyload, double %.sroa.24.0.copyload, double %48, double %49, float noundef 0.000000e+00)
  %53 = load ptr, ptr %9, align 16, !tbaa !5
  %54 = load ptr, ptr %19, align 8, !tbaa !29
  %55 = call noundef zeroext i1 @_ZNK3JPH18AxisConstraintPart23SolvePositionConstraintERNS_4BodyES2_NS_4Vec3Eff(ptr noundef nonnull align 4 dereferenceable(64) %50, ptr noundef nonnull align 16 dereferenceable(122) %53, ptr noundef nonnull align 16 dereferenceable(122) %54, double %48, double %49, float noundef %44, float noundef %2)
  %56 = or i1 %.051, %55
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #7
  br label %57

57:                                               ; preds = %46, %21
  %.1 = phi i1 [ %56, %46 ], [ %.051, %21 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  br label %58

58:                                               ; preds = %57, %17
  %.2 = phi i1 [ %.1, %57 ], [ %.051, %17 ]
  %59 = getelementptr inbounds i8, ptr %.04650, i64 8
  %.not = icmp eq ptr %59, %13
  br i1 %.not, label %._crit_edge, label %17

60:                                               ; preds = %._crit_edge
  %61 = load ptr, ptr %9, align 16, !tbaa !5
  %62 = getelementptr inbounds i8, ptr %0, i64 204
  %63 = load float, ptr %62, align 4, !tbaa !45
  %64 = getelementptr inbounds i8, ptr %0, i64 200
  %65 = load float, ptr %64, align 8, !tbaa !46
  %66 = fsub float %63, %65
  %67 = call noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart23SolvePositionConstraintERNS_4BodyES2_ff(ptr noundef nonnull align 16 dereferenceable(48) %15, ptr noundef nonnull align 16 dereferenceable(122) %61, ptr noundef nonnull align 16 dereferenceable(122) @_ZN3JPH4Body13sFixedToWorldE, float noundef %66, float noundef %2)
  %68 = or i1 %.0.lcssa, %67
  br label %69

69:                                               ; preds = %60, %._crit_edge
  %.3 = phi i1 [ %68, %60 ], [ %.0.lcssa, %._crit_edge ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %4) #7
  ret i1 %.3
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH18AxisConstraintPart23SolvePositionConstraintERNS_4BodyES2_NS_4Vec3Eff(ptr noundef nonnull align 4 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), double, double, float noundef, float noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart23SolvePositionConstraintERNS_4BodyES2_ff(ptr noundef nonnull align 16 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), float noundef, float noundef) local_unnamed_addr #4 align 2

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


; Effective O3 passes: AggressiveInstCombinePass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopInstSimplifyPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass