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

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

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

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

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #1

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

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

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

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182)) #4 align 2

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

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

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #6 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK3JPH17VehicleConstraint29CalculateSuspensionForcePointERKNS_5WheelERNS_4Vec3ES5_(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 16 dereferenceable(404), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17VehicleConstraint38CalculatePitchRollConstraintPropertiesERKNS_5Mat44E(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 16 dereferenceable(64)) #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraint23SetupVelocityConstraintEf(ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1) unnamed_addr #5 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca float, align 4
  %5 = alloca %"class.JPH::Mat44", align 16
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca ptr, align 8
  %22 = alloca float, align 4
  %23 = alloca %"class.JPH::Vec3", align 16
  %24 = alloca %"class.JPH::Mat44", align 16
  %25 = alloca %"class.JPH::Vec3", align 16
  %26 = alloca float, align 4
  %27 = alloca %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::Vec3", align 16
  %29 = alloca float, align 4
  %30 = alloca float, align 4
  %31 = alloca float, align 4
  %32 = alloca %"class.JPH::Vec3", align 16
  %33 = alloca float, align 4
  %34 = alloca %"class.JPH::Vec3", align 16
  %35 = alloca %"class.JPH::Vec3", align 16
  %36 = alloca %"class.JPH::Vec3", align 16
  %37 = alloca %"class.JPH::Vec3", align 16
  %38 = alloca %"class.JPH::Vec3", align 16
  %39 = alloca %"class.JPH::Vec3", align 16
  %40 = alloca %"class.JPH::Vec3", 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
  store ptr %0, ptr %3, align 8, !tbaa !5
  store float %1, ptr %4, align 4, !tbaa !9
  %46 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 64, ptr %5) #7
  %47 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %46, i32 0, i32 5
  %48 = load ptr, ptr %47, align 16, !tbaa !11
  call void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %5, ptr noundef nonnull align 16 dereferenceable(122) %48)
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #7
  %49 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %46, i32 0, i32 10
  store ptr %49, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  %50 = load ptr, ptr %6, align 8, !tbaa !5
  %51 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %50)
  store ptr %51, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #7
  %52 = load ptr, ptr %6, align 8, !tbaa !5
  %53 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %52)
  store ptr %53, ptr %8, align 8, !tbaa !5
  br label %54

54:                                               ; preds = %372, %2
  %55 = load ptr, ptr %7, align 8, !tbaa !5
  %56 = load ptr, ptr %8, align 8, !tbaa !5
  %57 = icmp ne ptr %55, %56
  br i1 %57, label %59, label %58

58:                                               ; preds = %54
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #7
  br label %375

59:                                               ; preds = %54
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %60 = load ptr, ptr %7, align 8, !tbaa !5
  %61 = load ptr, ptr %60, align 8, !tbaa !5
  store ptr %61, ptr %9, align 8, !tbaa !5
  %62 = load ptr, ptr %9, align 8, !tbaa !5
  %63 = getelementptr inbounds %"class.JPH::Wheel", ptr %62, i32 0, i32 4
  %64 = load ptr, ptr %63, align 8, !tbaa !30
  %65 = icmp ne ptr %64, null
  br i1 %65, label %66, label %362

66:                                               ; preds = %59
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %67 = load ptr, ptr %9, align 8, !tbaa !5
  %68 = getelementptr inbounds %"class.JPH::Wheel", ptr %67, i32 0, i32 1
  %69 = call noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %68)
  store ptr %69, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %11) #7
  %70 = load ptr, ptr %9, align 8, !tbaa !5
  %71 = getelementptr inbounds %"class.JPH::Wheel", ptr %70, i32 0, i32 9
  %72 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %71)
  %73 = getelementptr inbounds %"class.JPH::Vec3", ptr %11, i32 0, i32 0
  %74 = getelementptr inbounds %union.anon, ptr %73, i32 0, i32 0
  %75 = getelementptr inbounds { double, double }, ptr %74, i32 0, i32 0
  %76 = extractvalue { double, double } %72, 0
  store double %76, ptr %75, align 16
  %77 = getelementptr inbounds { double, double }, ptr %74, i32 0, i32 1
  %78 = extractvalue { double, double } %72, 1
  store double %78, ptr %77, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %13) #7
  %79 = load ptr, ptr %9, align 8, !tbaa !5
  call void @_ZNK3JPH17VehicleConstraint29CalculateSuspensionForcePointERKNS_5WheelERNS_4Vec3ES5_(ptr noundef nonnull align 16 dereferenceable(408) %46, ptr noundef nonnull align 16 dereferenceable(404) %79, ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 16 dereferenceable(16) %13)
  %80 = load ptr, ptr %10, align 8, !tbaa !5
  %81 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %80, i32 0, i32 10
  %82 = load float, ptr %81, align 4, !tbaa !37
  %83 = load ptr, ptr %10, align 8, !tbaa !5
  %84 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %83, i32 0, i32 9
  %85 = load float, ptr %84, align 16, !tbaa !43
  %86 = fcmp ogt float %82, %85
  br i1 %86, label %87, label %271

87:                                               ; preds = %66
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #7
  %88 = load ptr, ptr %10, align 8, !tbaa !5
  %89 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %88, i32 0, i32 12
  %90 = getelementptr inbounds %"class.JPH::SpringSettings", ptr %89, i32 0, i32 0
  %91 = load i8, ptr %90, align 4, !tbaa !44
  %92 = icmp eq i8 %91, 0
  br i1 %92, label %93, label %198

93:                                               ; preds = %87
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #7
  %94 = load ptr, ptr %10, align 8, !tbaa !5
  %95 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %94, i32 0, i32 15
  %96 = load i8, ptr %95, align 16, !tbaa !45, !range !46, !noundef !47
  %97 = trunc i8 %96 to i1
  br i1 %97, label %98, label %101

98:                                               ; preds = %93
  %99 = load ptr, ptr %10, align 8, !tbaa !5
  %100 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %99, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %16, ptr align 16 %100, i64 16, i1 false), !tbaa.struct !48
  br label %136

101:                                              ; preds = %93
  %102 = load ptr, ptr %10, align 8, !tbaa !5
  %103 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %102, i32 0, i32 3
  %104 = load ptr, ptr %10, align 8, !tbaa !5
  %105 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %104, i32 0, i32 9
  %106 = load float, ptr %105, align 16, !tbaa !43
  %107 = load ptr, ptr %10, align 8, !tbaa !5
  %108 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %107, i32 0, i32 10
  %109 = load float, ptr %108, align 4, !tbaa !37
  %110 = fadd float %106, %109
  %111 = fmul float 5.000000e-01, %110
  %112 = load ptr, ptr %10, align 8, !tbaa !5
  %113 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %112, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %18, ptr align 16 %113, i64 16, i1 false), !tbaa.struct !48
  %114 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 0
  %115 = load double, ptr %114, align 16
  %116 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 1
  %117 = load double, ptr %116, align 8
  %118 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %111, double %115, double %117)
  %119 = getelementptr inbounds %"class.JPH::Vec3", ptr %17, i32 0, i32 0
  %120 = getelementptr inbounds %union.anon, ptr %119, i32 0, i32 0
  %121 = getelementptr inbounds { double, double }, ptr %120, i32 0, i32 0
  %122 = extractvalue { double, double } %118, 0
  store double %122, ptr %121, align 16
  %123 = getelementptr inbounds { double, double }, ptr %120, i32 0, i32 1
  %124 = extractvalue { double, double } %118, 1
  store double %124, ptr %123, align 8
  %125 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 0
  %126 = load double, ptr %125, align 16
  %127 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 1
  %128 = load double, ptr %127, align 8
  %129 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %103, double %126, double %128)
  %130 = getelementptr inbounds %"class.JPH::Vec3", ptr %16, 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
  br label %136

136:                                              ; preds = %101, %98
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #7
  %137 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %46, i32 0, i32 8
  %138 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %137)
  %139 = getelementptr inbounds %"class.JPH::Vec3", ptr %20, i32 0, i32 0
  %140 = getelementptr inbounds %union.anon, ptr %139, i32 0, i32 0
  %141 = getelementptr inbounds { double, double }, ptr %140, i32 0, i32 0
  %142 = extractvalue { double, double } %138, 0
  store double %142, ptr %141, align 16
  %143 = getelementptr inbounds { double, double }, ptr %140, i32 0, i32 1
  %144 = extractvalue { double, double } %138, 1
  store double %144, ptr %143, align 8
  %145 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 0
  %146 = load double, ptr %145, align 16
  %147 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 1
  %148 = load double, ptr %147, align 8
  %149 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %16, double %146, double %148)
  %150 = getelementptr inbounds %"class.JPH::Vec3", ptr %19, i32 0, i32 0
  %151 = getelementptr inbounds %union.anon, ptr %150, i32 0, i32 0
  %152 = getelementptr inbounds { double, double }, ptr %151, i32 0, i32 0
  %153 = extractvalue { double, double } %149, 0
  store double %153, ptr %152, align 16
  %154 = getelementptr inbounds { double, double }, ptr %151, i32 0, i32 1
  %155 = extractvalue { double, double } %149, 1
  store double %155, ptr %154, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #7
  %156 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %46, i32 0, i32 5
  %157 = load ptr, ptr %156, align 16, !tbaa !11
  %158 = call noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122) %157)
  store ptr %158, ptr %21, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #7
  %159 = load ptr, ptr %21, align 8, !tbaa !5
  %160 = call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %159)
  call void @llvm.lifetime.start.p0(i64 64, ptr %24) #7
  %161 = load ptr, ptr %21, align 8, !tbaa !5
  call void @_ZNK3JPH16MotionProperties27GetLocalSpaceInverseInertiaEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %24, ptr noundef nonnull align 16 dereferenceable(182) %161)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %25, ptr align 16 %19, i64 16, i1 false), !tbaa.struct !48
  %162 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 0
  %163 = load double, ptr %162, align 16
  %164 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 1
  %165 = load double, ptr %164, align 8
  %166 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %24, double %163, double %165)
  %167 = getelementptr inbounds %"class.JPH::Vec3", ptr %23, i32 0, i32 0
  %168 = getelementptr inbounds %union.anon, ptr %167, i32 0, i32 0
  %169 = getelementptr inbounds { double, double }, ptr %168, i32 0, i32 0
  %170 = extractvalue { double, double } %166, 0
  store double %170, ptr %169, align 16
  %171 = getelementptr inbounds { double, double }, ptr %168, i32 0, i32 1
  %172 = extractvalue { double, double } %166, 1
  store double %172, ptr %171, align 8
  %173 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 0
  %174 = load double, ptr %173, align 16
  %175 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 1
  %176 = load double, ptr %175, align 8
  %177 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %19, double %174, double %176)
  %178 = fadd float %160, %177
  %179 = fdiv float 1.000000e+00, %178
  call void @llvm.lifetime.end.p0(i64 64, ptr %24) #7
  store float %179, ptr %22, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  %180 = load ptr, ptr %10, align 8, !tbaa !5
  %181 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %180, i32 0, i32 12
  %182 = getelementptr inbounds %"class.JPH::SpringSettings", ptr %181, i32 0, i32 1
  %183 = load float, ptr %182, align 4, !tbaa !49
  %184 = fmul float 0x401921FB60000000, %183
  store float %184, ptr %26, align 4, !tbaa !9
  %185 = load float, ptr %22, align 4, !tbaa !9
  %186 = load float, ptr %26, align 4, !tbaa !9
  %187 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %186)
  %188 = fmul float %185, %187
  store float %188, ptr %14, align 4, !tbaa !9
  %189 = load float, ptr %22, align 4, !tbaa !9
  %190 = fmul float 2.000000e+00, %189
  %191 = load ptr, ptr %10, align 8, !tbaa !5
  %192 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %191, i32 0, i32 12
  %193 = getelementptr inbounds %"class.JPH::SpringSettings", ptr %192, i32 0, i32 2
  %194 = load float, ptr %193, align 4, !tbaa !50
  %195 = fmul float %190, %194
  %196 = load float, ptr %26, align 4, !tbaa !9
  %197 = fmul float %195, %196
  store float %197, ptr %15, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #7
  br label %207

198:                                              ; preds = %87
  %199 = load ptr, ptr %10, align 8, !tbaa !5
  %200 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %199, i32 0, i32 12
  %201 = getelementptr inbounds %"class.JPH::SpringSettings", ptr %200, i32 0, i32 1
  %202 = load float, ptr %201, align 4, !tbaa !49
  store float %202, ptr %14, align 4, !tbaa !9
  %203 = load ptr, ptr %10, align 8, !tbaa !5
  %204 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %203, i32 0, i32 12
  %205 = getelementptr inbounds %"class.JPH::SpringSettings", ptr %204, i32 0, i32 2
  %206 = load float, ptr %205, align 4, !tbaa !50
  store float %206, ptr %15, align 4, !tbaa !9
  br label %207

207:                                              ; preds = %198, %136
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #7
  %208 = load ptr, ptr %10, align 8, !tbaa !5
  %209 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %208, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %28, ptr align 16 %209, i64 16, i1 false), !tbaa.struct !48
  %210 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 0
  %211 = load double, ptr %210, align 16
  %212 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 1
  %213 = load double, ptr %212, align 8
  %214 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %211, double %213)
  %215 = getelementptr inbounds %"class.JPH::Vec3", ptr %27, i32 0, i32 0
  %216 = getelementptr inbounds %union.anon, ptr %215, i32 0, i32 0
  %217 = getelementptr inbounds { double, double }, ptr %216, i32 0, i32 0
  %218 = extractvalue { double, double } %214, 0
  store double %218, ptr %217, align 16
  %219 = getelementptr inbounds { double, double }, ptr %216, i32 0, i32 1
  %220 = extractvalue { double, double } %214, 1
  store double %220, ptr %219, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #7
  store float 0x3FB99999A0000000, ptr %30, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %32, ptr align 16 %11, i64 16, i1 false), !tbaa.struct !48
  %221 = getelementptr inbounds { double, double }, ptr %32, i32 0, i32 0
  %222 = load double, ptr %221, align 16
  %223 = getelementptr inbounds { double, double }, ptr %32, i32 0, i32 1
  %224 = load double, ptr %223, align 8
  %225 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %27, double %222, double %224)
  store float %225, ptr %31, align 4, !tbaa !9
  %226 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %30, ptr noundef nonnull align 4 dereferenceable(4) %31)
  %227 = load float, ptr %226, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #7
  store float %227, ptr %29, align 4, !tbaa !9
  %228 = load float, ptr %29, align 4, !tbaa !9
  %229 = load float, ptr %14, align 4, !tbaa !9
  %230 = fdiv float %229, %228
  store float %230, ptr %14, align 4, !tbaa !9
  %231 = load float, ptr %29, align 4, !tbaa !9
  %232 = load float, ptr %15, align 4, !tbaa !9
  %233 = fdiv float %232, %231
  store float %233, ptr %15, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #7
  %234 = load ptr, ptr %9, align 8, !tbaa !5
  %235 = getelementptr inbounds %"class.JPH::Wheel", ptr %234, i32 0, i32 5
  %236 = load float, ptr %235, align 16, !tbaa !51
  %237 = load ptr, ptr %10, align 8, !tbaa !5
  %238 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %237, i32 0, i32 10
  %239 = load float, ptr %238, align 4, !tbaa !37
  %240 = fsub float %236, %239
  %241 = load ptr, ptr %10, align 8, !tbaa !5
  %242 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %241, i32 0, i32 11
  %243 = load float, ptr %242, align 8, !tbaa !52
  %244 = fsub float %240, %243
  store float %244, ptr %33, align 4, !tbaa !9
  %245 = load ptr, ptr %9, align 8, !tbaa !5
  %246 = getelementptr inbounds %"class.JPH::Wheel", ptr %245, i32 0, i32 17
  %247 = load float, ptr %4, align 4, !tbaa !9
  %248 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %46, i32 0, i32 5
  %249 = load ptr, ptr %248, align 16, !tbaa !11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %12, i64 16, i1 false), !tbaa.struct !48
  %250 = load ptr, ptr %9, align 8, !tbaa !5
  %251 = getelementptr inbounds %"class.JPH::Wheel", ptr %250, i32 0, i32 4
  %252 = load ptr, ptr %251, align 8, !tbaa !30
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %35, ptr align 16 %13, i64 16, i1 false), !tbaa.struct !48
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %36, ptr align 16 %11, i64 16, i1 false), !tbaa.struct !48
  %253 = load ptr, ptr %9, align 8, !tbaa !5
  %254 = getelementptr inbounds %"class.JPH::Wheel", ptr %253, i32 0, i32 13
  %255 = load float, ptr %254, align 4, !tbaa !53
  %256 = load float, ptr %33, align 4, !tbaa !9
  %257 = load float, ptr %14, align 4, !tbaa !9
  %258 = load float, ptr %15, align 4, !tbaa !9
  %259 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 0
  %260 = load double, ptr %259, align 16
  %261 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 1
  %262 = load double, ptr %261, align 8
  %263 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 0
  %264 = load double, ptr %263, align 16
  %265 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 1
  %266 = load double, ptr %265, align 8
  %267 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 0
  %268 = load double, ptr %267, align 16
  %269 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 1
  %270 = load double, ptr %269, align 8
  call void @_ZN3JPH18AxisConstraintPart52CalculateConstraintPropertiesWithStiffnessAndDampingEfRKNS_4BodyENS_4Vec3ES3_S4_S4_ffff(ptr noundef nonnull align 4 dereferenceable(64) %246, float noundef %247, ptr noundef nonnull align 16 dereferenceable(122) %249, double %260, double %262, ptr noundef nonnull align 16 dereferenceable(122) %252, double %264, double %266, double %268, double %270, float noundef %255, float noundef %256, float noundef %257, float noundef %258)
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #7
  br label %274

271:                                              ; preds = %66
  %272 = load ptr, ptr %9, align 8, !tbaa !5
  %273 = getelementptr inbounds %"class.JPH::Wheel", ptr %272, i32 0, i32 17
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %273)
  br label %274

274:                                              ; preds = %271, %207
  %275 = load ptr, ptr %9, align 8, !tbaa !5
  %276 = getelementptr inbounds %"class.JPH::Wheel", ptr %275, i32 0, i32 5
  %277 = load float, ptr %276, align 16, !tbaa !51
  %278 = load ptr, ptr %10, align 8, !tbaa !5
  %279 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %278, i32 0, i32 9
  %280 = load float, ptr %279, align 16, !tbaa !43
  %281 = fcmp olt float %277, %280
  br i1 %281, label %282, label %302

282:                                              ; preds = %274
  %283 = load ptr, ptr %9, align 8, !tbaa !5
  %284 = getelementptr inbounds %"class.JPH::Wheel", ptr %283, i32 0, i32 18
  %285 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %46, i32 0, i32 5
  %286 = load ptr, ptr %285, align 16, !tbaa !11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %37, ptr align 16 %12, i64 16, i1 false), !tbaa.struct !48
  %287 = load ptr, ptr %9, align 8, !tbaa !5
  %288 = getelementptr inbounds %"class.JPH::Wheel", ptr %287, i32 0, i32 4
  %289 = load ptr, ptr %288, align 8, !tbaa !30
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %38, ptr align 16 %13, i64 16, i1 false), !tbaa.struct !48
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %39, ptr align 16 %11, i64 16, i1 false), !tbaa.struct !48
  %290 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 0
  %291 = load double, ptr %290, align 16
  %292 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 1
  %293 = load double, ptr %292, align 8
  %294 = getelementptr inbounds { double, double }, ptr %38, i32 0, i32 0
  %295 = load double, ptr %294, align 16
  %296 = getelementptr inbounds { double, double }, ptr %38, i32 0, i32 1
  %297 = load double, ptr %296, align 8
  %298 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 0
  %299 = load double, ptr %298, align 16
  %300 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 1
  %301 = load double, ptr %300, align 8
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %284, ptr noundef nonnull align 16 dereferenceable(122) %286, double %291, double %293, ptr noundef nonnull align 16 dereferenceable(122) %289, double %295, double %297, double %299, double %301, float noundef 0.000000e+00)
  br label %305

302:                                              ; preds = %274
  %303 = load ptr, ptr %9, align 8, !tbaa !5
  %304 = getelementptr inbounds %"class.JPH::Wheel", ptr %303, i32 0, i32 18
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %304)
  br label %305

305:                                              ; preds = %302, %282
  %306 = load ptr, ptr %9, align 8, !tbaa !5
  %307 = getelementptr inbounds %"class.JPH::Wheel", ptr %306, i32 0, i32 19
  %308 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %46, i32 0, i32 5
  %309 = load ptr, ptr %308, align 16, !tbaa !11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %40, ptr align 16 %12, i64 16, i1 false), !tbaa.struct !48
  %310 = load ptr, ptr %9, align 8, !tbaa !5
  %311 = getelementptr inbounds %"class.JPH::Wheel", ptr %310, i32 0, i32 4
  %312 = load ptr, ptr %311, align 8, !tbaa !30
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %13, i64 16, i1 false), !tbaa.struct !48
  %313 = load ptr, ptr %9, align 8, !tbaa !5
  %314 = getelementptr inbounds %"class.JPH::Wheel", ptr %313, i32 0, i32 10
  %315 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %314)
  %316 = getelementptr inbounds %"class.JPH::Vec3", ptr %42, i32 0, i32 0
  %317 = getelementptr inbounds %union.anon, ptr %316, i32 0, i32 0
  %318 = getelementptr inbounds { double, double }, ptr %317, i32 0, i32 0
  %319 = extractvalue { double, double } %315, 0
  store double %319, ptr %318, align 16
  %320 = getelementptr inbounds { double, double }, ptr %317, i32 0, i32 1
  %321 = extractvalue { double, double } %315, 1
  store double %321, ptr %320, align 8
  %322 = getelementptr inbounds { double, double }, ptr %40, i32 0, i32 0
  %323 = load double, ptr %322, align 16
  %324 = getelementptr inbounds { double, double }, ptr %40, i32 0, i32 1
  %325 = load double, ptr %324, align 8
  %326 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 0
  %327 = load double, ptr %326, align 16
  %328 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 1
  %329 = load double, ptr %328, align 8
  %330 = getelementptr inbounds { double, double }, ptr %42, i32 0, i32 0
  %331 = load double, ptr %330, align 16
  %332 = getelementptr inbounds { double, double }, ptr %42, i32 0, i32 1
  %333 = load double, ptr %332, align 8
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %307, ptr noundef nonnull align 16 dereferenceable(122) %309, double %323, double %325, ptr noundef nonnull align 16 dereferenceable(122) %312, double %327, double %329, double %331, double %333, float noundef 0.000000e+00)
  %334 = load ptr, ptr %9, align 8, !tbaa !5
  %335 = getelementptr inbounds %"class.JPH::Wheel", ptr %334, i32 0, i32 20
  %336 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %46, i32 0, i32 5
  %337 = load ptr, ptr %336, align 16, !tbaa !11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %43, ptr align 16 %12, i64 16, i1 false), !tbaa.struct !48
  %338 = load ptr, ptr %9, align 8, !tbaa !5
  %339 = getelementptr inbounds %"class.JPH::Wheel", ptr %338, i32 0, i32 4
  %340 = load ptr, ptr %339, align 8, !tbaa !30
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %44, ptr align 16 %13, i64 16, i1 false), !tbaa.struct !48
  %341 = load ptr, ptr %9, align 8, !tbaa !5
  %342 = getelementptr inbounds %"class.JPH::Wheel", ptr %341, i32 0, i32 11
  %343 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %342)
  %344 = getelementptr inbounds %"class.JPH::Vec3", ptr %45, i32 0, i32 0
  %345 = getelementptr inbounds %union.anon, ptr %344, i32 0, i32 0
  %346 = getelementptr inbounds { double, double }, ptr %345, i32 0, i32 0
  %347 = extractvalue { double, double } %343, 0
  store double %347, ptr %346, align 16
  %348 = getelementptr inbounds { double, double }, ptr %345, i32 0, i32 1
  %349 = extractvalue { double, double } %343, 1
  store double %349, ptr %348, align 8
  %350 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 0
  %351 = load double, ptr %350, align 16
  %352 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 1
  %353 = load double, ptr %352, align 8
  %354 = getelementptr inbounds { double, double }, ptr %44, i32 0, i32 0
  %355 = load double, ptr %354, align 16
  %356 = getelementptr inbounds { double, double }, ptr %44, i32 0, i32 1
  %357 = load double, ptr %356, align 8
  %358 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 0
  %359 = load double, ptr %358, align 16
  %360 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 1
  %361 = load double, ptr %360, align 8
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %335, ptr noundef nonnull align 16 dereferenceable(122) %337, double %351, double %353, ptr noundef nonnull align 16 dereferenceable(122) %340, double %355, double %357, double %359, double %361, float noundef 0.000000e+00)
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  br label %371

362:                                              ; preds = %59
  %363 = load ptr, ptr %9, align 8, !tbaa !5
  %364 = getelementptr inbounds %"class.JPH::Wheel", ptr %363, i32 0, i32 17
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %364)
  %365 = load ptr, ptr %9, align 8, !tbaa !5
  %366 = getelementptr inbounds %"class.JPH::Wheel", ptr %365, i32 0, i32 18
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %366)
  %367 = load ptr, ptr %9, align 8, !tbaa !5
  %368 = getelementptr inbounds %"class.JPH::Wheel", ptr %367, i32 0, i32 19
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %368)
  %369 = load ptr, ptr %9, align 8, !tbaa !5
  %370 = getelementptr inbounds %"class.JPH::Wheel", ptr %369, i32 0, i32 20
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %370)
  br label %371

371:                                              ; preds = %362, %305
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  br label %372

372:                                              ; preds = %371
  %373 = load ptr, ptr %7, align 8, !tbaa !5
  %374 = getelementptr inbounds ptr, ptr %373, i32 1
  store ptr %374, ptr %7, align 8, !tbaa !5
  br label %54

375:                                              ; preds = %58
  call void @_ZN3JPH17VehicleConstraint38CalculatePitchRollConstraintPropertiesERKNS_5Mat44E(ptr noundef nonnull align 16 dereferenceable(408) %46, ptr noundef nonnull align 16 dereferenceable(64) %5)
  call void @llvm.lifetime.end.p0(i64 64, ptr %5) #7
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH16MotionProperties27GetLocalSpaceInverseInertiaEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(182)) #4 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart52CalculateConstraintPropertiesWithStiffnessAndDampingEfRKNS_4BodyENS_4Vec3ES3_S4_S4_ffff(ptr noundef nonnull align 4 dereferenceable(64), float noundef, ptr noundef nonnull align 16 dereferenceable(122), double, double, ptr noundef nonnull align 16 dereferenceable(122), double, double, double, double, float noundef, float noundef, float noundef, float noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64)) #2 align 2

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 = { 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 64}
!12 = !{!"_ZTSN3JPH17VehicleConstraintE", !13, i64 0, !20, i64 32, !18, i64 40, !21, i64 48, !6, i64 64, !21, i64 80, !21, i64 96, !21, i64 112, !22, i64 128, !23, i64 152, !6, i64 176, !18, i64 184, !17, i64 188, !17, i64 192, !17, i64 196, !10, i64 200, !10, i64 204, !21, i64 208, !24, i64 224, !26, i64 272, !27, i64 280, !29, i64 312, !29, i64 344, !29, i64 376}
!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 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!21 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!22 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !19, i64 0, !19, i64 8, !6, i64 16}
!23 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !19, i64 0, !19, i64 8, !6, i64 16}
!24 = !{!"_ZTSN3JPH19AngleConstraintPartE", !21, i64 0, !21, i64 16, !10, i64 32, !25, i64 36, !10, i64 44}
!25 = !{!"_ZTSN3JPH10SpringPartE", !10, i64 0, !10, i64 4}
!26 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !6, i64 0}
!27 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !28, i64 0, !6, i64 24}
!28 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!29 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEE", !28, i64 0, !6, i64 24}
!30 = !{!31, !6, i64 24}
!31 = !{!"_ZTSN3JPH5WheelE", !32, i64 8, !33, i64 16, !34, i64 20, !6, i64 24, !10, i64 32, !21, i64 48, !21, i64 64, !21, i64 80, !21, i64 96, !21, i64 112, !10, i64 128, !10, i64 132, !10, i64 136, !10, i64 140, !10, i64 144, !35, i64 148, !35, i64 212, !35, i64 276, !35, i64 340}
!32 = !{!"_ZTSN3JPH8RefConstINS_13WheelSettingsEEE", !6, i64 0}
!33 = !{!"_ZTSN3JPH6BodyIDE", !17, i64 0}
!34 = !{!"_ZTSN3JPH10SubShapeIDE", !17, i64 0}
!35 = !{!"_ZTSN3JPH18AxisConstraintPartE", !36, i64 0, !36, i64 12, !36, i64 24, !36, i64 36, !10, i64 48, !25, i64 52, !10, i64 60}
!36 = !{!"_ZTSN3JPH6Float3E", !10, i64 0, !10, i64 4, !10, i64 8}
!37 = !{!38, !10, i64 116}
!38 = !{!"_ZTSN3JPH13WheelSettingsE", !39, i64 0, !40, i64 8, !21, i64 16, !21, i64 32, !21, i64 48, !21, i64 64, !21, i64 80, !21, i64 96, !10, i64 112, !10, i64 116, !10, i64 120, !41, i64 124, !10, i64 136, !10, i64 140, !18, i64 144}
!39 = !{!"_ZTSN3JPH18SerializableObjectE"}
!40 = !{!"_ZTSN3JPH9RefTargetINS_13WheelSettingsEEE", !15, i64 0}
!41 = !{!"_ZTSN3JPH14SpringSettingsE", !42, i64 0, !7, i64 4, !10, i64 8}
!42 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!43 = !{!38, !10, i64 112}
!44 = !{!38, !42, i64 124}
!45 = !{!38, !18, i64 144}
!46 = !{i8 0, i8 2}
!47 = !{}
!48 = !{i64 0, i64 16, !49}
!49 = !{!7, !7, i64 0}
!50 = !{!38, !10, i64 132}
!51 = !{!31, !10, i64 32}
!52 = !{!38, !10, i64 120}
!53 = !{!31, !10, i64 132}


; 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.19 }
%union.anon.19 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = 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: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #1

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

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

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(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 } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #3 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #4 align 2

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

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

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #6 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK3JPH17VehicleConstraint29CalculateSuspensionForcePointERKNS_5WheelERNS_4Vec3ES5_(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 16 dereferenceable(404), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17VehicleConstraint38CalculatePitchRollConstraintPropertiesERKNS_5Mat44E(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraint23SetupVelocityConstraintEf(ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1) unnamed_addr #5 align 2 {
  %3 = alloca %"class.JPH::Mat44", align 16
  %4 = alloca %"class.JPH::Vec3", align 16
  %5 = alloca %"class.JPH::Vec3", align 16
  %6 = alloca %"class.JPH::Vec3", align 16
  %7 = alloca %"class.JPH::Vec3", align 16
  %8 = alloca %"class.JPH::Mat44", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca float, align 4
  %11 = alloca float, align 4
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %3) #7
  %12 = getelementptr inbounds i8, ptr %0, i64 64
  %13 = load ptr, ptr %12, align 16, !tbaa !5
  call void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %3, ptr noundef nonnull align 16 dereferenceable(122) %13)
  %14 = getelementptr inbounds i8, ptr %0, i64 128
  %15 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %14)
  %16 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %14)
  %.not101 = icmp eq ptr %15, %16
  br i1 %.not101, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %2
  %17 = getelementptr inbounds i8, ptr %6, i64 8
  %18 = getelementptr inbounds i8, ptr %0, i64 96
  %19 = getelementptr inbounds i8, ptr %7, i64 8
  %20 = getelementptr inbounds i8, ptr %9, i64 8
  %.sroa.222.0..sroa_idx = getelementptr inbounds i8, ptr %4, i64 8
  %.sroa.220.0..sroa_idx = getelementptr inbounds i8, ptr %5, i64 8
  br label %21

._crit_edge:                                      ; preds = %143, %2
  call void @_ZN3JPH17VehicleConstraint38CalculatePitchRollConstraintPropertiesERKNS_5Mat44E(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 16 dereferenceable(64) %3)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %3) #7
  ret void

21:                                               ; preds = %.lr.ph, %143
  %.0102 = phi ptr [ %15, %.lr.ph ], [ %144, %143 ]
  %22 = load ptr, ptr %.0102, align 8, !tbaa !28
  %23 = getelementptr inbounds i8, ptr %22, i64 24
  %24 = load ptr, ptr %23, align 8, !tbaa !29
  %.not100 = icmp eq ptr %24, null
  br i1 %.not100, label %138, label %25

25:                                               ; preds = %21
  %26 = getelementptr inbounds i8, ptr %22, i64 8
  %27 = call noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %26)
  %28 = getelementptr inbounds i8, ptr %22, i64 80
  %29 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %28)
  %30 = extractvalue { double, double } %29, 0
  %31 = extractvalue { double, double } %29, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #7
  call void @_ZNK3JPH17VehicleConstraint29CalculateSuspensionForcePointERKNS_5WheelERNS_4Vec3ES5_(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 16 dereferenceable(404) %22, ptr noundef nonnull align 16 dereferenceable(16) %4, ptr noundef nonnull align 16 dereferenceable(16) %5)
  %32 = getelementptr inbounds i8, ptr %27, i64 116
  %33 = load float, ptr %32, align 4, !tbaa !36
  %34 = getelementptr inbounds i8, ptr %27, i64 112
  %35 = load float, ptr %34, align 16, !tbaa !42
  %36 = fcmp ogt float %33, %35
  br i1 %36, label %37, label %111

37:                                               ; preds = %25
  %38 = getelementptr inbounds i8, ptr %27, i64 124
  %39 = load i8, ptr %38, align 4, !tbaa !43
  %40 = icmp eq i8 %39, 0
  br i1 %40, label %41, label %84

41:                                               ; preds = %37
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #7
  %42 = getelementptr inbounds i8, ptr %27, i64 144
  %43 = load i8, ptr %42, align 16, !tbaa !44, !range !45, !noundef !46
  %44 = trunc nuw i8 %43 to i1
  br i1 %44, label %45, label %47

45:                                               ; preds = %41
  %46 = getelementptr inbounds i8, ptr %27, i64 32
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %6, ptr noundef nonnull align 16 dereferenceable(16) %46, i64 16, i1 false), !tbaa.struct !47
  br label %58

47:                                               ; preds = %41
  %48 = getelementptr inbounds i8, ptr %27, i64 16
  %49 = fadd float %33, %35
  %50 = fmul float %49, 5.000000e-01
  %51 = getelementptr inbounds i8, ptr %27, i64 48
  %.sroa.041.0.copyload = load double, ptr %51, align 16
  %.sroa.242.0..sroa_idx = getelementptr inbounds i8, ptr %27, i64 56
  %.sroa.242.0.copyload = load double, ptr %.sroa.242.0..sroa_idx, align 8, !tbaa !48
  %52 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %50, double %.sroa.041.0.copyload, double %.sroa.242.0.copyload)
  %53 = extractvalue { double, double } %52, 0
  %54 = extractvalue { double, double } %52, 1
  %55 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %48, double %53, double %54)
  %56 = extractvalue { double, double } %55, 0
  store double %56, ptr %6, align 16
  %57 = extractvalue { double, double } %55, 1
  store double %57, ptr %17, align 8
  br label %58

58:                                               ; preds = %47, %45
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #7
  %59 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %60 = extractvalue { double, double } %59, 0
  %61 = extractvalue { double, double } %59, 1
  %62 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %6, double %60, double %61)
  %63 = extractvalue { double, double } %62, 0
  store double %63, ptr %7, align 16
  %64 = extractvalue { double, double } %62, 1
  store double %64, ptr %19, align 8
  %65 = load ptr, ptr %12, align 16, !tbaa !5
  %66 = call noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122) %65)
  %67 = call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %66)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %8) #7
  call void @_ZNK3JPH16MotionProperties27GetLocalSpaceInverseInertiaEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %8, ptr noundef nonnull align 16 dereferenceable(182) %66)
  %.sroa.031.0.copyload = load double, ptr %7, align 16
  %.sroa.232.0.copyload = load double, ptr %19, align 8, !tbaa !48
  %68 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %.sroa.031.0.copyload, double %.sroa.232.0.copyload)
  %69 = extractvalue { double, double } %68, 0
  %70 = extractvalue { double, double } %68, 1
  %71 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %7, double %69, double %70)
  %72 = fadd float %67, %71
  %73 = fdiv float 1.000000e+00, %72
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #7
  %74 = getelementptr inbounds i8, ptr %27, i64 128
  %75 = load float, ptr %74, align 4, !tbaa !48
  %76 = fmul float %75, 0x401921FB60000000
  %77 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %76)
  %78 = fmul float %73, %77
  %79 = fmul float %73, 2.000000e+00
  %80 = getelementptr inbounds i8, ptr %27, i64 132
  %81 = load float, ptr %80, align 4, !tbaa !49
  %82 = fmul float %79, %81
  %83 = fmul float %76, %82
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  br label %89

84:                                               ; preds = %37
  %85 = getelementptr inbounds i8, ptr %27, i64 128
  %86 = load float, ptr %85, align 4, !tbaa !48
  %87 = getelementptr inbounds i8, ptr %27, i64 132
  %88 = load float, ptr %87, align 4, !tbaa !49
  br label %89

89:                                               ; preds = %84, %58
  %.099 = phi float [ %83, %58 ], [ %88, %84 ]
  %.098 = phi float [ %78, %58 ], [ %86, %84 ]
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #7
  %90 = getelementptr inbounds i8, ptr %27, i64 48
  %.sroa.027.0.copyload = load double, ptr %90, align 16
  %.sroa.228.0..sroa_idx = getelementptr inbounds i8, ptr %27, i64 56
  %.sroa.228.0.copyload = load double, ptr %.sroa.228.0..sroa_idx, align 8, !tbaa !48
  %91 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %3, double %.sroa.027.0.copyload, double %.sroa.228.0.copyload)
  %92 = extractvalue { double, double } %91, 0
  store double %92, ptr %9, align 16
  %93 = extractvalue { double, double } %91, 1
  store double %93, ptr %20, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %10) #7
  store float 0x3FB99999A0000000, ptr %10, align 4, !tbaa !50
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %11) #7
  %94 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %9, double %30, double %31)
  store float %94, ptr %11, align 4, !tbaa !50
  %95 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %10, ptr noundef nonnull align 4 dereferenceable(4) %11)
  %96 = load float, ptr %95, align 4, !tbaa !50
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %10) #7
  %97 = fdiv float %.098, %96
  %98 = fdiv float %.099, %96
  %99 = getelementptr inbounds i8, ptr %22, i64 32
  %100 = load float, ptr %99, align 16, !tbaa !51
  %101 = load float, ptr %32, align 4, !tbaa !36
  %102 = fsub float %100, %101
  %103 = getelementptr inbounds i8, ptr %27, i64 120
  %104 = load float, ptr %103, align 8, !tbaa !52
  %105 = fsub float %102, %104
  %106 = getelementptr inbounds i8, ptr %22, i64 148
  %107 = load ptr, ptr %12, align 16, !tbaa !5
  %.sroa.021.0.copyload = load double, ptr %4, align 16
  %.sroa.222.0.copyload = load double, ptr %.sroa.222.0..sroa_idx, align 8, !tbaa !48
  %108 = load ptr, ptr %23, align 8, !tbaa !29
  %.sroa.019.0.copyload = load double, ptr %5, align 16
  %.sroa.220.0.copyload = load double, ptr %.sroa.220.0..sroa_idx, align 8, !tbaa !48
  %109 = getelementptr inbounds i8, ptr %22, i64 132
  %110 = load float, ptr %109, align 4, !tbaa !53
  call void @_ZN3JPH18AxisConstraintPart52CalculateConstraintPropertiesWithStiffnessAndDampingEfRKNS_4BodyENS_4Vec3ES3_S4_S4_ffff(ptr noundef nonnull align 4 dereferenceable(64) %106, float noundef %1, ptr noundef nonnull align 16 dereferenceable(122) %107, double %.sroa.021.0.copyload, double %.sroa.222.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %108, double %.sroa.019.0.copyload, double %.sroa.220.0.copyload, double %30, double %31, float noundef %110, float noundef %105, float noundef %97, float noundef %98)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #7
  br label %113

111:                                              ; preds = %25
  %112 = getelementptr inbounds i8, ptr %22, i64 148
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %112)
  br label %113

113:                                              ; preds = %111, %89
  %114 = getelementptr inbounds i8, ptr %22, i64 32
  %115 = load float, ptr %114, align 16, !tbaa !51
  %116 = load float, ptr %34, align 16, !tbaa !42
  %117 = fcmp olt float %115, %116
  %118 = getelementptr inbounds i8, ptr %22, i64 212
  br i1 %117, label %119, label %122

119:                                              ; preds = %113
  %120 = load ptr, ptr %12, align 16, !tbaa !5
  %.sroa.015.0.copyload = load double, ptr %4, align 16
  %.sroa.216.0.copyload = load double, ptr %.sroa.222.0..sroa_idx, align 8, !tbaa !48
  %121 = load ptr, ptr %23, align 8, !tbaa !29
  %.sroa.013.0.copyload = load double, ptr %5, align 16
  %.sroa.214.0.copyload = load double, ptr %.sroa.220.0..sroa_idx, align 8, !tbaa !48
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %118, ptr noundef nonnull align 16 dereferenceable(122) %120, double %.sroa.015.0.copyload, double %.sroa.216.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %121, double %.sroa.013.0.copyload, double %.sroa.214.0.copyload, double %30, double %31, float noundef 0.000000e+00)
  br label %123

122:                                              ; preds = %113
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %118)
  br label %123

123:                                              ; preds = %122, %119
  %124 = getelementptr inbounds i8, ptr %22, i64 276
  %125 = load ptr, ptr %12, align 16, !tbaa !5
  %.sroa.09.0.copyload = load double, ptr %4, align 16
  %.sroa.210.0.copyload = load double, ptr %.sroa.222.0..sroa_idx, align 8, !tbaa !48
  %126 = load ptr, ptr %23, align 8, !tbaa !29
  %.sroa.07.0.copyload = load double, ptr %5, align 16
  %.sroa.28.0.copyload = load double, ptr %.sroa.220.0..sroa_idx, align 8, !tbaa !48
  %127 = getelementptr inbounds i8, ptr %22, i64 96
  %128 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %127)
  %129 = extractvalue { double, double } %128, 0
  %130 = extractvalue { double, double } %128, 1
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %124, ptr noundef nonnull align 16 dereferenceable(122) %125, double %.sroa.09.0.copyload, double %.sroa.210.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %126, double %.sroa.07.0.copyload, double %.sroa.28.0.copyload, double %129, double %130, float noundef 0.000000e+00)
  %131 = getelementptr inbounds i8, ptr %22, i64 340
  %132 = load ptr, ptr %12, align 16, !tbaa !5
  %.sroa.03.0.copyload = load double, ptr %4, align 16
  %.sroa.24.0.copyload = load double, ptr %.sroa.222.0..sroa_idx, align 8, !tbaa !48
  %133 = load ptr, ptr %23, align 8, !tbaa !29
  %.sroa.01.0.copyload = load double, ptr %5, align 16
  %.sroa.22.0.copyload = load double, ptr %.sroa.220.0..sroa_idx, align 8, !tbaa !48
  %134 = getelementptr inbounds i8, ptr %22, i64 112
  %135 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %134)
  %136 = extractvalue { double, double } %135, 0
  %137 = extractvalue { double, double } %135, 1
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %131, ptr noundef nonnull align 16 dereferenceable(122) %132, double %.sroa.03.0.copyload, double %.sroa.24.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %133, double %.sroa.01.0.copyload, double %.sroa.22.0.copyload, double %136, double %137, float noundef 0.000000e+00)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #7
  br label %143

138:                                              ; preds = %21
  %139 = getelementptr inbounds i8, ptr %22, i64 148
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %139)
  %140 = getelementptr inbounds i8, ptr %22, i64 212
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %140)
  %141 = getelementptr inbounds i8, ptr %22, i64 276
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %141)
  %142 = getelementptr inbounds i8, ptr %22, i64 340
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %142)
  br label %143

143:                                              ; preds = %138, %123
  %144 = getelementptr inbounds i8, ptr %.0102, i64 8
  %.not = icmp eq ptr %144, %16
  br i1 %.not, label %._crit_edge, label %21
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH16MotionProperties27GetLocalSpaceInverseInertiaEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #4 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 nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart52CalculateConstraintPropertiesWithStiffnessAndDampingEfRKNS_4BodyENS_4Vec3ES3_S4_S4_ffff(ptr noundef nonnull align 4 dereferenceable(64), float noundef, ptr noundef nonnull align 16 dereferenceable(122), double, double, ptr noundef nonnull align 16 dereferenceable(122), double, double, double, double, float noundef, float noundef, float noundef, float noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64)) local_unnamed_addr #2 align 2

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

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !18, i64 64}
!6 = !{!"_ZTSN3JPH17VehicleConstraintE", !7, i64 0, !16, i64 32, !14, i64 40, !17, i64 48, !18, i64 64, !17, i64 80, !17, i64 96, !17, i64 112, !19, i64 128, !20, i64 152, !18, i64 176, !14, i64 184, !11, i64 188, !11, i64 192, !11, i64 196, !21, i64 200, !21, i64 204, !17, i64 208, !22, i64 224, !24, i64 272, !25, i64 280, !27, i64 312, !27, i64 344, !27, i64 376}
!7 = !{!"_ZTSN3JPH10ConstraintE", !8, i64 8, !11, i64 12, !11, i64 16, !12, i64 20, !12, i64 21, !14, i64 22, !15, i64 24}
!8 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !9, i64 0}
!9 = !{!"_ZTSSt6atomicIjE", !10, i64 0}
!10 = !{!"_ZTSSt13__atomic_baseIjE", !11, i64 0}
!11 = !{!"int", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"bool", !12, i64 0}
!15 = !{!"long", !12, i64 0}
!16 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!17 = !{!"_ZTSN3JPH4Vec3E", !12, i64 0}
!18 = !{!"any pointer", !12, i64 0}
!19 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !15, i64 0, !15, i64 8, !18, i64 16}
!20 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !15, i64 0, !15, i64 8, !18, i64 16}
!21 = !{!"float", !12, i64 0}
!22 = !{!"_ZTSN3JPH19AngleConstraintPartE", !17, i64 0, !17, i64 16, !21, i64 32, !23, i64 36, !21, i64 44}
!23 = !{!"_ZTSN3JPH10SpringPartE", !21, i64 0, !21, i64 4}
!24 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !18, i64 0}
!25 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !26, i64 0, !18, i64 24}
!26 = !{!"_ZTSSt14_Function_base", !12, i64 0, !18, i64 16}
!27 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintERKNS0_26PhysicsStepListenerContextEEE", !26, i64 0, !18, i64 24}
!28 = !{!18, !18, i64 0}
!29 = !{!30, !18, i64 24}
!30 = !{!"_ZTSN3JPH5WheelE", !31, i64 8, !32, i64 16, !33, i64 20, !18, i64 24, !21, i64 32, !17, i64 48, !17, i64 64, !17, i64 80, !17, i64 96, !17, i64 112, !21, i64 128, !21, i64 132, !21, i64 136, !21, i64 140, !21, i64 144, !34, i64 148, !34, i64 212, !34, i64 276, !34, i64 340}
!31 = !{!"_ZTSN3JPH8RefConstINS_13WheelSettingsEEE", !18, i64 0}
!32 = !{!"_ZTSN3JPH6BodyIDE", !11, i64 0}
!33 = !{!"_ZTSN3JPH10SubShapeIDE", !11, i64 0}
!34 = !{!"_ZTSN3JPH18AxisConstraintPartE", !35, i64 0, !35, i64 12, !35, i64 24, !35, i64 36, !21, i64 48, !23, i64 52, !21, i64 60}
!35 = !{!"_ZTSN3JPH6Float3E", !21, i64 0, !21, i64 4, !21, i64 8}
!36 = !{!37, !21, i64 116}
!37 = !{!"_ZTSN3JPH13WheelSettingsE", !38, i64 0, !39, i64 8, !17, i64 16, !17, i64 32, !17, i64 48, !17, i64 64, !17, i64 80, !17, i64 96, !21, i64 112, !21, i64 116, !21, i64 120, !40, i64 124, !21, i64 136, !21, i64 140, !14, i64 144}
!38 = !{!"_ZTSN3JPH18SerializableObjectE"}
!39 = !{!"_ZTSN3JPH9RefTargetINS_13WheelSettingsEEE", !9, i64 0}
!40 = !{!"_ZTSN3JPH14SpringSettingsE", !41, i64 0, !12, i64 4, !21, i64 8}
!41 = !{!"_ZTSN3JPH11ESpringModeE", !12, i64 0}
!42 = !{!37, !21, i64 112}
!43 = !{!37, !41, i64 124}
!44 = !{!37, !14, i64 144}
!45 = !{i8 0, i8 2}
!46 = !{}
!47 = !{i64 0, i64 16, !48}
!48 = !{!12, !12, i64 0}
!49 = !{!37, !21, i64 132}
!50 = !{!21, !21, i64 0}
!51 = !{!30, !21, i64 32}
!52 = !{!37, !21, i64 120}
!53 = !{!30, !21, i64 132}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,ReassociatePass,SROAPass,SimplifyCFGPass