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

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

%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.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.JPH::WheelSettingsWV" = type { %"class.JPH::WheelSettings.base", float, float, float, %"class.JPH::LinearCurve", %"class.JPH::LinearCurve", float, float, [8 x i8] }
%"class.JPH::WheelSettings.base" = type <{ %"class.JPH::SerializableObject", %"class.JPH::RefTarget.12", [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 }>
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget.12" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::SpringSettings" = type { i8, %union.anon.13, float }
%union.anon.13 = type { float }
%"class.JPH::LinearCurve" = type { %"class.JPH::Array" }
%"class.JPH::Array" = type { i64, i64, ptr }
%"class.JPH::Wheel" = type <{ ptr, %"class.JPH::RefConst", %"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" = type { ptr }
%"class.JPH::BodyID" = type { i32 }
%"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::SpringPart" = type { float, float }
%"class.JPH::WheelSettings" = type <{ %"class.JPH::SerializableObject", %"class.JPH::RefTarget.12", [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::WheelWV" = type { %"class.JPH::Wheel.base", float, float, float, float, float, [8 x i8] }
%"class.JPH::Wheel.base" = type <{ ptr, %"class.JPH::RefConst", %"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" }>

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

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH7WheelWV6UpdateEjfRKNS_17VehicleConstraintE(ptr noundef nonnull align 16 dereferenceable(424) %0, i32 noundef %1, float noundef %2, ptr noundef nonnull align 16 dereferenceable(408) %3) #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca float, align 4
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca float, align 4
  %11 = alloca float, align 4
  %12 = alloca ptr, align 8
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca %"class.JPH::Vec3", align 16
  %15 = alloca %"class.JPH::Vec3", align 16
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca float, align 4
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca float, align 4
  %29 = alloca %"class.std::function", align 8
  %30 = alloca ptr, align 8
  %31 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store i32 %1, ptr %6, align 4, !tbaa !9
  store float %2, ptr %7, align 4, !tbaa !11
  store ptr %3, ptr %8, align 8, !tbaa !5
  %32 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #12
  %33 = call noundef ptr @_ZNK3JPH7WheelWV11GetSettingsEv(ptr noundef nonnull align 16 dereferenceable(424) %32)
  store ptr %33, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #12
  store float 0.000000e+00, ptr %10, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #12
  %34 = load ptr, ptr %9, align 8, !tbaa !5
  %35 = getelementptr inbounds %"class.JPH::WheelSettingsWV", ptr %34, i32 0, i32 2
  %36 = load float, ptr %35, align 8, !tbaa !13
  %37 = load float, ptr %7, align 4, !tbaa !11
  %38 = fneg float %36
  %39 = call float @llvm.fmuladd.f32(float %38, float %37, float 1.000000e+00)
  store float %39, ptr %11, align 4, !tbaa !11
  %40 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %10, ptr noundef nonnull align 4 dereferenceable(4) %11)
  %41 = load float, ptr %40, align 4, !tbaa !11
  %42 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 15
  %43 = load float, ptr %42, align 4, !tbaa !27
  %44 = fmul float %43, %41
  store float %44, ptr %42, align 4, !tbaa !27
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #12
  %45 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 16
  %46 = load float, ptr %45, align 16, !tbaa !35
  %47 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 15
  %48 = load float, ptr %47, align 4, !tbaa !27
  %49 = load float, ptr %7, align 4, !tbaa !11
  %50 = call float @llvm.fmuladd.f32(float %48, float %49, float %46)
  %51 = call noundef float @_ZSt4fmodff(float noundef %50, float noundef 0x401921FB60000000)
  %52 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 16
  store float %51, ptr %52, align 16, !tbaa !35
  %53 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 4
  %54 = load ptr, ptr %53, align 8, !tbaa !36
  %55 = icmp ne ptr %54, null
  br i1 %55, label %56, label %174

56:                                               ; preds = %4
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #12
  %57 = load ptr, ptr %8, align 8, !tbaa !5
  %58 = call noundef ptr @_ZNK3JPH17VehicleConstraint14GetVehicleBodyEv(ptr noundef nonnull align 16 dereferenceable(408) %57)
  store ptr %58, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %13) #12
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #12
  %59 = load ptr, ptr %12, align 8, !tbaa !5
  %60 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %15, ptr align 16 %60, i64 16, i1 false), !tbaa.struct !37
  %61 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 0
  %62 = load double, ptr %61, align 16
  %63 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 1
  %64 = load double, ptr %63, align 8
  %65 = call { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %59, double %62, double %64)
  %66 = getelementptr inbounds %"class.JPH::Vec3", ptr %14, i32 0, i32 0
  %67 = getelementptr inbounds %union.anon, ptr %66, i32 0, i32 0
  %68 = getelementptr inbounds { double, double }, ptr %67, i32 0, i32 0
  %69 = extractvalue { double, double } %65, 0
  store double %69, ptr %68, align 16
  %70 = getelementptr inbounds { double, double }, ptr %67, i32 0, i32 1
  %71 = extractvalue { double, double } %65, 1
  store double %71, ptr %70, align 8
  %72 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %16, ptr align 16 %72, i64 16, i1 false), !tbaa.struct !37
  %73 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 0
  %74 = load double, ptr %73, align 16
  %75 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 1
  %76 = load double, ptr %75, align 8
  %77 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %14, double %74, double %76)
  %78 = getelementptr inbounds %"class.JPH::Vec3", ptr %13, i32 0, i32 0
  %79 = getelementptr inbounds %union.anon, ptr %78, i32 0, i32 0
  %80 = getelementptr inbounds { double, double }, ptr %79, i32 0, i32 0
  %81 = extractvalue { double, double } %77, 0
  store double %81, ptr %80, align 16
  %82 = getelementptr inbounds { double, double }, ptr %79, i32 0, i32 1
  %83 = extractvalue { double, double } %77, 1
  store double %83, ptr %82, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #12
  %84 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %18, ptr align 16 %13, i64 16, i1 false), !tbaa.struct !37
  %85 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 0
  %86 = load double, ptr %85, align 16
  %87 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 1
  %88 = load double, ptr %87, align 8
  %89 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %84, double %86, double %88)
  %90 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %19, ptr align 16 %90, i64 16, i1 false), !tbaa.struct !37
  %91 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 0
  %92 = load double, ptr %91, align 16
  %93 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 1
  %94 = load double, ptr %93, align 8
  %95 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %89, double %92, double %94)
  %96 = getelementptr inbounds %"class.JPH::Vec3", ptr %17, i32 0, i32 0
  %97 = getelementptr inbounds %union.anon, ptr %96, i32 0, i32 0
  %98 = getelementptr inbounds { double, double }, ptr %97, i32 0, i32 0
  %99 = extractvalue { double, double } %95, 0
  store double %99, ptr %98, align 16
  %100 = getelementptr inbounds { double, double }, ptr %97, i32 0, i32 1
  %101 = extractvalue { double, double } %95, 1
  store double %101, ptr %100, align 8
  %102 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 0
  %103 = load double, ptr %102, align 16
  %104 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 1
  %105 = load double, ptr %104, align 8
  %106 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mIES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %103, double %105)
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #12
  %107 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %21, ptr align 16 %107, i64 16, i1 false), !tbaa.struct !37
  %108 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 0
  %109 = load double, ptr %108, align 16
  %110 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 1
  %111 = load double, ptr %110, align 8
  %112 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %109, double %111)
  store float %112, ptr %20, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #12
  %113 = load float, ptr %20, align 4, !tbaa !11
  %114 = call noundef float @_ZN3JPH4SignIfEET_S1_(float noundef %113)
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #12
  store float 0x3F50624DE0000000, ptr %23, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #12
  %115 = load float, ptr %20, align 4, !tbaa !11
  %116 = call noundef float @_ZSt3absf(float noundef %115)
  store float %116, ptr %24, align 4, !tbaa !11
  %117 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull align 4 dereferenceable(4) %24)
  %118 = load float, ptr %117, align 4, !tbaa !11
  %119 = fmul float %114, %118
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #12
  store float %119, ptr %22, align 4, !tbaa !11
  %120 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 15
  %121 = load float, ptr %120, align 4, !tbaa !27
  %122 = load ptr, ptr %9, align 8, !tbaa !5
  %123 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %122, i32 0, i32 13
  %124 = load float, ptr %123, align 8, !tbaa !39
  %125 = load float, ptr %20, align 4, !tbaa !11
  %126 = fneg float %125
  %127 = call float @llvm.fmuladd.f32(float %121, float %124, float %126)
  %128 = load float, ptr %22, align 4, !tbaa !11
  %129 = fdiv float %127, %128
  %130 = call noundef float @_ZSt3absf(float noundef %129)
  %131 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 1
  store float %130, ptr %131, align 4, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #12
  %132 = load ptr, ptr %9, align 8, !tbaa !5
  %133 = getelementptr inbounds %"class.JPH::WheelSettingsWV", ptr %132, i32 0, i32 4
  %134 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 1
  %135 = load float, ptr %134, align 4, !tbaa !40
  %136 = call noundef float @_ZNK3JPH11LinearCurve8GetValueEf(ptr noundef nonnull align 8 dereferenceable(24) %133, float noundef %135)
  store float %136, ptr %25, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #12
  %137 = call noundef float @_ZNK3JPH4Vec36LengthEv(ptr noundef nonnull align 16 dereferenceable(16) %13)
  store float %137, ptr %26, align 4, !tbaa !11
  %138 = load float, ptr %26, align 4, !tbaa !11
  %139 = fcmp olt float %138, 0x3F50624DE0000000
  br i1 %139, label %140, label %141

140:                                              ; preds = %56
  br label %147

141:                                              ; preds = %56
  %142 = load float, ptr %20, align 4, !tbaa !11
  %143 = call noundef float @_ZSt3absf(float noundef %142)
  %144 = load float, ptr %26, align 4, !tbaa !11
  %145 = fdiv float %143, %144
  %146 = call noundef float @_ZN3JPH4ACosEf(float noundef %145)
  br label %147

147:                                              ; preds = %141, %140
  %148 = phi float [ 0.000000e+00, %140 ], [ %146, %141 ]
  %149 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 2
  store float %148, ptr %149, align 8, !tbaa !42
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #12
  %150 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 2
  %151 = load float, ptr %150, align 8, !tbaa !42
  %152 = call noundef float @_ZN3JPH16RadiansToDegreesEf(float noundef %151)
  store float %152, ptr %27, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #12
  %153 = load ptr, ptr %9, align 8, !tbaa !5
  %154 = getelementptr inbounds %"class.JPH::WheelSettingsWV", ptr %153, i32 0, i32 5
  %155 = load float, ptr %27, align 4, !tbaa !11
  %156 = call noundef float @_ZNK3JPH11LinearCurve8GetValueEf(ptr noundef nonnull align 8 dereferenceable(24) %154, float noundef %155)
  store float %156, ptr %28, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 32, ptr %29) #12
  %157 = load ptr, ptr %8, align 8, !tbaa !5
  %158 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNK3JPH17VehicleConstraint18GetCombineFrictionEv(ptr noundef nonnull align 16 dereferenceable(408) %157)
  call void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2ERKS9_(ptr noundef nonnull align 8 dereferenceable(32) %29, ptr noundef nonnull align 8 dereferenceable(32) %158)
  %159 = load float, ptr %25, align 4, !tbaa !11
  %160 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 3
  store float %159, ptr %160, align 4, !tbaa !43
  %161 = load float, ptr %28, align 4, !tbaa !11
  %162 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 4
  store float %161, ptr %162, align 16, !tbaa !44
  %163 = load i32, ptr %6, align 4, !tbaa !9
  %164 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 3
  %165 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 4
  %166 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 4
  %167 = load ptr, ptr %166, align 8, !tbaa !36
  %168 = getelementptr inbounds %"class.JPH::Wheel", ptr %32, i32 0, i32 3
  invoke void @_ZNKSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEclEjS0_S0_S4_S7_(ptr noundef nonnull align 8 dereferenceable(32) %29, i32 noundef %163, ptr noundef nonnull align 4 dereferenceable(4) %164, ptr noundef nonnull align 4 dereferenceable(4) %165, ptr noundef nonnull align 16 dereferenceable(122) %167, ptr noundef nonnull align 4 dereferenceable(4) %168)
          to label %169 unwind label %170

169:                                              ; preds = %147
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %29) #12
  call void @llvm.lifetime.end.p0(i64 32, ptr %29) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #12
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #12
  br label %179

170:                                              ; preds = %147
  %171 = landingpad { ptr, i32 }
          cleanup
  %172 = extractvalue { ptr, i32 } %171, 0
  store ptr %172, ptr %30, align 8
  %173 = extractvalue { ptr, i32 } %171, 1
  store i32 %173, ptr %31, align 4
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %29) #12
  call void @llvm.lifetime.end.p0(i64 32, ptr %29) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #12
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #12
  br label %180

174:                                              ; preds = %4
  %175 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 1
  store float 0.000000e+00, ptr %175, align 4, !tbaa !40
  %176 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 2
  store float 0.000000e+00, ptr %176, align 8, !tbaa !42
  %177 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 4
  store float 0.000000e+00, ptr %177, align 16, !tbaa !44
  %178 = getelementptr inbounds %"class.JPH::WheelWV", ptr %32, i32 0, i32 3
  store float 0.000000e+00, ptr %178, align 4, !tbaa !43
  br label %179

179:                                              ; preds = %174, %169
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #12
  ret void

180:                                              ; preds = %170
  %181 = load ptr, ptr %30, align 8
  %182 = load i32, ptr %31, align 4
  %183 = insertvalue { ptr, i32 } poison, ptr %181, 0
  %184 = insertvalue { ptr, i32 } %183, i32 %182, 1
  resume { ptr, i32 } %184
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH7WheelWV11GetSettingsEv(ptr noundef nonnull align 16 dereferenceable(424)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #1

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fmodff(float noundef, float noundef) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH17VehicleConstraint14GetVehicleBodyEv(ptr noundef nonnull align 16 dereferenceable(408)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) #5 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #6

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) #7

; 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 nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mIES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #9 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH4SignIfEET_S1_(float noundef) #8

declare noundef float @_ZNK3JPH11LinearCurve8GetValueEf(ptr noundef nonnull align 8 dereferenceable(24), float noundef) #10

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH4Vec36LengthEv(ptr noundef nonnull align 16 dereferenceable(16)) #11 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef float @_ZN3JPH4ACosEf(float noundef) #11

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH16RadiansToDegreesEf(float noundef) #8

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNK3JPH17VehicleConstraint18GetCombineFrictionEv(ptr noundef nonnull align 16 dereferenceable(408)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2ERKS9_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNKSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEclEjS0_S0_S4_S7_(ptr noundef nonnull align 8 dereferenceable(32), i32 noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 4 dereferenceable(4)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { 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 #5 = { 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 #6 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { alwaysinline mustprogress nounwind 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 #10 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #11 = { 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 #12 = { 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 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"float", !7, i64 0}
!13 = !{!14, !12, i64 152}
!14 = !{!"_ZTSN3JPH15WheelSettingsWVE", !15, i64 0, !12, i64 148, !12, i64 152, !12, i64 156, !24, i64 160, !24, i64 184, !12, i64 208, !12, i64 212}
!15 = !{!"_ZTSN3JPH13WheelSettingsE", !16, i64 0, !17, i64 8, !20, i64 16, !20, i64 32, !20, i64 48, !20, i64 64, !20, i64 80, !20, i64 96, !12, i64 112, !12, i64 116, !12, i64 120, !21, i64 124, !12, i64 136, !12, i64 140, !23, i64 144}
!16 = !{!"_ZTSN3JPH18SerializableObjectE"}
!17 = !{!"_ZTSN3JPH9RefTargetINS_13WheelSettingsEEE", !18, i64 0}
!18 = !{!"_ZTSSt6atomicIjE", !19, i64 0}
!19 = !{!"_ZTSSt13__atomic_baseIjE", !10, i64 0}
!20 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!21 = !{!"_ZTSN3JPH14SpringSettingsE", !22, i64 0, !7, i64 4, !12, i64 8}
!22 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!23 = !{!"bool", !7, i64 0}
!24 = !{!"_ZTSN3JPH11LinearCurveE", !25, i64 0}
!25 = !{!"_ZTSN3JPH5ArrayINS_11LinearCurve5PointENS_12STLAllocatorIS2_EEEE", !26, i64 0, !26, i64 8, !6, i64 16}
!26 = !{!"long", !7, i64 0}
!27 = !{!28, !12, i64 140}
!28 = !{!"_ZTSN3JPH5WheelE", !29, i64 8, !30, i64 16, !31, i64 20, !6, i64 24, !12, i64 32, !20, i64 48, !20, i64 64, !20, i64 80, !20, i64 96, !20, i64 112, !12, i64 128, !12, i64 132, !12, i64 136, !12, i64 140, !12, i64 144, !32, i64 148, !32, i64 212, !32, i64 276, !32, i64 340}
!29 = !{!"_ZTSN3JPH8RefConstINS_13WheelSettingsEEE", !6, i64 0}
!30 = !{!"_ZTSN3JPH6BodyIDE", !10, i64 0}
!31 = !{!"_ZTSN3JPH10SubShapeIDE", !10, i64 0}
!32 = !{!"_ZTSN3JPH18AxisConstraintPartE", !33, i64 0, !33, i64 12, !33, i64 24, !33, i64 36, !12, i64 48, !34, i64 52, !12, i64 60}
!33 = !{!"_ZTSN3JPH6Float3E", !12, i64 0, !12, i64 4, !12, i64 8}
!34 = !{!"_ZTSN3JPH10SpringPartE", !12, i64 0, !12, i64 4}
!35 = !{!28, !12, i64 144}
!36 = !{!28, !6, i64 24}
!37 = !{i64 0, i64 16, !38}
!38 = !{!7, !7, i64 0}
!39 = !{!15, !12, i64 136}
!40 = !{!41, !12, i64 404}
!41 = !{!"_ZTSN3JPH7WheelWVE", !28, i64 0, !12, i64 404, !12, i64 408, !12, i64 412, !12, i64 416, !12, i64 420}
!42 = !{!41, !12, i64 408}
!43 = !{!41, !12, i64 412}
!44 = !{!41, !12, i64 416}


; 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::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"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 } }

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

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH7WheelWV6UpdateEjfRKNS_17VehicleConstraintE(ptr noundef nonnull align 16 dereferenceable(424) %0, i32 noundef %1, float noundef %2, ptr noundef nonnull align 16 dereferenceable(408) %3) local_unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca float, align 4
  %6 = alloca float, align 4
  %7 = alloca %"class.JPH::Vec3", align 16
  %8 = alloca %"class.JPH::Vec3", align 16
  %9 = alloca float, align 4
  %10 = alloca float, align 4
  %11 = alloca %"class.std::function", align 8
  %12 = tail call noundef ptr @_ZNK3JPH7WheelWV11GetSettingsEv(ptr noundef nonnull align 16 dereferenceable(424) %0)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %5) #12
  store float 0.000000e+00, ptr %5, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %6) #12
  %13 = getelementptr inbounds i8, ptr %12, i64 152
  %14 = load float, ptr %13, align 8, !tbaa !9
  %15 = fneg float %14
  %16 = tail call float @llvm.fmuladd.f32(float %15, float %2, float 1.000000e+00)
  store float %16, ptr %6, align 4, !tbaa !5
  %17 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %5, ptr noundef nonnull align 4 dereferenceable(4) %6)
  %18 = load float, ptr %17, align 4, !tbaa !5
  %19 = getelementptr inbounds i8, ptr %0, i64 140
  %20 = load float, ptr %19, align 4, !tbaa !25
  %21 = fmul float %18, %20
  store float %21, ptr %19, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %6) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %5) #12
  %22 = getelementptr inbounds i8, ptr %0, i64 144
  %23 = load float, ptr %22, align 16, !tbaa !33
  %24 = call float @llvm.fmuladd.f32(float %21, float %2, float %23)
  %25 = call noundef float @_ZSt4fmodff(float noundef %24, float noundef 0x401921FB60000000)
  store float %25, ptr %22, align 16, !tbaa !33
  %26 = getelementptr inbounds i8, ptr %0, i64 24
  %27 = load ptr, ptr %26, align 8, !tbaa !34
  %.not = icmp eq ptr %27, null
  br i1 %.not, label %83, label %28

28:                                               ; preds = %4
  %29 = call noundef ptr @_ZNK3JPH17VehicleConstraint14GetVehicleBodyEv(ptr noundef nonnull align 16 dereferenceable(408) %3)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #12
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #12
  %30 = getelementptr inbounds i8, ptr %0, i64 48
  %.sroa.019.0.copyload = load double, ptr %30, align 16
  %.sroa.220.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 56
  %.sroa.220.0.copyload = load double, ptr %.sroa.220.0..sroa_idx, align 8, !tbaa !35
  %31 = call { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %29, double %.sroa.019.0.copyload, double %.sroa.220.0.copyload)
  %32 = extractvalue { double, double } %31, 0
  store double %32, ptr %8, align 16
  %33 = getelementptr inbounds i8, ptr %8, i64 8
  %34 = extractvalue { double, double } %31, 1
  store double %34, ptr %33, align 8
  %35 = getelementptr inbounds i8, ptr %0, i64 64
  %.sroa.017.0.copyload = load double, ptr %35, align 16
  %.sroa.218.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 72
  %.sroa.218.0.copyload = load double, ptr %.sroa.218.0..sroa_idx, align 8, !tbaa !35
  %36 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %8, double %.sroa.017.0.copyload, double %.sroa.218.0.copyload)
  %37 = extractvalue { double, double } %36, 0
  store double %37, ptr %7, align 16
  %38 = getelementptr inbounds i8, ptr %7, i64 8
  %39 = extractvalue { double, double } %36, 1
  store double %39, ptr %38, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #12
  %40 = getelementptr inbounds i8, ptr %0, i64 80
  %41 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %40, double %37, double %39)
  %.sroa.011.0.copyload = load double, ptr %40, align 16
  %.sroa.212.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 88
  %.sroa.212.0.copyload = load double, ptr %.sroa.212.0..sroa_idx, align 8, !tbaa !35
  %42 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %41, double %.sroa.011.0.copyload, double %.sroa.212.0.copyload)
  %43 = extractvalue { double, double } %42, 0
  %44 = extractvalue { double, double } %42, 1
  %45 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mIES0_(ptr noundef nonnull align 16 dereferenceable(16) %7, double %43, double %44)
  %46 = getelementptr inbounds i8, ptr %0, i64 96
  %.sroa.0.0.copyload = load double, ptr %46, align 16
  %.sroa.2.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 104
  %.sroa.2.0.copyload = load double, ptr %.sroa.2.0..sroa_idx, align 8, !tbaa !35
  %47 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %7, double %.sroa.0.0.copyload, double %.sroa.2.0.copyload)
  %48 = call noundef float @_ZN3JPH4SignIfEET_S1_(float noundef %47)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #12
  store float 0x3F50624DE0000000, ptr %9, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %10) #12
  %49 = call noundef float @_ZSt3absf(float noundef %47)
  store float %49, ptr %10, align 4, !tbaa !5
  %50 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %9, ptr noundef nonnull align 4 dereferenceable(4) %10)
  %51 = load float, ptr %50, align 4, !tbaa !5
  %52 = fmul float %48, %51
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %10) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #12
  %53 = load float, ptr %19, align 4, !tbaa !25
  %54 = getelementptr inbounds i8, ptr %12, i64 136
  %55 = load float, ptr %54, align 8, !tbaa !36
  %56 = fneg float %47
  %57 = call float @llvm.fmuladd.f32(float %53, float %55, float %56)
  %58 = fdiv float %57, %52
  %59 = call noundef float @_ZSt3absf(float noundef %58)
  %60 = getelementptr inbounds i8, ptr %0, i64 404
  store float %59, ptr %60, align 4, !tbaa !37
  %61 = getelementptr inbounds i8, ptr %12, i64 160
  %62 = call noundef float @_ZNK3JPH11LinearCurve8GetValueEf(ptr noundef nonnull align 8 dereferenceable(24) %61, float noundef %59)
  %63 = call noundef float @_ZNK3JPH4Vec36LengthEv(ptr noundef nonnull align 16 dereferenceable(16) %7)
  %64 = fcmp olt float %63, 0x3F50624DE0000000
  br i1 %64, label %69, label %65

65:                                               ; preds = %28
  %66 = call noundef float @_ZSt3absf(float noundef %47)
  %67 = fdiv float %66, %63
  %68 = call noundef float @_ZN3JPH4ACosEf(float noundef %67)
  br label %69

69:                                               ; preds = %28, %65
  %70 = phi float [ %68, %65 ], [ 0.000000e+00, %28 ]
  %71 = getelementptr inbounds i8, ptr %0, i64 408
  store float %70, ptr %71, align 8, !tbaa !39
  %72 = call noundef float @_ZN3JPH16RadiansToDegreesEf(float noundef %70)
  %73 = getelementptr inbounds i8, ptr %12, i64 184
  %74 = call noundef float @_ZNK3JPH11LinearCurve8GetValueEf(ptr noundef nonnull align 8 dereferenceable(24) %73, float noundef %72)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %11) #12
  %75 = call noundef nonnull align 8 dereferenceable(32) ptr @_ZNK3JPH17VehicleConstraint18GetCombineFrictionEv(ptr noundef nonnull align 16 dereferenceable(408) %3)
  call void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2ERKS9_(ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef nonnull align 8 dereferenceable(32) %75)
  %76 = getelementptr inbounds i8, ptr %0, i64 412
  store float %62, ptr %76, align 4, !tbaa !40
  %77 = getelementptr inbounds i8, ptr %0, i64 416
  store float %74, ptr %77, align 16, !tbaa !41
  %78 = load ptr, ptr %26, align 8, !tbaa !34
  %79 = getelementptr inbounds i8, ptr %0, i64 20
  invoke void @_ZNKSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEclEjS0_S0_S4_S7_(ptr noundef nonnull align 8 dereferenceable(32) %11, i32 noundef %1, ptr noundef nonnull align 4 dereferenceable(4) %76, ptr noundef nonnull align 4 dereferenceable(4) %77, ptr noundef nonnull align 16 dereferenceable(122) %78, ptr noundef nonnull align 4 dereferenceable(4) %79)
          to label %80 unwind label %81

80:                                               ; preds = %69
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #12
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #12
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #12
  br label %85

81:                                               ; preds = %69
  %82 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #12
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %11) #12
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #12
  resume { ptr, i32 } %82

83:                                               ; preds = %4
  %84 = getelementptr inbounds i8, ptr %0, i64 404
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 4 dereferenceable(16) %84, i8 0, i64 16, i1 false)
  br label %85

85:                                               ; preds = %83, %80
  ret void
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH7WheelWV11GetSettingsEv(ptr noundef nonnull align 16 dereferenceable(424)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fmodff(float noundef, float noundef) local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH17VehicleConstraint14GetVehicleBodyEv(ptr noundef nonnull align 16 dereferenceable(408)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) local_unnamed_addr #6

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mIES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #8 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH4SignIfEET_S1_(float noundef) local_unnamed_addr #7

declare noundef float @_ZNK3JPH11LinearCurve8GetValueEf(ptr noundef nonnull align 8 dereferenceable(24), float noundef) local_unnamed_addr #9

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH4Vec36LengthEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #10 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef float @_ZN3JPH4ACosEf(float noundef) local_unnamed_addr #10

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH16RadiansToDegreesEf(float noundef) local_unnamed_addr #7

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZNK3JPH17VehicleConstraint18GetCombineFrictionEv(ptr noundef nonnull align 16 dereferenceable(408)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2ERKS9_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNKSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEclEjS0_S0_S4_S7_(ptr noundef nonnull align 8 dereferenceable(32), i32 noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #11

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { 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 #5 = { 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 #6 = { 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 #7 = { 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 #8 = { alwaysinline mustprogress nounwind 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 #9 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #10 = { 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 #11 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #12 = { 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 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 152}
!10 = !{!"_ZTSN3JPH15WheelSettingsWVE", !11, i64 0, !6, i64 148, !6, i64 152, !6, i64 156, !21, i64 160, !21, i64 184, !6, i64 208, !6, i64 212}
!11 = !{!"_ZTSN3JPH13WheelSettingsE", !12, i64 0, !13, i64 8, !17, i64 16, !17, i64 32, !17, i64 48, !17, i64 64, !17, i64 80, !17, i64 96, !6, i64 112, !6, i64 116, !6, i64 120, !18, i64 124, !6, i64 136, !6, i64 140, !20, i64 144}
!12 = !{!"_ZTSN3JPH18SerializableObjectE"}
!13 = !{!"_ZTSN3JPH9RefTargetINS_13WheelSettingsEEE", !14, i64 0}
!14 = !{!"_ZTSSt6atomicIjE", !15, i64 0}
!15 = !{!"_ZTSSt13__atomic_baseIjE", !16, i64 0}
!16 = !{!"int", !7, i64 0}
!17 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!18 = !{!"_ZTSN3JPH14SpringSettingsE", !19, i64 0, !7, i64 4, !6, i64 8}
!19 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!20 = !{!"bool", !7, i64 0}
!21 = !{!"_ZTSN3JPH11LinearCurveE", !22, i64 0}
!22 = !{!"_ZTSN3JPH5ArrayINS_11LinearCurve5PointENS_12STLAllocatorIS2_EEEE", !23, i64 0, !23, i64 8, !24, i64 16}
!23 = !{!"long", !7, i64 0}
!24 = !{!"any pointer", !7, i64 0}
!25 = !{!26, !6, i64 140}
!26 = !{!"_ZTSN3JPH5WheelE", !27, i64 8, !28, i64 16, !29, i64 20, !24, i64 24, !6, i64 32, !17, i64 48, !17, i64 64, !17, i64 80, !17, i64 96, !17, i64 112, !6, i64 128, !6, i64 132, !6, i64 136, !6, i64 140, !6, i64 144, !30, i64 148, !30, i64 212, !30, i64 276, !30, i64 340}
!27 = !{!"_ZTSN3JPH8RefConstINS_13WheelSettingsEEE", !24, i64 0}
!28 = !{!"_ZTSN3JPH6BodyIDE", !16, i64 0}
!29 = !{!"_ZTSN3JPH10SubShapeIDE", !16, i64 0}
!30 = !{!"_ZTSN3JPH18AxisConstraintPartE", !31, i64 0, !31, i64 12, !31, i64 24, !31, i64 36, !6, i64 48, !32, i64 52, !6, i64 60}
!31 = !{!"_ZTSN3JPH6Float3E", !6, i64 0, !6, i64 4, !6, i64 8}
!32 = !{!"_ZTSN3JPH10SpringPartE", !6, i64 0, !6, i64 4}
!33 = !{!26, !6, i64 144}
!34 = !{!26, !24, i64 24}
!35 = !{!7, !7, i64 0}
!36 = !{!11, !6, i64 136}
!37 = !{!38, !6, i64 404}
!38 = !{!"_ZTSN3JPH7WheelWVE", !26, i64 0, !6, i64 404, !6, i64 408, !6, i64 412, !6, i64 416, !6, i64 420}
!39 = !{!38, !6, i64 408}
!40 = !{!38, !6, i64 412}
!41 = !{!38, !6, i64 416}


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