; LLVM IR from jrouwe/JoltPhysics :: Jolt/Physics/Body/Body.ll (ZN3JPH4Body20ApplyBuoyancyImpulseEffNS_4Vec3EfffS1_S1_f)

; 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> }
%"struct.JPH::AssertLastParam" = type { i8 }
%"class.JPH::AABox" = type { %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.0 }
%union.anon.0 = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Body" = type <{ %"class.JPH::Vec3", %"class.JPH::Quat", %"class.JPH::AABox", %"class.JPH::RefConst", ptr, i64, %"class.JPH::CollisionGroup", float, float, %"class.JPH::BodyID", i16, i8, %"class.JPH::BroadPhaseLayer", i8, %"struct.std::atomic.2", [6 x i8] }>
%"class.JPH::RefConst" = type { ptr }
%"class.JPH::CollisionGroup" = type { %"class.JPH::RefConst.1", i32, i32 }
%"class.JPH::RefConst.1" = type { ptr }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::BroadPhaseLayer" = type { i8 }
%"struct.std::atomic.2" = type { %"struct.std::__atomic_base.3" }
%"struct.std::__atomic_base.3" = type { i8 }

@.str.3 = external hidden unnamed_addr constant [79 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [14 x i8], align 1

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

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

; Function Attrs: 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 zeroext i1 @_ZNK3JPH4Body11IsRigidBodyEv(ptr noundef nonnull align 16 dereferenceable(122)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) #3

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16), double, double) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_5ShapeEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16)) #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3JPH4Body20ApplyBuoyancyImpulseEffNS_4Vec3EfffS1_S1_f(ptr noundef nonnull align 16 dereferenceable(122) %0, float noundef %1, float noundef %2, double %3, double %4, float noundef %5, float noundef %6, float noundef %7, ptr noundef byval(%"class.JPH::Vec3") align 16 %8, ptr noundef byval(%"class.JPH::Vec3") align 16 %9, float noundef %10) #6 align 2 {
  %12 = alloca i1, align 1
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca ptr, align 8
  %15 = alloca float, align 4
  %16 = alloca float, align 4
  %17 = alloca float, align 4
  %18 = alloca float, align 4
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca %"struct.JPH::AssertLastParam", align 1
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %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
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"class.JPH::Vec3", align 16
  %33 = alloca %"class.JPH::Vec3", align 16
  %34 = alloca %"class.JPH::Vec3", align 16
  %35 = alloca %"class.JPH::AABox", align 16
  %36 = alloca float, align 4
  %37 = alloca float, align 4
  %38 = alloca %"class.JPH::Vec3", align 16
  %39 = alloca %"class.JPH::Quat", align 16
  %40 = alloca %"class.JPH::Quat", align 16
  %41 = alloca %"class.JPH::Vec3", align 16
  %42 = alloca %"class.JPH::Vec3", align 16
  %43 = alloca %"class.JPH::Vec3", align 16
  %44 = alloca %"class.JPH::Vec3", align 16
  %45 = alloca %"class.JPH::Vec3", align 16
  %46 = alloca %"class.JPH::Vec3", align 16
  %47 = alloca %"class.JPH::Vec3", align 16
  %48 = alloca %"class.JPH::Vec3", align 16
  %49 = alloca float, align 4
  %50 = alloca float, align 4
  %51 = alloca %"class.JPH::Vec3", align 16
  %52 = alloca %"class.JPH::Vec3", align 16
  %53 = alloca %"class.JPH::Vec3", align 16
  %54 = alloca %"class.JPH::Vec3", align 16
  %55 = alloca %"class.JPH::Vec3", align 16
  %56 = alloca float, align 4
  %57 = alloca %"class.JPH::Vec3", align 16
  %58 = alloca %"class.JPH::Vec3", align 16
  %59 = alloca %"class.JPH::Mat44", align 16
  %60 = alloca %"class.JPH::Vec3", align 16
  %61 = alloca %"class.JPH::Vec3", align 16
  %62 = alloca float, align 4
  %63 = alloca float, align 4
  %64 = alloca %"class.JPH::Vec3", align 16
  %65 = alloca %"class.JPH::Vec3", align 16
  %66 = alloca %"class.JPH::Vec3", align 16
  %67 = alloca %"class.JPH::Vec3", align 16
  %68 = alloca %"class.JPH::Vec3", align 16
  %69 = alloca %"class.JPH::Vec3", align 16
  %70 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 0
  store double %3, ptr %70, align 16
  %71 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 1
  store double %4, ptr %71, align 8
  store ptr %0, ptr %14, align 8, !tbaa !5
  store float %1, ptr %15, align 4, !tbaa !9
  store float %2, ptr %16, align 4, !tbaa !9
  store float %5, ptr %17, align 4, !tbaa !9
  store float %6, ptr %18, align 4, !tbaa !9
  store float %7, ptr %19, align 4, !tbaa !9
  store float %10, ptr %20, align 4, !tbaa !9
  %72 = load ptr, ptr %14, align 8
  br label %73

73:                                               ; preds = %11
  %74 = call noundef zeroext i1 @_ZNK3JPH4Body11IsRigidBodyEv(ptr noundef nonnull align 16 dereferenceable(122) %72)
  br i1 %74, label %78, label %75

75:                                               ; preds = %73
  %76 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.9, ptr noundef @.str.3, i32 noundef 198)
  br i1 %76, label %77, label %78

77:                                               ; preds = %75
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #9, !srcloc !11
  br label %78

78:                                               ; preds = %77, %75, %73
  br label %79

79:                                               ; preds = %78
  %80 = load float, ptr %16, align 4, !tbaa !9
  %81 = fcmp ogt float %80, 0.000000e+00
  br i1 %81, label %82, label %428

82:                                               ; preds = %79
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #9
  %83 = getelementptr inbounds %"class.JPH::Body", ptr %72, i32 0, i32 4
  %84 = load ptr, ptr %83, align 8, !tbaa !12
  %85 = call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %84)
  store float %85, ptr %22, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #9
  %86 = load float, ptr %17, align 4, !tbaa !9
  %87 = load float, ptr %15, align 4, !tbaa !9
  %88 = load float, ptr %22, align 4, !tbaa !9
  %89 = fmul float %87, %88
  %90 = fdiv float %86, %89
  store float %90, ptr %23, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #9
  %91 = load float, ptr %23, align 4, !tbaa !9
  %92 = fneg float %91
  %93 = load float, ptr %16, align 4, !tbaa !9
  %94 = fmul float %92, %93
  %95 = getelementptr inbounds %"class.JPH::Body", ptr %72, i32 0, i32 4
  %96 = load ptr, ptr %95, align 8, !tbaa !12
  %97 = call noundef float @_ZNK3JPH16MotionProperties16GetGravityFactorEv(ptr noundef nonnull align 16 dereferenceable(182) %96)
  %98 = fmul float %94, %97
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %26, ptr align 16 %9, i64 16, i1 false), !tbaa.struct !30
  %99 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 0
  %100 = load double, ptr %99, align 16
  %101 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 1
  %102 = load double, ptr %101, align 8
  %103 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %98, double %100, double %102)
  %104 = getelementptr inbounds %"class.JPH::Vec3", ptr %25, i32 0, i32 0
  %105 = getelementptr inbounds %union.anon, ptr %104, i32 0, i32 0
  %106 = getelementptr inbounds { double, double }, ptr %105, i32 0, i32 0
  %107 = extractvalue { double, double } %103, 0
  store double %107, ptr %106, align 16
  %108 = getelementptr inbounds { double, double }, ptr %105, i32 0, i32 1
  %109 = extractvalue { double, double } %103, 1
  store double %109, ptr %108, align 8
  %110 = load float, ptr %20, align 4, !tbaa !9
  %111 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %25, float noundef %110)
  %112 = getelementptr inbounds %"class.JPH::Vec3", ptr %24, i32 0, i32 0
  %113 = getelementptr inbounds %union.anon, ptr %112, i32 0, i32 0
  %114 = getelementptr inbounds { double, double }, ptr %113, i32 0, i32 0
  %115 = extractvalue { double, double } %111, 0
  store double %115, ptr %114, align 16
  %116 = getelementptr inbounds { double, double }, ptr %113, i32 0, i32 1
  %117 = extractvalue { double, double } %111, 1
  store double %117, ptr %116, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #9
  %118 = getelementptr inbounds %"class.JPH::Body", ptr %72, i32 0, i32 4
  %119 = load ptr, ptr %118, align 8, !tbaa !12
  %120 = call { double, double } @_ZNK3JPH16MotionProperties17GetLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %119)
  %121 = getelementptr inbounds %"class.JPH::Vec3", ptr %27, i32 0, i32 0
  %122 = getelementptr inbounds %union.anon, ptr %121, i32 0, i32 0
  %123 = getelementptr inbounds { double, double }, ptr %122, i32 0, i32 0
  %124 = extractvalue { double, double } %120, 0
  store double %124, ptr %123, align 16
  %125 = getelementptr inbounds { double, double }, ptr %122, i32 0, i32 1
  %126 = extractvalue { double, double } %120, 1
  store double %126, ptr %125, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %28) #9
  %127 = getelementptr inbounds %"class.JPH::Body", ptr %72, i32 0, i32 4
  %128 = load ptr, ptr %127, align 8, !tbaa !12
  %129 = call { double, double } @_ZNK3JPH16MotionProperties18GetAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %128)
  %130 = getelementptr inbounds %"class.JPH::Vec3", ptr %28, i32 0, i32 0
  %131 = getelementptr inbounds %union.anon, ptr %130, i32 0, i32 0
  %132 = getelementptr inbounds { double, double }, ptr %131, i32 0, i32 0
  %133 = extractvalue { double, double } %129, 0
  store double %133, ptr %132, align 16
  %134 = getelementptr inbounds { double, double }, ptr %131, i32 0, i32 1
  %135 = extractvalue { double, double } %129, 1
  store double %135, ptr %134, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %31, ptr align 16 %13, i64 16, i1 false), !tbaa.struct !30
  %136 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %137 = load double, ptr %136, align 16
  %138 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %139 = load double, ptr %138, align 8
  %140 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %28, double %137, double %139)
  %141 = getelementptr inbounds %"class.JPH::Vec3", ptr %30, i32 0, i32 0
  %142 = getelementptr inbounds %union.anon, ptr %141, i32 0, i32 0
  %143 = getelementptr inbounds { double, double }, ptr %142, i32 0, i32 0
  %144 = extractvalue { double, double } %140, 0
  store double %144, ptr %143, align 16
  %145 = getelementptr inbounds { double, double }, ptr %142, i32 0, i32 1
  %146 = extractvalue { double, double } %140, 1
  store double %146, ptr %145, align 8
  %147 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 0
  %148 = load double, ptr %147, align 16
  %149 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 1
  %150 = load double, ptr %149, align 8
  %151 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %27, double %148, double %150)
  %152 = getelementptr inbounds %"class.JPH::Vec3", ptr %29, i32 0, i32 0
  %153 = getelementptr inbounds %union.anon, ptr %152, i32 0, i32 0
  %154 = getelementptr inbounds { double, double }, ptr %153, i32 0, i32 0
  %155 = extractvalue { double, double } %151, 0
  store double %155, ptr %154, align 16
  %156 = getelementptr inbounds { double, double }, ptr %153, i32 0, i32 1
  %157 = extractvalue { double, double } %151, 1
  store double %157, ptr %156, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %33, ptr align 16 %29, i64 16, i1 false), !tbaa.struct !30
  %158 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 0
  %159 = load double, ptr %158, align 16
  %160 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 1
  %161 = load double, ptr %160, align 8
  %162 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %8, double %159, double %161)
  %163 = getelementptr inbounds %"class.JPH::Vec3", ptr %32, i32 0, i32 0
  %164 = getelementptr inbounds %union.anon, ptr %163, i32 0, i32 0
  %165 = getelementptr inbounds { double, double }, ptr %164, i32 0, i32 0
  %166 = extractvalue { double, double } %162, 0
  store double %166, ptr %165, align 16
  %167 = getelementptr inbounds { double, double }, ptr %164, i32 0, i32 1
  %168 = extractvalue { double, double } %162, 1
  store double %168, ptr %167, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %34) #9
  call void @llvm.lifetime.start.p0(i64 32, ptr %35) #9
  %169 = getelementptr inbounds %"class.JPH::Body", ptr %72, i32 0, i32 3
  %170 = call noundef ptr @_ZNK3JPH8RefConstINS_5ShapeEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %169)
  %171 = load ptr, ptr %170, align 8, !tbaa !32
  %172 = getelementptr inbounds ptr, ptr %171, i64 4
  %173 = load ptr, ptr %172, align 8
  call void %173(ptr dead_on_unwind writable sret(%"class.JPH::AABox") align 16 %35, ptr noundef nonnull align 8 dereferenceable(26) %170)
  %174 = call { double, double } @_ZNK3JPH5AABox7GetSizeEv(ptr noundef nonnull align 16 dereferenceable(32) %35)
  %175 = getelementptr inbounds %"class.JPH::Vec3", ptr %34, i32 0, i32 0
  %176 = getelementptr inbounds %union.anon, ptr %175, i32 0, i32 0
  %177 = getelementptr inbounds { double, double }, ptr %176, i32 0, i32 0
  %178 = extractvalue { double, double } %174, 0
  store double %178, ptr %177, align 16
  %179 = getelementptr inbounds { double, double }, ptr %176, i32 0, i32 1
  %180 = extractvalue { double, double } %174, 1
  store double %180, ptr %179, align 8
  call void @llvm.lifetime.end.p0(i64 32, ptr %35) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #9
  store float 0.000000e+00, ptr %36, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #9
  %181 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %32)
  store float %181, ptr %37, align 4, !tbaa !9
  %182 = load float, ptr %37, align 4, !tbaa !9
  %183 = fcmp ogt float %182, 0x3D71979980000000
  br i1 %183, label %184, label %252

184:                                              ; preds = %82
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #9
  %185 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %72)
  %186 = getelementptr inbounds %"class.JPH::Quat", ptr %40, i32 0, i32 0
  %187 = getelementptr inbounds %"class.JPH::Vec4", ptr %186, i32 0, i32 0
  %188 = getelementptr inbounds %union.anon.0, ptr %187, i32 0, i32 0
  %189 = getelementptr inbounds { double, double }, ptr %188, i32 0, i32 0
  %190 = extractvalue { double, double } %185, 0
  store double %190, ptr %189, align 16
  %191 = getelementptr inbounds { double, double }, ptr %188, i32 0, i32 1
  %192 = extractvalue { double, double } %185, 1
  store double %192, ptr %191, align 8
  %193 = call { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %40)
  %194 = getelementptr inbounds %"class.JPH::Quat", ptr %39, i32 0, i32 0
  %195 = getelementptr inbounds %"class.JPH::Vec4", ptr %194, i32 0, i32 0
  %196 = getelementptr inbounds %union.anon.0, ptr %195, i32 0, i32 0
  %197 = getelementptr inbounds { double, double }, ptr %196, i32 0, i32 0
  %198 = extractvalue { double, double } %193, 0
  store double %198, ptr %197, align 16
  %199 = getelementptr inbounds { double, double }, ptr %196, i32 0, i32 1
  %200 = extractvalue { double, double } %193, 1
  store double %200, ptr %199, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %32, i64 16, i1 false), !tbaa.struct !30
  %201 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 0
  %202 = load double, ptr %201, align 16
  %203 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 1
  %204 = load double, ptr %203, align 8
  %205 = call { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16) %39, double %202, double %204)
  %206 = getelementptr inbounds %"class.JPH::Vec3", ptr %38, i32 0, i32 0
  %207 = getelementptr inbounds %union.anon, ptr %206, i32 0, i32 0
  %208 = getelementptr inbounds { double, double }, ptr %207, i32 0, i32 0
  %209 = extractvalue { double, double } %205, 0
  store double %209, ptr %208, align 16
  %210 = getelementptr inbounds { double, double }, ptr %207, i32 0, i32 1
  %211 = extractvalue { double, double } %205, 1
  store double %211, ptr %210, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #9
  %212 = call { double, double } @_ZNK3JPH4Vec33AbsEv(ptr noundef nonnull align 16 dereferenceable(16) %38)
  %213 = getelementptr inbounds %"class.JPH::Vec3", ptr %42, i32 0, i32 0
  %214 = getelementptr inbounds %union.anon, ptr %213, i32 0, i32 0
  %215 = getelementptr inbounds { double, double }, ptr %214, i32 0, i32 0
  %216 = extractvalue { double, double } %212, 0
  store double %216, ptr %215, align 16
  %217 = getelementptr inbounds { double, double }, ptr %214, i32 0, i32 1
  %218 = extractvalue { double, double } %212, 1
  store double %218, ptr %217, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #9
  %219 = call { double, double } @_ZNK3JPH4Vec37SwizzleILj1ELj2ELj0EEES0_v(ptr noundef nonnull align 16 dereferenceable(16) %34)
  %220 = getelementptr inbounds %"class.JPH::Vec3", ptr %44, i32 0, i32 0
  %221 = getelementptr inbounds %union.anon, ptr %220, i32 0, i32 0
  %222 = getelementptr inbounds { double, double }, ptr %221, i32 0, i32 0
  %223 = extractvalue { double, double } %219, 0
  store double %223, ptr %222, align 16
  %224 = getelementptr inbounds { double, double }, ptr %221, i32 0, i32 1
  %225 = extractvalue { double, double } %219, 1
  store double %225, ptr %224, align 8
  %226 = call { double, double } @_ZNK3JPH4Vec37SwizzleILj2ELj0ELj1EEES0_v(ptr noundef nonnull align 16 dereferenceable(16) %34)
  %227 = getelementptr inbounds %"class.JPH::Vec3", ptr %45, i32 0, i32 0
  %228 = getelementptr inbounds %union.anon, ptr %227, i32 0, i32 0
  %229 = getelementptr inbounds { double, double }, ptr %228, i32 0, i32 0
  %230 = extractvalue { double, double } %226, 0
  store double %230, ptr %229, align 16
  %231 = getelementptr inbounds { double, double }, ptr %228, i32 0, i32 1
  %232 = extractvalue { double, double } %226, 1
  store double %232, ptr %231, align 8
  %233 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 0
  %234 = load double, ptr %233, align 16
  %235 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 1
  %236 = load double, ptr %235, align 8
  %237 = call { double, double } @_ZNK3JPH4Vec3mlES0_(ptr noundef nonnull align 16 dereferenceable(16) %44, double %234, double %236)
  %238 = getelementptr inbounds %"class.JPH::Vec3", ptr %43, i32 0, i32 0
  %239 = getelementptr inbounds %union.anon, ptr %238, i32 0, i32 0
  %240 = getelementptr inbounds { double, double }, ptr %239, i32 0, i32 0
  %241 = extractvalue { double, double } %237, 0
  store double %241, ptr %240, align 16
  %242 = getelementptr inbounds { double, double }, ptr %239, i32 0, i32 1
  %243 = extractvalue { double, double } %237, 1
  store double %243, ptr %242, align 8
  %244 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 0
  %245 = load double, ptr %244, align 16
  %246 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 1
  %247 = load double, ptr %246, align 8
  %248 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %42, double %245, double %247)
  %249 = load float, ptr %37, align 4, !tbaa !9
  %250 = call noundef float @_ZSt4sqrtf(float noundef %249)
  %251 = fdiv float %248, %250
  store float %251, ptr %36, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #9
  br label %252

252:                                              ; preds = %184, %82
  call void @llvm.lifetime.start.p0(i64 16, ptr %46) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %47) #9
  %253 = load float, ptr %23, align 4, !tbaa !9
  %254 = fmul float 5.000000e-01, %253
  %255 = load float, ptr %18, align 4, !tbaa !9
  %256 = fmul float %254, %255
  %257 = load float, ptr %36, align 4, !tbaa !9
  %258 = fmul float %256, %257
  %259 = load float, ptr %20, align 4, !tbaa !9
  %260 = fmul float %258, %259
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %48, ptr align 16 %32, i64 16, i1 false), !tbaa.struct !30
  %261 = getelementptr inbounds { double, double }, ptr %48, i32 0, i32 0
  %262 = load double, ptr %261, align 16
  %263 = getelementptr inbounds { double, double }, ptr %48, i32 0, i32 1
  %264 = load double, ptr %263, align 8
  %265 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %260, double %262, double %264)
  %266 = getelementptr inbounds %"class.JPH::Vec3", ptr %47, i32 0, i32 0
  %267 = getelementptr inbounds %union.anon, ptr %266, i32 0, i32 0
  %268 = getelementptr inbounds { double, double }, ptr %267, i32 0, i32 0
  %269 = extractvalue { double, double } %265, 0
  store double %269, ptr %268, align 16
  %270 = getelementptr inbounds { double, double }, ptr %267, i32 0, i32 1
  %271 = extractvalue { double, double } %265, 1
  store double %271, ptr %270, align 8
  %272 = call noundef float @_ZNK3JPH4Vec36LengthEv(ptr noundef nonnull align 16 dereferenceable(16) %32)
  %273 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %47, float noundef %272)
  %274 = getelementptr inbounds %"class.JPH::Vec3", ptr %46, i32 0, i32 0
  %275 = getelementptr inbounds %union.anon, ptr %274, i32 0, i32 0
  %276 = getelementptr inbounds { double, double }, ptr %275, i32 0, i32 0
  %277 = extractvalue { double, double } %273, 0
  store double %277, ptr %276, align 16
  %278 = getelementptr inbounds { double, double }, ptr %275, i32 0, i32 1
  %279 = extractvalue { double, double } %273, 1
  store double %279, ptr %278, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #9
  %280 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %27)
  store float %280, ptr %49, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %50) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %51) #9
  %281 = load float, ptr %22, align 4, !tbaa !9
  %282 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %46, float noundef %281)
  %283 = getelementptr inbounds %"class.JPH::Vec3", ptr %51, i32 0, i32 0
  %284 = getelementptr inbounds %union.anon, ptr %283, i32 0, i32 0
  %285 = getelementptr inbounds { double, double }, ptr %284, i32 0, i32 0
  %286 = extractvalue { double, double } %282, 0
  store double %286, ptr %285, align 16
  %287 = getelementptr inbounds { double, double }, ptr %284, i32 0, i32 1
  %288 = extractvalue { double, double } %282, 1
  store double %288, ptr %287, align 8
  %289 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %51)
  call void @llvm.lifetime.end.p0(i64 16, ptr %51) #9
  store float %289, ptr %50, align 4, !tbaa !9
  %290 = load float, ptr %50, align 4, !tbaa !9
  %291 = load float, ptr %49, align 4, !tbaa !9
  %292 = fcmp ogt float %290, %291
  br i1 %292, label %293, label %299

293:                                              ; preds = %252
  %294 = load float, ptr %49, align 4, !tbaa !9
  %295 = load float, ptr %50, align 4, !tbaa !9
  %296 = fdiv float %294, %295
  %297 = call noundef float @_ZSt4sqrtf(float noundef %296)
  %298 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mLEf(ptr noundef nonnull align 16 dereferenceable(16) %46, float noundef %297)
  br label %299

299:                                              ; preds = %293, %252
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %53) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %54, ptr align 16 %24, i64 16, i1 false), !tbaa.struct !30
  %300 = getelementptr inbounds { double, double }, ptr %54, i32 0, i32 0
  %301 = load double, ptr %300, align 16
  %302 = getelementptr inbounds { double, double }, ptr %54, i32 0, i32 1
  %303 = load double, ptr %302, align 8
  %304 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %46, double %301, double %303)
  %305 = getelementptr inbounds %"class.JPH::Vec3", ptr %53, i32 0, i32 0
  %306 = getelementptr inbounds %union.anon, ptr %305, i32 0, i32 0
  %307 = getelementptr inbounds { double, double }, ptr %306, i32 0, i32 0
  %308 = extractvalue { double, double } %304, 0
  store double %308, ptr %307, align 16
  %309 = getelementptr inbounds { double, double }, ptr %306, i32 0, i32 1
  %310 = extractvalue { double, double } %304, 1
  store double %310, ptr %309, align 8
  %311 = load float, ptr %22, align 4, !tbaa !9
  %312 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %53, float noundef %311)
  %313 = getelementptr inbounds %"class.JPH::Vec3", ptr %52, i32 0, i32 0
  %314 = getelementptr inbounds %union.anon, ptr %313, i32 0, i32 0
  %315 = getelementptr inbounds { double, double }, ptr %314, i32 0, i32 0
  %316 = extractvalue { double, double } %312, 0
  store double %316, ptr %315, align 16
  %317 = getelementptr inbounds { double, double }, ptr %314, i32 0, i32 1
  %318 = extractvalue { double, double } %312, 1
  store double %318, ptr %317, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %53) #9
  %319 = getelementptr inbounds %"class.JPH::Body", ptr %72, i32 0, i32 4
  %320 = load ptr, ptr %319, align 8, !tbaa !12
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %55, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !30
  %321 = getelementptr inbounds { double, double }, ptr %55, i32 0, i32 0
  %322 = load double, ptr %321, align 16
  %323 = getelementptr inbounds { double, double }, ptr %55, i32 0, i32 1
  %324 = load double, ptr %323, align 8
  call void @_ZN3JPH16MotionProperties21AddLinearVelocityStepENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(182) %320, double %322, double %324)
  call void @llvm.lifetime.start.p0(i64 4, ptr %56) #9
  %325 = call noundef float @_ZNK3JPH4Vec34GetXEv(ptr noundef nonnull align 16 dereferenceable(16) %34)
  %326 = call noundef float @_ZNK3JPH4Vec34GetYEv(ptr noundef nonnull align 16 dereferenceable(16) %34)
  %327 = fadd float %325, %326
  %328 = call noundef float @_ZNK3JPH4Vec34GetZEv(ptr noundef nonnull align 16 dereferenceable(16) %34)
  %329 = fadd float %327, %328
  %330 = fdiv float %329, 3.000000e+00
  store float %330, ptr %56, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr %57) #9
  %331 = load float, ptr %19, align 4, !tbaa !9
  %332 = fneg float %331
  %333 = load float, ptr %16, align 4, !tbaa !9
  %334 = fmul float %332, %333
  %335 = load float, ptr %15, align 4, !tbaa !9
  %336 = fdiv float %334, %335
  %337 = load float, ptr %20, align 4, !tbaa !9
  %338 = fmul float %336, %337
  %339 = load float, ptr %56, align 4, !tbaa !9
  %340 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %339)
  %341 = fmul float %338, %340
  %342 = load float, ptr %22, align 4, !tbaa !9
  %343 = fdiv float %341, %342
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %58, ptr align 16 %28, i64 16, i1 false), !tbaa.struct !30
  %344 = getelementptr inbounds { double, double }, ptr %58, i32 0, i32 0
  %345 = load double, ptr %344, align 16
  %346 = getelementptr inbounds { double, double }, ptr %58, i32 0, i32 1
  %347 = load double, ptr %346, align 8
  %348 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %343, double %345, double %347)
  %349 = getelementptr inbounds %"class.JPH::Vec3", ptr %57, i32 0, i32 0
  %350 = getelementptr inbounds %union.anon, ptr %349, i32 0, i32 0
  %351 = getelementptr inbounds { double, double }, ptr %350, i32 0, i32 0
  %352 = extractvalue { double, double } %348, 0
  store double %352, ptr %351, align 16
  %353 = getelementptr inbounds { double, double }, ptr %350, i32 0, i32 1
  %354 = extractvalue { double, double } %348, 1
  store double %354, ptr %353, align 8
  call void @llvm.lifetime.start.p0(i64 64, ptr %59) #9
  call void @_ZNK3JPH4Body17GetInverseInertiaEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %59, ptr noundef nonnull align 16 dereferenceable(122) %72)
  call void @llvm.lifetime.start.p0(i64 16, ptr %60) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %61, ptr align 16 %57, i64 16, i1 false), !tbaa.struct !30
  %355 = getelementptr inbounds { double, double }, ptr %61, i32 0, i32 0
  %356 = load double, ptr %355, align 16
  %357 = getelementptr inbounds { double, double }, ptr %61, i32 0, i32 1
  %358 = load double, ptr %357, align 8
  %359 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %59, double %356, double %358)
  %360 = getelementptr inbounds %"class.JPH::Vec3", ptr %60, i32 0, i32 0
  %361 = getelementptr inbounds %union.anon, ptr %360, i32 0, i32 0
  %362 = getelementptr inbounds { double, double }, ptr %361, i32 0, i32 0
  %363 = extractvalue { double, double } %359, 0
  store double %363, ptr %362, align 16
  %364 = getelementptr inbounds { double, double }, ptr %361, i32 0, i32 1
  %365 = extractvalue { double, double } %359, 1
  store double %365, ptr %364, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %62) #9
  %366 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %28)
  store float %366, ptr %62, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %63) #9
  %367 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %60)
  store float %367, ptr %63, align 4, !tbaa !9
  %368 = load float, ptr %63, align 4, !tbaa !9
  %369 = load float, ptr %62, align 4, !tbaa !9
  %370 = fcmp ogt float %368, %369
  br i1 %370, label %371, label %377

371:                                              ; preds = %299
  %372 = load float, ptr %62, align 4, !tbaa !9
  %373 = load float, ptr %63, align 4, !tbaa !9
  %374 = fdiv float %372, %373
  %375 = call noundef float @_ZSt4sqrtf(float noundef %374)
  %376 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mLEf(ptr noundef nonnull align 16 dereferenceable(16) %60, float noundef %375)
  br label %377

377:                                              ; preds = %371, %299
  call void @llvm.lifetime.start.p0(i64 16, ptr %64) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %68, ptr align 16 %46, i64 16, i1 false), !tbaa.struct !30
  %378 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 0
  %379 = load double, ptr %378, align 16
  %380 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 1
  %381 = load double, ptr %380, align 8
  %382 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %24, double %379, double %381)
  %383 = getelementptr inbounds %"class.JPH::Vec3", ptr %67, i32 0, i32 0
  %384 = getelementptr inbounds %union.anon, ptr %383, i32 0, i32 0
  %385 = getelementptr inbounds { double, double }, ptr %384, i32 0, i32 0
  %386 = extractvalue { double, double } %382, 0
  store double %386, ptr %385, align 16
  %387 = getelementptr inbounds { double, double }, ptr %384, i32 0, i32 1
  %388 = extractvalue { double, double } %382, 1
  store double %388, ptr %387, align 8
  %389 = getelementptr inbounds { double, double }, ptr %67, i32 0, i32 0
  %390 = load double, ptr %389, align 16
  %391 = getelementptr inbounds { double, double }, ptr %67, i32 0, i32 1
  %392 = load double, ptr %391, align 8
  %393 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %390, double %392)
  %394 = getelementptr inbounds %"class.JPH::Vec3", ptr %66, i32 0, i32 0
  %395 = getelementptr inbounds %union.anon, ptr %394, i32 0, i32 0
  %396 = getelementptr inbounds { double, double }, ptr %395, i32 0, i32 0
  %397 = extractvalue { double, double } %393, 0
  store double %397, ptr %396, align 16
  %398 = getelementptr inbounds { double, double }, ptr %395, i32 0, i32 1
  %399 = extractvalue { double, double } %393, 1
  store double %399, ptr %398, align 8
  %400 = getelementptr inbounds { double, double }, ptr %66, i32 0, i32 0
  %401 = load double, ptr %400, align 16
  %402 = getelementptr inbounds { double, double }, ptr %66, i32 0, i32 1
  %403 = load double, ptr %402, align 8
  %404 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %59, double %401, double %403)
  %405 = getelementptr inbounds %"class.JPH::Vec3", ptr %65, i32 0, i32 0
  %406 = getelementptr inbounds %union.anon, ptr %405, i32 0, i32 0
  %407 = getelementptr inbounds { double, double }, ptr %406, i32 0, i32 0
  %408 = extractvalue { double, double } %404, 0
  store double %408, ptr %407, align 16
  %409 = getelementptr inbounds { double, double }, ptr %406, i32 0, i32 1
  %410 = extractvalue { double, double } %404, 1
  store double %410, ptr %409, align 8
  %411 = getelementptr inbounds { double, double }, ptr %65, i32 0, i32 0
  %412 = load double, ptr %411, align 16
  %413 = getelementptr inbounds { double, double }, ptr %65, i32 0, i32 1
  %414 = load double, ptr %413, align 8
  %415 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %60, double %412, double %414)
  %416 = getelementptr inbounds %"class.JPH::Vec3", ptr %64, i32 0, i32 0
  %417 = getelementptr inbounds %union.anon, ptr %416, i32 0, i32 0
  %418 = getelementptr inbounds { double, double }, ptr %417, i32 0, i32 0
  %419 = extractvalue { double, double } %415, 0
  store double %419, ptr %418, align 16
  %420 = getelementptr inbounds { double, double }, ptr %417, i32 0, i32 1
  %421 = extractvalue { double, double } %415, 1
  store double %421, ptr %420, align 8
  %422 = getelementptr inbounds %"class.JPH::Body", ptr %72, i32 0, i32 4
  %423 = load ptr, ptr %422, align 8, !tbaa !12
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %69, ptr align 16 %64, i64 16, i1 false), !tbaa.struct !30
  %424 = getelementptr inbounds { double, double }, ptr %69, i32 0, i32 0
  %425 = load double, ptr %424, align 16
  %426 = getelementptr inbounds { double, double }, ptr %69, i32 0, i32 1
  %427 = load double, ptr %426, align 8
  call void @_ZN3JPH16MotionProperties22AddAngularVelocityStepENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(182) %423, double %425, double %427)
  store i1 true, ptr %12, align 1
  call void @llvm.lifetime.end.p0(i64 16, ptr %64) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %63) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %62) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %60) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %59) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %57) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %56) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %50) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %46) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #9
  br label %429

428:                                              ; preds = %79
  store i1 false, ptr %12, align 1
  br label %429

429:                                              ; preds = %428, %377
  %430 = load i1, ptr %12, align 1
  ret i1 %430
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182)) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties16GetGravityFactorEv(ptr noundef nonnull align 16 dereferenceable(182)) #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH16MotionProperties17GetLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(182)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH16MotionProperties18GetAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(182)) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5AABox7GetSizeEv(ptr noundef nonnull align 16 dereferenceable(32)) #6 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec33AbsEv(ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec37SwizzleILj1ELj2ELj0EEES0_v(ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3mlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec37SwizzleILj2ELj0ELj1EEES0_v(ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) #2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec36LengthEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mLEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) #8 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH16MotionProperties21AddLinearVelocityStepENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(182), double, double) #3 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec34GetXEv(ptr noundef nonnull align 16 dereferenceable(16)) #8 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec34GetYEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec34GetZEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef) #7

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body17GetInverseInertiaEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #3 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH16MotionProperties22AddAngularVelocityStepENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(182), double, double) #3 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 = { 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 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { alwaysinline mustprogress 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 = { 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 = !{i64 2158443173}
!12 = !{!13, !6, i64 72}
!13 = !{!"_ZTSN3JPH4BodyE", !14, i64 0, !15, i64 16, !17, i64 32, !18, i64 64, !6, i64 72, !19, i64 80, !20, i64 88, !10, i64 104, !10, i64 108, !23, i64 112, !24, i64 116, !25, i64 118, !26, i64 119, !27, i64 120, !28, i64 121}
!14 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!15 = !{!"_ZTSN3JPH4QuatE", !16, i64 0}
!16 = !{!"_ZTSN3JPH4Vec4E", !7, i64 0}
!17 = !{!"_ZTSN3JPH5AABoxE", !14, i64 0, !14, i64 16}
!18 = !{!"_ZTSN3JPH8RefConstINS_5ShapeEEE", !6, i64 0}
!19 = !{!"long", !7, i64 0}
!20 = !{!"_ZTSN3JPH14CollisionGroupE", !21, i64 0, !22, i64 8, !22, i64 12}
!21 = !{!"_ZTSN3JPH8RefConstINS_11GroupFilterEEE", !6, i64 0}
!22 = !{!"int", !7, i64 0}
!23 = !{!"_ZTSN3JPH6BodyIDE", !22, i64 0}
!24 = !{!"short", !7, i64 0}
!25 = !{!"_ZTSN3JPH9EBodyTypeE", !7, i64 0}
!26 = !{!"_ZTSN3JPH15BroadPhaseLayerE", !7, i64 0}
!27 = !{!"_ZTSN3JPH11EMotionTypeE", !7, i64 0}
!28 = !{!"_ZTSSt6atomicIhE", !29, i64 0}
!29 = !{!"_ZTSSt13__atomic_baseIhE", !7, i64 0}
!30 = !{i64 0, i64 16, !31}
!31 = !{!7, !7, i64 0}
!32 = !{!33, !33, i64 0}
!33 = !{!"vtable pointer", !8, i64 0}


; 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.JPH::AABox" = type { %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.0 }
%union.anon.0 = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }

@.str.3 = external hidden unnamed_addr constant [79 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [14 x i8], align 1

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body11IsRigidBodyEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 align 2

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

; Function Attrs: 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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_5ShapeEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 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 #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3JPH4Body20ApplyBuoyancyImpulseEffNS_4Vec3EfffS1_S1_f(ptr noundef nonnull align 16 dereferenceable(122) %0, float noundef %1, float noundef %2, double %3, double %4, float noundef %5, float noundef %6, float noundef %7, ptr noundef byval(%"class.JPH::Vec3") align 16 %8, ptr nocapture noundef readonly byval(%"class.JPH::Vec3") align 16 %9, float noundef %10) local_unnamed_addr #5 align 2 {
  %12 = alloca %"class.JPH::Vec3", align 16
  %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::AABox", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca %"class.JPH::Quat", align 16
  %22 = alloca %"class.JPH::Quat", 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::Mat44", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  store double %3, ptr %12, align 16
  %31 = getelementptr inbounds i8, ptr %12, i64 8
  store double %4, ptr %31, align 8
  %32 = tail call noundef zeroext i1 @_ZNK3JPH4Body11IsRigidBodyEv(ptr noundef nonnull align 16 dereferenceable(122) %0)
  br i1 %32, label %36, label %33

33:                                               ; preds = %11
  %34 = tail call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.9, ptr noundef nonnull @.str.3, i32 noundef 198)
  br i1 %34, label %35, label %36

35:                                               ; preds = %33
  tail call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !5
  br label %36

36:                                               ; preds = %11, %33, %35
  %37 = fcmp ogt float %2, 0.000000e+00
  br i1 %37, label %38, label %193

38:                                               ; preds = %36
  %39 = getelementptr inbounds i8, ptr %0, i64 72
  %40 = load ptr, ptr %39, align 8, !tbaa !6
  %41 = tail call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %40)
  %42 = fmul float %41, %1
  %43 = fdiv float %5, %42
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #8
  %44 = fneg float %43
  %45 = fmul float %44, %2
  %46 = load ptr, ptr %39, align 8, !tbaa !6
  %47 = tail call noundef float @_ZNK3JPH16MotionProperties16GetGravityFactorEv(ptr noundef nonnull align 16 dereferenceable(182) %46)
  %48 = fmul float %45, %47
  %.sroa.049.0.copyload = load double, ptr %9, align 16
  %.sroa.250.0..sroa_idx = getelementptr inbounds i8, ptr %9, i64 8
  %.sroa.250.0.copyload = load double, ptr %.sroa.250.0..sroa_idx, align 8, !tbaa !28
  %49 = tail call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %48, double %.sroa.049.0.copyload, double %.sroa.250.0.copyload)
  %50 = extractvalue { double, double } %49, 0
  store double %50, ptr %14, align 16
  %51 = getelementptr inbounds i8, ptr %14, i64 8
  %52 = extractvalue { double, double } %49, 1
  store double %52, ptr %51, align 8
  %53 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %14, float noundef %10)
  %54 = extractvalue { double, double } %53, 0
  store double %54, ptr %13, align 16
  %55 = getelementptr inbounds i8, ptr %13, i64 8
  %56 = extractvalue { double, double } %53, 1
  store double %56, ptr %55, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #8
  %57 = load ptr, ptr %39, align 8, !tbaa !6
  %58 = call { double, double } @_ZNK3JPH16MotionProperties17GetLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %57)
  %59 = extractvalue { double, double } %58, 0
  store double %59, ptr %15, align 16
  %60 = getelementptr inbounds i8, ptr %15, i64 8
  %61 = extractvalue { double, double } %58, 1
  store double %61, ptr %60, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #8
  %62 = load ptr, ptr %39, align 8, !tbaa !6
  %63 = call { double, double } @_ZNK3JPH16MotionProperties18GetAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %62)
  %64 = extractvalue { double, double } %63, 0
  store double %64, ptr %16, align 16
  %65 = getelementptr inbounds i8, ptr %16, i64 8
  %66 = extractvalue { double, double } %63, 1
  store double %66, ptr %65, align 8
  %67 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %16, double %3, double %4)
  %68 = extractvalue { double, double } %67, 0
  %69 = extractvalue { double, double } %67, 1
  %70 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %15, double %68, double %69)
  %71 = extractvalue { double, double } %70, 0
  %72 = extractvalue { double, double } %70, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #8
  %73 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %8, double %71, double %72)
  %74 = extractvalue { double, double } %73, 0
  store double %74, ptr %17, align 16
  %75 = getelementptr inbounds i8, ptr %17, i64 8
  %76 = extractvalue { double, double } %73, 1
  store double %76, ptr %75, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %19) #8
  %77 = getelementptr inbounds i8, ptr %0, i64 64
  %78 = call noundef ptr @_ZNK3JPH8RefConstINS_5ShapeEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %77)
  %79 = load ptr, ptr %78, align 8, !tbaa !29
  %80 = getelementptr inbounds i8, ptr %79, i64 32
  %81 = load ptr, ptr %80, align 8
  call void %81(ptr dead_on_unwind nonnull writable sret(%"class.JPH::AABox") align 16 %19, ptr noundef nonnull align 8 dereferenceable(26) %78)
  %82 = call { double, double } @_ZNK3JPH5AABox7GetSizeEv(ptr noundef nonnull align 16 dereferenceable(32) %19)
  %83 = extractvalue { double, double } %82, 0
  store double %83, ptr %18, align 16
  %84 = getelementptr inbounds i8, ptr %18, i64 8
  %85 = extractvalue { double, double } %82, 1
  store double %85, ptr %84, align 8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %19) #8
  %86 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %17)
  %87 = fcmp ogt float %86, 0x3D71979980000000
  br i1 %87, label %88, label %118

88:                                               ; preds = %38
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #8
  %89 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %0)
  %90 = extractvalue { double, double } %89, 0
  store double %90, ptr %22, align 16
  %91 = getelementptr inbounds i8, ptr %22, i64 8
  %92 = extractvalue { double, double } %89, 1
  store double %92, ptr %91, align 8
  %93 = call { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %22)
  %94 = extractvalue { double, double } %93, 0
  store double %94, ptr %21, align 16
  %95 = getelementptr inbounds i8, ptr %21, i64 8
  %96 = extractvalue { double, double } %93, 1
  store double %96, ptr %95, align 8
  %.sroa.036.0.copyload = load double, ptr %17, align 16
  %.sroa.237.0.copyload = load double, ptr %75, align 8, !tbaa !28
  %97 = call { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16) %21, double %.sroa.036.0.copyload, double %.sroa.237.0.copyload)
  %98 = extractvalue { double, double } %97, 0
  store double %98, ptr %20, align 16
  %99 = getelementptr inbounds i8, ptr %20, i64 8
  %100 = extractvalue { double, double } %97, 1
  store double %100, ptr %99, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #8
  %101 = call { double, double } @_ZNK3JPH4Vec33AbsEv(ptr noundef nonnull align 16 dereferenceable(16) %20)
  %102 = extractvalue { double, double } %101, 0
  store double %102, ptr %23, align 16
  %103 = getelementptr inbounds i8, ptr %23, i64 8
  %104 = extractvalue { double, double } %101, 1
  store double %104, ptr %103, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #8
  %105 = call { double, double } @_ZNK3JPH4Vec37SwizzleILj1ELj2ELj0EEES0_v(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %106 = extractvalue { double, double } %105, 0
  store double %106, ptr %24, align 16
  %107 = getelementptr inbounds i8, ptr %24, i64 8
  %108 = extractvalue { double, double } %105, 1
  store double %108, ptr %107, align 8
  %109 = call { double, double } @_ZNK3JPH4Vec37SwizzleILj2ELj0ELj1EEES0_v(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %110 = extractvalue { double, double } %109, 0
  %111 = extractvalue { double, double } %109, 1
  %112 = call { double, double } @_ZNK3JPH4Vec3mlES0_(ptr noundef nonnull align 16 dereferenceable(16) %24, double %110, double %111)
  %113 = extractvalue { double, double } %112, 0
  %114 = extractvalue { double, double } %112, 1
  %115 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %23, double %113, double %114)
  %116 = call noundef float @_ZSt4sqrtf(float noundef %86)
  %117 = fdiv float %115, %116
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %23) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #8
  br label %118

118:                                              ; preds = %88, %38
  %.070 = phi float [ %117, %88 ], [ 0.000000e+00, %38 ]
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %25) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %26) #8
  %119 = fmul float %43, 5.000000e-01
  %120 = fmul float %119, %6
  %121 = fmul float %120, %.070
  %122 = fmul float %121, %10
  %.sroa.030.0.copyload = load double, ptr %17, align 16
  %.sroa.231.0.copyload = load double, ptr %75, align 8, !tbaa !28
  %123 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %122, double %.sroa.030.0.copyload, double %.sroa.231.0.copyload)
  %124 = extractvalue { double, double } %123, 0
  store double %124, ptr %26, align 16
  %125 = getelementptr inbounds i8, ptr %26, i64 8
  %126 = extractvalue { double, double } %123, 1
  store double %126, ptr %125, align 8
  %127 = call noundef float @_ZNK3JPH4Vec36LengthEv(ptr noundef nonnull align 16 dereferenceable(16) %17)
  %128 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %26, float noundef %127)
  %129 = extractvalue { double, double } %128, 0
  store double %129, ptr %25, align 16
  %130 = getelementptr inbounds i8, ptr %25, i64 8
  %131 = extractvalue { double, double } %128, 1
  store double %131, ptr %130, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %26) #8
  %132 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %15)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %27) #8
  %133 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %25, float noundef %41)
  %134 = extractvalue { double, double } %133, 0
  store double %134, ptr %27, align 16
  %135 = getelementptr inbounds i8, ptr %27, i64 8
  %136 = extractvalue { double, double } %133, 1
  store double %136, ptr %135, align 8
  %137 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %27)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #8
  %138 = fcmp ogt float %137, %132
  br i1 %138, label %139, label %143

139:                                              ; preds = %118
  %140 = fdiv float %132, %137
  %141 = call noundef float @_ZSt4sqrtf(float noundef %140)
  %142 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mLEf(ptr noundef nonnull align 16 dereferenceable(16) %25, float noundef %141)
  br label %143

143:                                              ; preds = %139, %118
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %28) #8
  %144 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %25, double %54, double %56)
  %145 = extractvalue { double, double } %144, 0
  store double %145, ptr %28, align 16
  %146 = getelementptr inbounds i8, ptr %28, i64 8
  %147 = extractvalue { double, double } %144, 1
  store double %147, ptr %146, align 8
  %148 = call { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16) %28, float noundef %41)
  %149 = extractvalue { double, double } %148, 0
  %150 = extractvalue { double, double } %148, 1
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %28) #8
  %151 = load ptr, ptr %39, align 8, !tbaa !6
  call void @_ZN3JPH16MotionProperties21AddLinearVelocityStepENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(182) %151, double %149, double %150)
  %152 = call noundef float @_ZNK3JPH4Vec34GetXEv(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %153 = call noundef float @_ZNK3JPH4Vec34GetYEv(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %154 = fadd float %152, %153
  %155 = call noundef float @_ZNK3JPH4Vec34GetZEv(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %156 = fadd float %154, %155
  %157 = fdiv float %156, 3.000000e+00
  %158 = fneg float %7
  %159 = fmul float %158, %2
  %160 = fdiv float %159, %1
  %161 = fmul float %160, %10
  %162 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %157)
  %163 = fmul float %161, %162
  %164 = fdiv float %163, %41
  %.sroa.015.0.copyload = load double, ptr %16, align 16
  %.sroa.216.0.copyload = load double, ptr %65, align 8, !tbaa !28
  %165 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %164, double %.sroa.015.0.copyload, double %.sroa.216.0.copyload)
  %166 = extractvalue { double, double } %165, 0
  %167 = extractvalue { double, double } %165, 1
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %29) #8
  call void @_ZNK3JPH4Body17GetInverseInertiaEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %29, ptr noundef nonnull align 16 dereferenceable(122) %0)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %30) #8
  %168 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %29, double %166, double %167)
  %169 = extractvalue { double, double } %168, 0
  store double %169, ptr %30, align 16
  %170 = getelementptr inbounds i8, ptr %30, i64 8
  %171 = extractvalue { double, double } %168, 1
  store double %171, ptr %170, align 8
  %172 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %16)
  %173 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %30)
  %174 = fcmp ogt float %173, %172
  br i1 %174, label %175, label %179

175:                                              ; preds = %143
  %176 = fdiv float %172, %173
  %177 = call noundef float @_ZSt4sqrtf(float noundef %176)
  %178 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mLEf(ptr noundef nonnull align 16 dereferenceable(16) %30, float noundef %177)
  br label %179

179:                                              ; preds = %175, %143
  %.sroa.01.0.copyload = load double, ptr %25, align 16
  %.sroa.22.0.copyload = load double, ptr %130, align 8, !tbaa !28
  %180 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %.sroa.01.0.copyload, double %.sroa.22.0.copyload)
  %181 = extractvalue { double, double } %180, 0
  %182 = extractvalue { double, double } %180, 1
  %183 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %12, double %181, double %182)
  %184 = extractvalue { double, double } %183, 0
  %185 = extractvalue { double, double } %183, 1
  %186 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %29, double %184, double %185)
  %187 = extractvalue { double, double } %186, 0
  %188 = extractvalue { double, double } %186, 1
  %189 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %30, double %187, double %188)
  %190 = extractvalue { double, double } %189, 0
  %191 = extractvalue { double, double } %189, 1
  %192 = load ptr, ptr %39, align 8, !tbaa !6
  call void @_ZN3JPH16MotionProperties22AddAngularVelocityStepENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(182) %192, double %190, double %191)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %29) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %25) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #8
  br label %193

193:                                              ; preds = %36, %179
  ret i1 %37
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties16GetGravityFactorEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3mlEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH16MotionProperties17GetLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH16MotionProperties18GetAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5AABox7GetSizeEv(ptr noundef nonnull align 16 dereferenceable(32)) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec33AbsEv(ptr noundef nonnull align 16 dereferenceable(16)) 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 #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec37SwizzleILj1ELj2ELj0EEES0_v(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3mlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec37SwizzleILj2ELj0ELj1EEES0_v(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) local_unnamed_addr #1

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec36LengthEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3mLEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH16MotionProperties21AddLinearVelocityStepENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(182), double, double) local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec34GetXEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec34GetYEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec34GetZEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body17GetInverseInertiaEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #2 align 2

; Function Attrs: 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH16MotionProperties22AddAngularVelocityStepENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(182), double, double) local_unnamed_addr #2 align 2

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 = { 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 = { 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 = { 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 = { 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 nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { alwaysinline mustprogress 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 #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 = !{i64 2158443173}
!6 = !{!7, !15, i64 72}
!7 = !{!"_ZTSN3JPH4BodyE", !8, i64 0, !11, i64 16, !13, i64 32, !14, i64 64, !15, i64 72, !16, i64 80, !17, i64 88, !20, i64 104, !20, i64 108, !21, i64 112, !22, i64 116, !23, i64 118, !24, i64 119, !25, i64 120, !26, i64 121}
!8 = !{!"_ZTSN3JPH4Vec3E", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"_ZTSN3JPH4QuatE", !12, i64 0}
!12 = !{!"_ZTSN3JPH4Vec4E", !9, i64 0}
!13 = !{!"_ZTSN3JPH5AABoxE", !8, i64 0, !8, i64 16}
!14 = !{!"_ZTSN3JPH8RefConstINS_5ShapeEEE", !15, i64 0}
!15 = !{!"any pointer", !9, i64 0}
!16 = !{!"long", !9, i64 0}
!17 = !{!"_ZTSN3JPH14CollisionGroupE", !18, i64 0, !19, i64 8, !19, i64 12}
!18 = !{!"_ZTSN3JPH8RefConstINS_11GroupFilterEEE", !15, i64 0}
!19 = !{!"int", !9, i64 0}
!20 = !{!"float", !9, i64 0}
!21 = !{!"_ZTSN3JPH6BodyIDE", !19, i64 0}
!22 = !{!"short", !9, i64 0}
!23 = !{!"_ZTSN3JPH9EBodyTypeE", !9, i64 0}
!24 = !{!"_ZTSN3JPH15BroadPhaseLayerE", !9, i64 0}
!25 = !{!"_ZTSN3JPH11EMotionTypeE", !9, i64 0}
!26 = !{!"_ZTSSt6atomicIhE", !27, i64 0}
!27 = !{!"_ZTSSt13__atomic_baseIhE", !9, i64 0}
!28 = !{!9, !9, i64 0}
!29 = !{!30, !30, i64 0}
!30 = !{!"vtable pointer", !10, i64 0}


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