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

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

%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.4 }
%union.anon.4 = type { <4 x float> }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::HingeConstraint" = type { %"class.JPH::TwoBodyConstraint", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Quat", i8, float, float, %"class.JPH::SpringSettings", float, %"class.JPH::MotorSettings", i32, float, float, float, %"class.JPH::Vec3", %"class.JPH::PointConstraintPart", %"class.JPH::HingeRotationConstraintPart", %"class.JPH::AngleConstraintPart", %"class.JPH::AngleConstraintPart" }
%"class.JPH::TwoBodyConstraint" = type { %"class.JPH::Constraint", ptr, ptr }
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.3", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.3" = 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.2, float }
%union.anon.2 = type { float }
%"class.JPH::MotorSettings" = type { %"class.JPH::SpringSettings", float, float, float, float }
%"class.JPH::PointConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3" }
%"class.JPH::HingeRotationConstraintPart" = type <{ %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Matrix", %"class.JPH::Vector", [8 x i8] }>
%"class.JPH::Matrix" = type { [2 x %"class.JPH::Vector"] }
%"class.JPH::Vector" = type { [2 x float] }
%"class.JPH::AngleConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH15HingeConstraint19CalculateA1AndThetaEv(ptr noundef nonnull align 16 dereferenceable(832)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH15HingeConstraint43CalculateRotationLimitsConstraintPropertiesEf(ptr noundef nonnull align 16 dereferenceable(832), float noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH15HingeConstraint23GetSmallestAngleToLimitEv(ptr noundef nonnull align 16 dereferenceable(832)) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, double, double) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH19PointConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(240), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(48)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3JPH15HingeConstraint23SolvePositionConstraintEff(ptr noundef nonnull align 16 dereferenceable(832) %0, float noundef %1, float noundef %2) unnamed_addr #4 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca float, align 4
  %6 = alloca float, align 4
  %7 = alloca %"class.JPH::Mat44", align 16
  %8 = alloca %"class.JPH::Quat", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Mat44", align 16
  %11 = alloca %"class.JPH::Quat", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca i8, align 1
  %14 = alloca %"class.JPH::Mat44", align 16
  %15 = alloca %"class.JPH::Quat", align 16
  %16 = alloca %"class.JPH::Mat44", align 16
  %17 = alloca %"class.JPH::Quat", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca i8, align 1
  %23 = alloca i8, align 1
  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
  %24 = load ptr, ptr %4, align 8
  %25 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 19
  %26 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 1
  %27 = load ptr, ptr %26, align 16, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 64, ptr %7) #8
  %28 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 1
  %29 = load ptr, ptr %28, align 16, !tbaa !11
  %30 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %29)
  %31 = getelementptr inbounds %"class.JPH::Quat", ptr %8, i32 0, i32 0
  %32 = getelementptr inbounds %"class.JPH::Vec4", ptr %31, i32 0, i32 0
  %33 = getelementptr inbounds %union.anon.4, ptr %32, i32 0, i32 0
  %34 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 0
  %35 = extractvalue { double, double } %30, 0
  store double %35, ptr %34, align 16
  %36 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 1
  %37 = extractvalue { double, double } %30, 1
  store double %37, ptr %36, align 8
  %38 = getelementptr inbounds { double, double }, ptr %8, i32 0, i32 0
  %39 = load double, ptr %38, align 16
  %40 = getelementptr inbounds { double, double }, ptr %8, i32 0, i32 1
  %41 = load double, ptr %40, align 8
  call void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %7, double %39, double %41)
  %42 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %9, ptr align 16 %42, i64 16, i1 false), !tbaa.struct !20
  %43 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 2
  %44 = load ptr, ptr %43, align 8, !tbaa !22
  call void @llvm.lifetime.start.p0(i64 64, ptr %10) #8
  %45 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 2
  %46 = load ptr, ptr %45, align 8, !tbaa !22
  %47 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %46)
  %48 = getelementptr inbounds %"class.JPH::Quat", ptr %11, i32 0, i32 0
  %49 = getelementptr inbounds %"class.JPH::Vec4", ptr %48, i32 0, i32 0
  %50 = getelementptr inbounds %union.anon.4, ptr %49, i32 0, i32 0
  %51 = getelementptr inbounds { double, double }, ptr %50, i32 0, i32 0
  %52 = extractvalue { double, double } %47, 0
  store double %52, ptr %51, align 16
  %53 = getelementptr inbounds { double, double }, ptr %50, i32 0, i32 1
  %54 = extractvalue { double, double } %47, 1
  store double %54, ptr %53, align 8
  %55 = getelementptr inbounds { double, double }, ptr %11, i32 0, i32 0
  %56 = load double, ptr %55, align 16
  %57 = getelementptr inbounds { double, double }, ptr %11, i32 0, i32 1
  %58 = load double, ptr %57, align 8
  call void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %10, double %56, double %58)
  %59 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %12, ptr align 16 %59, i64 16, i1 false), !tbaa.struct !20
  %60 = getelementptr inbounds { double, double }, ptr %9, i32 0, i32 0
  %61 = load double, ptr %60, align 16
  %62 = getelementptr inbounds { double, double }, ptr %9, i32 0, i32 1
  %63 = load double, ptr %62, align 8
  %64 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 0
  %65 = load double, ptr %64, align 16
  %66 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 1
  %67 = load double, ptr %66, align 8
  call void @_ZN3JPH19PointConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(240) %25, ptr noundef nonnull align 16 dereferenceable(122) %27, ptr noundef nonnull align 16 dereferenceable(64) %7, double %61, double %63, ptr noundef nonnull align 16 dereferenceable(122) %44, ptr noundef nonnull align 16 dereferenceable(64) %10, double %65, double %67)
  call void @llvm.lifetime.end.p0(i64 64, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr %7) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr %13) #8
  %68 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 19
  %69 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 1
  %70 = load ptr, ptr %69, align 16, !tbaa !11
  %71 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 2
  %72 = load ptr, ptr %71, align 8, !tbaa !22
  %73 = load float, ptr %6, align 4, !tbaa !9
  %74 = call noundef zeroext i1 @_ZNK3JPH19PointConstraintPart23SolvePositionConstraintERNS_4BodyES2_f(ptr noundef nonnull align 16 dereferenceable(240) %68, ptr noundef nonnull align 16 dereferenceable(122) %70, ptr noundef nonnull align 16 dereferenceable(122) %72, float noundef %73)
  %75 = zext i1 %74 to i8
  store i8 %75, ptr %13, align 1, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 64, ptr %14) #8
  %76 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 1
  %77 = load ptr, ptr %76, align 16, !tbaa !11
  %78 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %77)
  %79 = getelementptr inbounds %"class.JPH::Quat", ptr %15, i32 0, i32 0
  %80 = getelementptr inbounds %"class.JPH::Vec4", ptr %79, i32 0, i32 0
  %81 = getelementptr inbounds %union.anon.4, ptr %80, i32 0, i32 0
  %82 = getelementptr inbounds { double, double }, ptr %81, i32 0, i32 0
  %83 = extractvalue { double, double } %78, 0
  store double %83, ptr %82, align 16
  %84 = getelementptr inbounds { double, double }, ptr %81, i32 0, i32 1
  %85 = extractvalue { double, double } %78, 1
  store double %85, ptr %84, align 8
  %86 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 0
  %87 = load double, ptr %86, align 16
  %88 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 1
  %89 = load double, ptr %88, align 8
  call void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %14, double %87, double %89)
  call void @llvm.lifetime.start.p0(i64 64, ptr %16) #8
  %90 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 2
  %91 = load ptr, ptr %90, align 8, !tbaa !22
  %92 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %91)
  %93 = getelementptr inbounds %"class.JPH::Quat", ptr %17, i32 0, i32 0
  %94 = getelementptr inbounds %"class.JPH::Vec4", ptr %93, i32 0, i32 0
  %95 = getelementptr inbounds %union.anon.4, ptr %94, i32 0, i32 0
  %96 = getelementptr inbounds { double, double }, ptr %95, i32 0, i32 0
  %97 = extractvalue { double, double } %92, 0
  store double %97, ptr %96, align 16
  %98 = getelementptr inbounds { double, double }, ptr %95, i32 0, i32 1
  %99 = extractvalue { double, double } %92, 1
  store double %99, ptr %98, align 8
  %100 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 0
  %101 = load double, ptr %100, align 16
  %102 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 1
  %103 = load double, ptr %102, align 8
  call void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %16, double %101, double %103)
  %104 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 20
  %105 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 1
  %106 = load ptr, ptr %105, align 16, !tbaa !11
  %107 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %19, ptr align 16 %107, i64 16, i1 false), !tbaa.struct !20
  %108 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 0
  %109 = load double, ptr %108, align 16
  %110 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 1
  %111 = load double, ptr %110, align 8
  %112 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %14, double %109, double %111)
  %113 = getelementptr inbounds %"class.JPH::Vec3", ptr %18, i32 0, i32 0
  %114 = getelementptr inbounds %union.anon, ptr %113, i32 0, i32 0
  %115 = getelementptr inbounds { double, double }, ptr %114, i32 0, i32 0
  %116 = extractvalue { double, double } %112, 0
  store double %116, ptr %115, align 16
  %117 = getelementptr inbounds { double, double }, ptr %114, i32 0, i32 1
  %118 = extractvalue { double, double } %112, 1
  store double %118, ptr %117, align 8
  %119 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 2
  %120 = load ptr, ptr %119, align 8, !tbaa !22
  %121 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %21, ptr align 16 %121, i64 16, i1 false), !tbaa.struct !20
  %122 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 0
  %123 = load double, ptr %122, align 16
  %124 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 1
  %125 = load double, ptr %124, align 8
  %126 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %16, double %123, double %125)
  %127 = getelementptr inbounds %"class.JPH::Vec3", ptr %20, i32 0, i32 0
  %128 = getelementptr inbounds %union.anon, ptr %127, i32 0, i32 0
  %129 = getelementptr inbounds { double, double }, ptr %128, i32 0, i32 0
  %130 = extractvalue { double, double } %126, 0
  store double %130, ptr %129, align 16
  %131 = getelementptr inbounds { double, double }, ptr %128, i32 0, i32 1
  %132 = extractvalue { double, double } %126, 1
  store double %132, ptr %131, align 8
  %133 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 0
  %134 = load double, ptr %133, align 16
  %135 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 1
  %136 = load double, ptr %135, align 8
  %137 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 0
  %138 = load double, ptr %137, align 16
  %139 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 1
  %140 = load double, ptr %139, align 8
  call void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232) %104, ptr noundef nonnull align 16 dereferenceable(122) %106, ptr noundef nonnull align 16 dereferenceable(64) %14, double %134, double %136, ptr noundef nonnull align 16 dereferenceable(122) %120, ptr noundef nonnull align 16 dereferenceable(64) %16, double %138, double %140)
  call void @llvm.lifetime.start.p0(i64 1, ptr %22) #8
  %141 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 20
  %142 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 1
  %143 = load ptr, ptr %142, align 16, !tbaa !11
  %144 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 2
  %145 = load ptr, ptr %144, align 8, !tbaa !22
  %146 = load float, ptr %6, align 4, !tbaa !9
  %147 = call noundef zeroext i1 @_ZNK3JPH27HingeRotationConstraintPart23SolvePositionConstraintERNS_4BodyES2_f(ptr noundef nonnull align 16 dereferenceable(232) %141, ptr noundef nonnull align 16 dereferenceable(122) %143, ptr noundef nonnull align 16 dereferenceable(122) %145, float noundef %146)
  %148 = zext i1 %147 to i8
  store i8 %148, ptr %22, align 1, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 1, ptr %23) #8
  store i8 0, ptr %23, align 1, !tbaa !23
  %149 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 8
  %150 = load i8, ptr %149, align 16, !tbaa !24, !range !40, !noundef !41
  %151 = trunc i8 %150 to i1
  br i1 %151, label %152, label %172

152:                                              ; preds = %3
  %153 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 11
  %154 = getelementptr inbounds %"class.JPH::SpringSettings", ptr %153, i32 0, i32 1
  %155 = load float, ptr %154, align 4, !tbaa !21
  %156 = fcmp ole float %155, 0.000000e+00
  br i1 %156, label %157, label %172

157:                                              ; preds = %152
  call void @_ZN3JPH15HingeConstraint19CalculateA1AndThetaEv(ptr noundef nonnull align 16 dereferenceable(832) %24)
  %158 = load float, ptr %5, align 4, !tbaa !9
  call void @_ZN3JPH15HingeConstraint43CalculateRotationLimitsConstraintPropertiesEf(ptr noundef nonnull align 16 dereferenceable(832) %24, float noundef %158)
  %159 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 21
  %160 = call noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(48) %159)
  br i1 %160, label %161, label %171

161:                                              ; preds = %157
  %162 = getelementptr inbounds %"class.JPH::HingeConstraint", ptr %24, i32 0, i32 21
  %163 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 1
  %164 = load ptr, ptr %163, align 16, !tbaa !11
  %165 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %24, i32 0, i32 2
  %166 = load ptr, ptr %165, align 8, !tbaa !22
  %167 = call noundef float @_ZNK3JPH15HingeConstraint23GetSmallestAngleToLimitEv(ptr noundef nonnull align 16 dereferenceable(832) %24)
  %168 = load float, ptr %6, align 4, !tbaa !9
  %169 = call noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart23SolvePositionConstraintERNS_4BodyES2_ff(ptr noundef nonnull align 16 dereferenceable(48) %162, ptr noundef nonnull align 16 dereferenceable(122) %164, ptr noundef nonnull align 16 dereferenceable(122) %166, float noundef %167, float noundef %168)
  %170 = zext i1 %169 to i8
  store i8 %170, ptr %23, align 1, !tbaa !23
  br label %171

171:                                              ; preds = %161, %157
  br label %172

172:                                              ; preds = %171, %152, %3
  %173 = load i8, ptr %13, align 1, !tbaa !23, !range !40, !noundef !41
  %174 = trunc i8 %173 to i1
  br i1 %174, label %181, label %175

175:                                              ; preds = %172
  %176 = load i8, ptr %22, align 1, !tbaa !23, !range !40, !noundef !41
  %177 = trunc i8 %176 to i1
  br i1 %177, label %181, label %178

178:                                              ; preds = %175
  %179 = load i8, ptr %23, align 1, !tbaa !23, !range !40, !noundef !41
  %180 = trunc i8 %179 to i1
  br label %181

181:                                              ; preds = %178, %175, %172
  %182 = phi i1 [ true, %175 ], [ true, %172 ], [ %180, %178 ]
  call void @llvm.lifetime.end.p0(i64 1, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %13) #8
  ret i1 %182
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH19PointConstraintPart23SolvePositionConstraintERNS_4BodyES2_f(ptr noundef nonnull align 16 dereferenceable(240), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), float noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH27HingeRotationConstraintPart23SolvePositionConstraintERNS_4BodyES2_f(ptr noundef nonnull align 16 dereferenceable(232), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), float noundef) #7 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) #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { 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, !6, i64 32}
!12 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !13, i64 0, !6, i64 32, !6, i64 40}
!13 = !{!"_ZTSN3JPH10ConstraintE", !14, i64 8, !17, i64 12, !17, i64 16, !7, i64 20, !7, i64 21, !18, i64 22, !19, i64 24}
!14 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !15, i64 0}
!15 = !{!"_ZTSSt6atomicIjE", !16, i64 0}
!16 = !{!"_ZTSSt13__atomic_baseIjE", !17, i64 0}
!17 = !{!"int", !7, i64 0}
!18 = !{!"bool", !7, i64 0}
!19 = !{!"long", !7, i64 0}
!20 = !{i64 0, i64 16, !21}
!21 = !{!7, !7, i64 0}
!22 = !{!12, !6, i64 40}
!23 = !{!18, !18, i64 0}
!24 = !{!25, !18, i64 160}
!25 = !{!"_ZTSN3JPH15HingeConstraintE", !12, i64 0, !26, i64 48, !26, i64 64, !26, i64 80, !26, i64 96, !26, i64 112, !26, i64 128, !27, i64 144, !18, i64 160, !10, i64 164, !10, i64 168, !29, i64 172, !10, i64 184, !31, i64 188, !32, i64 216, !10, i64 220, !10, i64 224, !10, i64 228, !26, i64 240, !33, i64 256, !35, i64 496, !38, i64 736, !38, i64 784}
!26 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!27 = !{!"_ZTSN3JPH4QuatE", !28, i64 0}
!28 = !{!"_ZTSN3JPH4Vec4E", !7, i64 0}
!29 = !{!"_ZTSN3JPH14SpringSettingsE", !30, i64 0, !7, i64 4, !10, i64 8}
!30 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!31 = !{!"_ZTSN3JPH13MotorSettingsE", !29, i64 0, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24}
!32 = !{!"_ZTSN3JPH11EMotorStateE", !7, i64 0}
!33 = !{!"_ZTSN3JPH19PointConstraintPartE", !26, i64 0, !26, i64 16, !34, i64 32, !34, i64 96, !34, i64 160, !26, i64 224}
!34 = !{!"_ZTSN3JPH5Mat44E", !7, i64 0}
!35 = !{!"_ZTSN3JPH27HingeRotationConstraintPartE", !26, i64 0, !26, i64 16, !26, i64 32, !34, i64 48, !34, i64 112, !26, i64 176, !26, i64 192, !36, i64 208, !37, i64 224}
!36 = !{!"_ZTSN3JPH6MatrixILj2ELj2EEE", !7, i64 0}
!37 = !{!"_ZTSN3JPH6VectorILj2EEE", !7, i64 0}
!38 = !{!"_ZTSN3JPH19AngleConstraintPartE", !26, i64 0, !26, i64 16, !10, i64 32, !39, i64 36, !10, i64 44}
!39 = !{!"_ZTSN3JPH10SpringPartE", !10, i64 0, !10, i64 4}
!40 = !{i8 0, i8 2}
!41 = !{}


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

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

; 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #1 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH15HingeConstraint19CalculateA1AndThetaEv(ptr noundef nonnull align 16 dereferenceable(832)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH15HingeConstraint43CalculateRotationLimitsConstraintPropertiesEf(ptr noundef nonnull align 16 dereferenceable(832), float noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH15HingeConstraint23GetSmallestAngleToLimitEv(ptr noundef nonnull align 16 dereferenceable(832)) local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, double, double) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH19PointConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(240), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #2 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 #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3JPH15HingeConstraint23SolvePositionConstraintEff(ptr noundef nonnull align 16 dereferenceable(832) %0, float noundef %1, float noundef %2) unnamed_addr #3 align 2 {
  %4 = alloca %"class.JPH::Mat44", align 16
  %5 = alloca %"class.JPH::Mat44", align 16
  %6 = alloca %"class.JPH::Mat44", align 16
  %7 = alloca %"class.JPH::Mat44", align 16
  %8 = getelementptr inbounds i8, ptr %0, i64 256
  %9 = getelementptr inbounds i8, ptr %0, i64 32
  %10 = load ptr, ptr %9, align 16, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %4) #7
  %11 = tail call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %10)
  %12 = extractvalue { double, double } %11, 0
  %13 = extractvalue { double, double } %11, 1
  call void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %4, double %12, double %13)
  %14 = getelementptr inbounds i8, ptr %0, i64 48
  %.sroa.017.0.copyload = load double, ptr %14, align 16
  %.sroa.218.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 56
  %.sroa.218.0.copyload = load double, ptr %.sroa.218.0..sroa_idx, align 8, !tbaa !17
  %15 = getelementptr inbounds i8, ptr %0, i64 40
  %16 = load ptr, ptr %15, align 8, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %5) #7
  %17 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %16)
  %18 = extractvalue { double, double } %17, 0
  %19 = extractvalue { double, double } %17, 1
  call void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %5, double %18, double %19)
  %20 = getelementptr inbounds i8, ptr %0, i64 64
  %.sroa.013.0.copyload = load double, ptr %20, align 16
  %.sroa.214.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 72
  %.sroa.214.0.copyload = load double, ptr %.sroa.214.0..sroa_idx, align 8, !tbaa !17
  call void @_ZN3JPH19PointConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(240) %8, ptr noundef nonnull align 16 dereferenceable(122) %10, ptr noundef nonnull align 16 dereferenceable(64) %4, double %.sroa.017.0.copyload, double %.sroa.218.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %16, ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.013.0.copyload, double %.sroa.214.0.copyload)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %4) #7
  %21 = load ptr, ptr %9, align 16, !tbaa !5
  %22 = load ptr, ptr %15, align 8, !tbaa !18
  %23 = call noundef zeroext i1 @_ZNK3JPH19PointConstraintPart23SolvePositionConstraintERNS_4BodyES2_f(ptr noundef nonnull align 16 dereferenceable(240) %8, ptr noundef nonnull align 16 dereferenceable(122) %21, ptr noundef nonnull align 16 dereferenceable(122) %22, float noundef %2)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %6) #7
  %24 = load ptr, ptr %9, align 16, !tbaa !5
  %25 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %24)
  %26 = extractvalue { double, double } %25, 0
  %27 = extractvalue { double, double } %25, 1
  call void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %6, double %26, double %27)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %7) #7
  %28 = load ptr, ptr %15, align 8, !tbaa !18
  %29 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %28)
  %30 = extractvalue { double, double } %29, 0
  %31 = extractvalue { double, double } %29, 1
  call void @_ZN3JPH5Mat449sRotationENS_4QuatE(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %7, double %30, double %31)
  %32 = getelementptr inbounds i8, ptr %0, i64 496
  %33 = load ptr, ptr %9, align 16, !tbaa !5
  %34 = getelementptr inbounds i8, ptr %0, i64 80
  %.sroa.04.0.copyload = load double, ptr %34, align 16
  %.sroa.25.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 88
  %.sroa.25.0.copyload = load double, ptr %.sroa.25.0..sroa_idx, align 8, !tbaa !17
  %35 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %6, double %.sroa.04.0.copyload, double %.sroa.25.0.copyload)
  %36 = extractvalue { double, double } %35, 0
  %37 = extractvalue { double, double } %35, 1
  %38 = load ptr, ptr %15, align 8, !tbaa !18
  %39 = getelementptr inbounds i8, ptr %0, i64 96
  %.sroa.0.0.copyload = load double, ptr %39, 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 !17
  %40 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %.sroa.0.0.copyload, double %.sroa.2.0.copyload)
  %41 = extractvalue { double, double } %40, 0
  %42 = extractvalue { double, double } %40, 1
  call void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232) %32, ptr noundef nonnull align 16 dereferenceable(122) %33, ptr noundef nonnull align 16 dereferenceable(64) %6, double %36, double %37, ptr noundef nonnull align 16 dereferenceable(122) %38, ptr noundef nonnull align 16 dereferenceable(64) %7, double %41, double %42)
  %43 = load ptr, ptr %9, align 16, !tbaa !5
  %44 = load ptr, ptr %15, align 8, !tbaa !18
  %45 = call noundef zeroext i1 @_ZNK3JPH27HingeRotationConstraintPart23SolvePositionConstraintERNS_4BodyES2_f(ptr noundef nonnull align 16 dereferenceable(232) %32, ptr noundef nonnull align 16 dereferenceable(122) %43, ptr noundef nonnull align 16 dereferenceable(122) %44, float noundef %2)
  %46 = getelementptr inbounds i8, ptr %0, i64 160
  %47 = load i8, ptr %46, align 16, !tbaa !19, !range !36, !noundef !37
  %48 = trunc nuw i8 %47 to i1
  %49 = getelementptr inbounds i8, ptr %0, i64 176
  %50 = load float, ptr %49, align 16
  %51 = fcmp ole float %50, 0.000000e+00
  %or.cond.not = select i1 %48, i1 %51, i1 false
  br i1 %or.cond.not, label %52, label %60

52:                                               ; preds = %3
  call void @_ZN3JPH15HingeConstraint19CalculateA1AndThetaEv(ptr noundef nonnull align 16 dereferenceable(832) %0)
  call void @_ZN3JPH15HingeConstraint43CalculateRotationLimitsConstraintPropertiesEf(ptr noundef nonnull align 16 dereferenceable(832) %0, float noundef %1)
  %53 = getelementptr inbounds i8, ptr %0, i64 736
  %54 = call noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(48) %53)
  br i1 %54, label %55, label %60

55:                                               ; preds = %52
  %56 = load ptr, ptr %9, align 16, !tbaa !5
  %57 = load ptr, ptr %15, align 8, !tbaa !18
  %58 = call noundef float @_ZNK3JPH15HingeConstraint23GetSmallestAngleToLimitEv(ptr noundef nonnull align 16 dereferenceable(832) %0)
  %59 = call noundef zeroext i1 @_ZNK3JPH19AngleConstraintPart23SolvePositionConstraintERNS_4BodyES2_ff(ptr noundef nonnull align 16 dereferenceable(48) %53, ptr noundef nonnull align 16 dereferenceable(122) %56, ptr noundef nonnull align 16 dereferenceable(122) %57, float noundef %58, float noundef %2)
  br label %60

60:                                               ; preds = %52, %55, %3
  %.0 = phi i1 [ %59, %55 ], [ false, %52 ], [ false, %3 ]
  br i1 %23, label %62, label %61

61:                                               ; preds = %60
  %spec.select = or i1 %45, %.0
  br label %62

62:                                               ; preds = %61, %60
  %63 = phi i1 [ true, %60 ], [ %spec.select, %61 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %6) #7
  ret i1 %63
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH19PointConstraintPart23SolvePositionConstraintERNS_4BodyES2_f(ptr noundef nonnull align 16 dereferenceable(240), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), float noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH27HingeRotationConstraintPart23SolvePositionConstraintERNS_4BodyES2_f(ptr noundef nonnull align 16 dereferenceable(232), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), float noundef) local_unnamed_addr #6 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 #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #5 = { 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 #6 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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, !16, i64 32}
!6 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !7, i64 0, !16, i64 32, !16, i64 40}
!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 = !{!"any pointer", !12, i64 0}
!17 = !{!12, !12, i64 0}
!18 = !{!6, !16, i64 40}
!19 = !{!20, !14, i64 160}
!20 = !{!"_ZTSN3JPH15HingeConstraintE", !6, i64 0, !21, i64 48, !21, i64 64, !21, i64 80, !21, i64 96, !21, i64 112, !21, i64 128, !22, i64 144, !14, i64 160, !24, i64 164, !24, i64 168, !25, i64 172, !24, i64 184, !27, i64 188, !28, i64 216, !24, i64 220, !24, i64 224, !24, i64 228, !21, i64 240, !29, i64 256, !31, i64 496, !34, i64 736, !34, i64 784}
!21 = !{!"_ZTSN3JPH4Vec3E", !12, i64 0}
!22 = !{!"_ZTSN3JPH4QuatE", !23, i64 0}
!23 = !{!"_ZTSN3JPH4Vec4E", !12, i64 0}
!24 = !{!"float", !12, i64 0}
!25 = !{!"_ZTSN3JPH14SpringSettingsE", !26, i64 0, !12, i64 4, !24, i64 8}
!26 = !{!"_ZTSN3JPH11ESpringModeE", !12, i64 0}
!27 = !{!"_ZTSN3JPH13MotorSettingsE", !25, i64 0, !24, i64 12, !24, i64 16, !24, i64 20, !24, i64 24}
!28 = !{!"_ZTSN3JPH11EMotorStateE", !12, i64 0}
!29 = !{!"_ZTSN3JPH19PointConstraintPartE", !21, i64 0, !21, i64 16, !30, i64 32, !30, i64 96, !30, i64 160, !21, i64 224}
!30 = !{!"_ZTSN3JPH5Mat44E", !12, i64 0}
!31 = !{!"_ZTSN3JPH27HingeRotationConstraintPartE", !21, i64 0, !21, i64 16, !21, i64 32, !30, i64 48, !30, i64 112, !21, i64 176, !21, i64 192, !32, i64 208, !33, i64 224}
!32 = !{!"_ZTSN3JPH6MatrixILj2ELj2EEE", !12, i64 0}
!33 = !{!"_ZTSN3JPH6VectorILj2EEE", !12, i64 0}
!34 = !{!"_ZTSN3JPH19AngleConstraintPartE", !21, i64 0, !21, i64 16, !24, i64 32, !35, i64 36, !24, i64 44}
!35 = !{!"_ZTSN3JPH10SpringPartE", !24, i64 0, !24, i64 4}
!36 = !{i8 0, i8 2}
!37 = !{}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,SROAPass,SimplifyCFGPass,TailCallElimPass