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

; 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.2 }
%union.anon.2 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::TwoBodyConstraint" = type { %"class.JPH::Constraint", ptr, ptr }
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.7", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.7" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::PathConstraint" = type { %"class.JPH::TwoBodyConstraint", %"class.JPH::RefConst", %"class.JPH::Mat44", %"class.JPH::Mat44", i32, float, %"class.JPH::MotorSettings", i32, float, float, %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Quat", float, [12 x i8], %"class.JPH::DualAxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::HingeRotationConstraintPart", %"class.JPH::RotationEulerConstraintPart" }
%"class.JPH::RefConst" = type { ptr }
%"class.JPH::MotorSettings" = type { %"class.JPH::SpringSettings", float, float, float, float }
%"class.JPH::SpringSettings" = type { i8, %union.anon.3, float }
%union.anon.3 = type { float }
%"class.JPH::DualAxisConstraintPart" = type <{ %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Matrix", %"class.JPH::Vector", [8 x i8] }>
%"class.JPH::Matrix" = type { [2 x %"class.JPH::Vector"] }
%"class.JPH::Vector" = type { [2 x float] }
%"class.JPH::AxisConstraintPart" = type { %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::SpringPart", float }
%"class.JPH::Float3" = type { float, float, float }
%"class.JPH::SpringPart" = type { float, float }
%"class.JPH::HingeRotationConstraintPart" = type <{ %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Matrix", %"class.JPH::Vector", [8 x i8] }>
%"class.JPH::RotationEulerConstraintPart" = type { %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3" }

; 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: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64)) #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16), double, double, float noundef) unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5Mat44C2ENS_4Vec4ES1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(64), double, double, double, double, double, double, double, double) unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH14PathConstraint29CalculateConstraintPropertiesEf(ptr noundef nonnull align 16 dereferenceable(1104) %0, float noundef %1) #7 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca float, align 4
  %5 = alloca %"class.JPH::Mat44", align 16
  %6 = alloca %"class.JPH::Mat44", align 16
  %7 = alloca %"class.JPH::Mat44", align 16
  %8 = alloca %"class.JPH::Mat44", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Vec3", align 16
  %11 = alloca %"class.JPH::Mat44", align 16
  %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::Vec3", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca %"class.JPH::Vec3", align 16
  %23 = alloca %"class.JPH::Vec3", align 16
  %24 = alloca %"class.JPH::Vec3", align 16
  %25 = alloca %"class.JPH::Vec3", align 16
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::Vec3", align 16
  %29 = alloca %"class.JPH::Vec3", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"class.JPH::Mat44", align 16
  %33 = alloca %"class.JPH::Vec3", align 16
  %34 = alloca %"class.JPH::Vec3", align 16
  %35 = alloca %"class.JPH::Mat44", 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::Mat44", align 16
  %44 = alloca %"class.JPH::Vec3", align 16
  %45 = alloca %"class.JPH::Mat44", align 16
  %46 = alloca %"class.JPH::Vec3", align 16
  %47 = alloca %"class.JPH::Mat44", align 16
  %48 = alloca %"class.JPH::Vec3", align 16
  %49 = alloca %"class.JPH::Mat44", align 16
  %50 = alloca %"class.JPH::Vec3", align 16
  %51 = alloca %"class.JPH::Mat44", align 16
  %52 = alloca %"class.JPH::Vec3", align 16
  %53 = alloca %"class.JPH::Mat44", align 16
  %54 = alloca %"class.JPH::Vec3", align 16
  %55 = alloca %"class.JPH::Quat", align 16
  %56 = alloca %"class.JPH::Mat44", align 16
  %57 = alloca %"class.JPH::Mat44", align 16
  %58 = alloca %"class.JPH::Mat44", align 16
  %59 = alloca %"class.JPH::Vec4", align 16
  %60 = alloca %"class.JPH::Vec3", align 16
  %61 = alloca %"class.JPH::Vec4", align 16
  %62 = alloca %"class.JPH::Vec3", align 16
  %63 = alloca %"class.JPH::Vec4", align 16
  %64 = alloca %"class.JPH::Vec3", align 16
  %65 = alloca %"class.JPH::Vec4", align 16
  %66 = alloca %"class.JPH::Mat44", align 16
  %67 = alloca %"class.JPH::Mat44", align 16
  %68 = alloca %"class.JPH::Vec3", align 16
  %69 = alloca %"class.JPH::Vec3", align 16
  %70 = alloca %"class.JPH::Vec3", align 16
  %71 = alloca %"class.JPH::Vec3", align 16
  %72 = alloca %"class.JPH::Vec3", align 16
  %73 = alloca %"class.JPH::Vec3", align 16
  %74 = alloca %"class.JPH::Vec3", align 16
  %75 = alloca %"class.JPH::Vec3", align 16
  %76 = alloca float, align 4
  %77 = alloca float, align 4
  %78 = alloca float, align 4
  %79 = alloca %"class.JPH::Vec3", align 16
  %80 = alloca %"class.JPH::Vec3", align 16
  %81 = alloca %"class.JPH::Vec3", align 16
  %82 = alloca %"class.JPH::Vec3", align 16
  store ptr %0, ptr %3, align 8, !tbaa !5
  store float %1, ptr %4, align 4, !tbaa !9
  %83 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 64, ptr %5) #9
  %84 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %85 = load ptr, ptr %84, align 16, !tbaa !11
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %5, ptr noundef nonnull align 16 dereferenceable(122) %85)
  call void @llvm.lifetime.start.p0(i64 64, ptr %6) #9
  %86 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %87 = load ptr, ptr %86, align 8, !tbaa !20
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %6, ptr noundef nonnull align 16 dereferenceable(122) %87)
  call void @llvm.lifetime.start.p0(i64 64, ptr %7) #9
  %88 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 2
  call void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %7, ptr noundef nonnull align 16 dereferenceable(64) %5, ptr noundef nonnull align 16 dereferenceable(64) %88)
  call void @llvm.lifetime.start.p0(i64 64, ptr %8) #9
  %89 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 3
  call void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %8, ptr noundef nonnull align 16 dereferenceable(64) %6, ptr noundef nonnull align 16 dereferenceable(64) %89)
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #9
  %90 = call { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64) %8)
  %91 = getelementptr inbounds %"class.JPH::Vec3", ptr %9, i32 0, i32 0
  %92 = getelementptr inbounds %union.anon, ptr %91, i32 0, i32 0
  %93 = getelementptr inbounds { double, double }, ptr %92, i32 0, i32 0
  %94 = extractvalue { double, double } %90, 0
  store double %94, ptr %93, align 16
  %95 = getelementptr inbounds { double, double }, ptr %92, i32 0, i32 1
  %96 = extractvalue { double, double } %90, 1
  store double %96, ptr %95, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %10) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr %11) #9
  call void @_ZNK3JPH5Mat4427InversedRotationTranslationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %11, ptr noundef nonnull align 16 dereferenceable(64) %7)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %12, ptr align 16 %9, i64 16, i1 false), !tbaa.struct !21
  %97 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 0
  %98 = load double, ptr %97, align 16
  %99 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 1
  %100 = load double, ptr %99, align 8
  %101 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %11, double %98, double %100)
  %102 = getelementptr inbounds %"class.JPH::Vec3", ptr %10, i32 0, i32 0
  %103 = getelementptr inbounds %union.anon, ptr %102, i32 0, i32 0
  %104 = getelementptr inbounds { double, double }, ptr %103, i32 0, i32 0
  %105 = extractvalue { double, double } %101, 0
  store double %105, ptr %104, align 16
  %106 = getelementptr inbounds { double, double }, ptr %103, i32 0, i32 1
  %107 = extractvalue { double, double } %101, 1
  store double %107, ptr %106, align 8
  call void @llvm.lifetime.end.p0(i64 64, ptr %11) #9
  %108 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 1
  %109 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %108)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %13, ptr align 16 %10, i64 16, i1 false), !tbaa.struct !21
  %110 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 17
  %111 = load float, ptr %110, align 16, !tbaa !23
  %112 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 0
  %113 = load double, ptr %112, align 16
  %114 = getelementptr inbounds { double, double }, ptr %13, i32 0, i32 1
  %115 = load double, ptr %114, align 8
  %116 = load ptr, ptr %109, align 8, !tbaa !43
  %117 = getelementptr inbounds ptr, ptr %116, i64 5
  %118 = load ptr, ptr %117, align 8
  %119 = call noundef float %118(ptr noundef nonnull align 8 dereferenceable(13) %109, double %113, double %115, float noundef %111)
  %120 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 17
  store float %119, ptr %120, align 16, !tbaa !23
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %15) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #9
  %121 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 1
  %122 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %121)
  %123 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 17
  %124 = load float, ptr %123, align 16, !tbaa !23
  %125 = load ptr, ptr %122, align 8, !tbaa !43
  %126 = getelementptr inbounds ptr, ptr %125, i64 6
  %127 = load ptr, ptr %126, align 8
  call void %127(ptr noundef nonnull align 8 dereferenceable(13) %122, float noundef %124, ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 16 dereferenceable(16) %15, ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %17)
  call void @llvm.lifetime.start.p0(i64 16, ptr %18) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %19, ptr align 16 %14, i64 16, i1 false), !tbaa.struct !21
  %128 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 0
  %129 = load double, ptr %128, align 16
  %130 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 1
  %131 = load double, ptr %130, align 8
  %132 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %129, double %131)
  %133 = getelementptr inbounds %"class.JPH::Vec3", ptr %18, i32 0, i32 0
  %134 = getelementptr inbounds %union.anon, ptr %133, i32 0, i32 0
  %135 = getelementptr inbounds { double, double }, ptr %134, i32 0, i32 0
  %136 = extractvalue { double, double } %132, 0
  store double %136, ptr %135, align 16
  %137 = getelementptr inbounds { double, double }, ptr %134, i32 0, i32 1
  %138 = extractvalue { double, double } %132, 1
  store double %138, ptr %137, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #9
  %139 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %140 = load ptr, ptr %139, align 16, !tbaa !11
  %141 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %140)
  %142 = getelementptr inbounds %"class.JPH::Vec3", ptr %21, i32 0, i32 0
  %143 = getelementptr inbounds %union.anon, ptr %142, i32 0, i32 0
  %144 = getelementptr inbounds { double, double }, ptr %143, i32 0, i32 0
  %145 = extractvalue { double, double } %141, 0
  store double %145, ptr %144, align 16
  %146 = getelementptr inbounds { double, double }, ptr %143, i32 0, i32 1
  %147 = extractvalue { double, double } %141, 1
  store double %147, ptr %146, align 8
  %148 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 0
  %149 = load double, ptr %148, align 16
  %150 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 1
  %151 = load double, ptr %150, align 8
  %152 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %18, double %149, double %151)
  %153 = getelementptr inbounds %"class.JPH::Vec3", ptr %20, i32 0, i32 0
  %154 = getelementptr inbounds %union.anon, ptr %153, i32 0, i32 0
  %155 = getelementptr inbounds { double, double }, ptr %154, i32 0, i32 0
  %156 = extractvalue { double, double } %152, 0
  store double %156, ptr %155, align 16
  %157 = getelementptr inbounds { double, double }, ptr %154, i32 0, i32 1
  %158 = extractvalue { double, double } %152, 1
  store double %158, ptr %157, align 8
  %159 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %159, ptr align 16 %20, i64 16, i1 false), !tbaa.struct !21
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #9
  %160 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %161 = load ptr, ptr %160, align 8, !tbaa !20
  %162 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %161)
  %163 = getelementptr inbounds %"class.JPH::Vec3", ptr %23, 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
  %169 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 0
  %170 = load double, ptr %169, align 16
  %171 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 1
  %172 = load double, ptr %171, align 8
  %173 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %9, double %170, double %172)
  %174 = getelementptr inbounds %"class.JPH::Vec3", ptr %22, i32 0, i32 0
  %175 = getelementptr inbounds %union.anon, ptr %174, i32 0, i32 0
  %176 = getelementptr inbounds { double, double }, ptr %175, i32 0, i32 0
  %177 = extractvalue { double, double } %173, 0
  store double %177, ptr %176, align 16
  %178 = getelementptr inbounds { double, double }, ptr %175, i32 0, i32 1
  %179 = extractvalue { double, double } %173, 1
  store double %179, ptr %178, align 8
  %180 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %180, ptr align 16 %22, i64 16, i1 false), !tbaa.struct !21
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %25, ptr align 16 %18, i64 16, i1 false), !tbaa.struct !21
  %181 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 0
  %182 = load double, ptr %181, align 16
  %183 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 1
  %184 = load double, ptr %183, align 8
  %185 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %9, double %182, double %184)
  %186 = getelementptr inbounds %"class.JPH::Vec3", ptr %24, i32 0, i32 0
  %187 = getelementptr inbounds %union.anon, ptr %186, i32 0, i32 0
  %188 = getelementptr inbounds { double, double }, ptr %187, i32 0, i32 0
  %189 = extractvalue { double, double } %185, 0
  store double %189, ptr %188, align 16
  %190 = getelementptr inbounds { double, double }, ptr %187, i32 0, i32 1
  %191 = extractvalue { double, double } %185, 1
  store double %191, ptr %190, align 8
  %192 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 12
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %192, ptr align 16 %24, i64 16, i1 false), !tbaa.struct !21
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %27, ptr align 16 %16, i64 16, i1 false), !tbaa.struct !21
  %193 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 0
  %194 = load double, ptr %193, align 16
  %195 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 1
  %196 = load double, ptr %195, align 8
  %197 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %194, double %196)
  %198 = getelementptr inbounds %"class.JPH::Vec3", ptr %26, i32 0, i32 0
  %199 = getelementptr inbounds %union.anon, ptr %198, i32 0, i32 0
  %200 = getelementptr inbounds { double, double }, ptr %199, i32 0, i32 0
  %201 = extractvalue { double, double } %197, 0
  store double %201, ptr %200, align 16
  %202 = getelementptr inbounds { double, double }, ptr %199, i32 0, i32 1
  %203 = extractvalue { double, double } %197, 1
  store double %203, ptr %202, align 8
  %204 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 14
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %204, ptr align 16 %26, i64 16, i1 false), !tbaa.struct !21
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %28) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %29, ptr align 16 %17, i64 16, i1 false), !tbaa.struct !21
  %205 = getelementptr inbounds { double, double }, ptr %29, i32 0, i32 0
  %206 = load double, ptr %205, align 16
  %207 = getelementptr inbounds { double, double }, ptr %29, i32 0, i32 1
  %208 = load double, ptr %207, align 8
  %209 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %206, double %208)
  %210 = getelementptr inbounds %"class.JPH::Vec3", ptr %28, i32 0, i32 0
  %211 = getelementptr inbounds %union.anon, ptr %210, i32 0, i32 0
  %212 = getelementptr inbounds { double, double }, ptr %211, i32 0, i32 0
  %213 = extractvalue { double, double } %209, 0
  store double %213, ptr %212, align 16
  %214 = getelementptr inbounds { double, double }, ptr %211, i32 0, i32 1
  %215 = extractvalue { double, double } %209, 1
  store double %215, ptr %214, align 8
  %216 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 15
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %216, ptr align 16 %28, i64 16, i1 false), !tbaa.struct !21
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %31, ptr align 16 %15, i64 16, i1 false), !tbaa.struct !21
  %217 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %218 = load double, ptr %217, align 16
  %219 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %220 = load double, ptr %219, align 8
  %221 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %218, double %220)
  %222 = getelementptr inbounds %"class.JPH::Vec3", ptr %30, i32 0, i32 0
  %223 = getelementptr inbounds %union.anon, ptr %222, i32 0, i32 0
  %224 = getelementptr inbounds { double, double }, ptr %223, i32 0, i32 0
  %225 = extractvalue { double, double } %221, 0
  store double %225, ptr %224, align 16
  %226 = getelementptr inbounds { double, double }, ptr %223, i32 0, i32 1
  %227 = extractvalue { double, double } %221, 1
  store double %227, ptr %226, align 8
  %228 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 13
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %228, ptr align 16 %30, i64 16, i1 false), !tbaa.struct !21
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #9
  %229 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 19
  %230 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %231 = load ptr, ptr %230, align 16, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 64, ptr %32) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %32, ptr noundef nonnull align 16 dereferenceable(64) %5)
  %232 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 10
  %233 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 12
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %233, i64 16, i1 false), !tbaa.struct !21
  %234 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 0
  %235 = load double, ptr %234, align 16
  %236 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 1
  %237 = load double, ptr %236, align 8
  %238 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %232, double %235, double %237)
  %239 = getelementptr inbounds %"class.JPH::Vec3", ptr %33, i32 0, i32 0
  %240 = getelementptr inbounds %union.anon, ptr %239, i32 0, i32 0
  %241 = getelementptr inbounds { double, double }, ptr %240, i32 0, i32 0
  %242 = extractvalue { double, double } %238, 0
  store double %242, ptr %241, align 16
  %243 = getelementptr inbounds { double, double }, ptr %240, i32 0, i32 1
  %244 = extractvalue { double, double } %238, 1
  store double %244, ptr %243, align 8
  %245 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %246 = load ptr, ptr %245, align 8, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 64, ptr %35) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %35, ptr noundef nonnull align 16 dereferenceable(64) %6)
  %247 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %36, ptr align 16 %247, i64 16, i1 false), !tbaa.struct !21
  %248 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 14
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %37, ptr align 16 %248, i64 16, i1 false), !tbaa.struct !21
  %249 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 15
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %38, ptr align 16 %249, i64 16, i1 false), !tbaa.struct !21
  %250 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 0
  %251 = load double, ptr %250, align 16
  %252 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 1
  %253 = load double, ptr %252, align 8
  %254 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 0
  %255 = load double, ptr %254, align 16
  %256 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 1
  %257 = load double, ptr %256, align 8
  %258 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 0
  %259 = load double, ptr %258, align 16
  %260 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 1
  %261 = load double, ptr %260, align 8
  %262 = getelementptr inbounds { double, double }, ptr %38, i32 0, i32 0
  %263 = load double, ptr %262, align 16
  %264 = getelementptr inbounds { double, double }, ptr %38, i32 0, i32 1
  %265 = load double, ptr %264, align 8
  call void @_ZN3JPH22DualAxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_S7_S7_(ptr noundef nonnull align 16 dereferenceable(152) %229, ptr noundef nonnull align 16 dereferenceable(122) %231, ptr noundef nonnull align 16 dereferenceable(64) %32, double %251, double %253, ptr noundef nonnull align 16 dereferenceable(122) %246, ptr noundef nonnull align 16 dereferenceable(64) %35, double %255, double %257, double %259, double %261, double %263, double %265)
  call void @llvm.lifetime.end.p0(i64 64, ptr %35) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %32) #9
  %266 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 1
  %267 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %266)
  %268 = call noundef zeroext i1 @_ZNK3JPH18PathConstraintPath9IsLoopingEv(ptr noundef nonnull align 8 dereferenceable(13) %267)
  br i1 %268, label %316, label %269

269:                                              ; preds = %2
  %270 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 17
  %271 = load float, ptr %270, align 16, !tbaa !23
  %272 = fcmp ole float %271, 0.000000e+00
  br i1 %272, label %283, label %273

273:                                              ; preds = %269
  %274 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 17
  %275 = load float, ptr %274, align 16, !tbaa !23
  %276 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 1
  %277 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %276)
  %278 = load ptr, ptr %277, align 8, !tbaa !43
  %279 = getelementptr inbounds ptr, ptr %278, i64 4
  %280 = load ptr, ptr %279, align 8
  %281 = call noundef float %280(ptr noundef nonnull align 8 dereferenceable(13) %277)
  %282 = fcmp oge float %275, %281
  br i1 %282, label %283, label %316

283:                                              ; preds = %273, %269
  %284 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 20
  %285 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %286 = load ptr, ptr %285, align 16, !tbaa !11
  %287 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 10
  %288 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 12
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %40, ptr align 16 %288, i64 16, i1 false), !tbaa.struct !21
  %289 = getelementptr inbounds { double, double }, ptr %40, i32 0, i32 0
  %290 = load double, ptr %289, align 16
  %291 = getelementptr inbounds { double, double }, ptr %40, i32 0, i32 1
  %292 = load double, ptr %291, align 8
  %293 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %287, double %290, double %292)
  %294 = getelementptr inbounds %"class.JPH::Vec3", ptr %39, i32 0, i32 0
  %295 = getelementptr inbounds %union.anon, ptr %294, i32 0, i32 0
  %296 = getelementptr inbounds { double, double }, ptr %295, i32 0, i32 0
  %297 = extractvalue { double, double } %293, 0
  store double %297, ptr %296, align 16
  %298 = getelementptr inbounds { double, double }, ptr %295, i32 0, i32 1
  %299 = extractvalue { double, double } %293, 1
  store double %299, ptr %298, align 8
  %300 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %301 = load ptr, ptr %300, align 8, !tbaa !20
  %302 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %302, i64 16, i1 false), !tbaa.struct !21
  %303 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 13
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %42, ptr align 16 %303, i64 16, i1 false), !tbaa.struct !21
  %304 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 0
  %305 = load double, ptr %304, align 16
  %306 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 1
  %307 = load double, ptr %306, align 8
  %308 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 0
  %309 = load double, ptr %308, align 16
  %310 = getelementptr inbounds { double, double }, ptr %41, i32 0, i32 1
  %311 = load double, ptr %310, align 8
  %312 = getelementptr inbounds { double, double }, ptr %42, i32 0, i32 0
  %313 = load double, ptr %312, align 16
  %314 = getelementptr inbounds { double, double }, ptr %42, i32 0, i32 1
  %315 = load double, ptr %314, 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 %305, double %307, ptr noundef nonnull align 16 dereferenceable(122) %301, double %309, double %311, double %313, double %315, float noundef 0.000000e+00)
  br label %318

316:                                              ; preds = %273, %2
  %317 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 20
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %317)
  br label %318

318:                                              ; preds = %316, %283
  %319 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 4
  %320 = load i32, ptr %319, align 16, !tbaa !45
  switch i32 %320, label %440 [
    i32 0, label %440
    i32 1, label %321
    i32 2, label %343
    i32 3, label %365
    i32 4, label %387
    i32 5, label %434
  ]

321:                                              ; preds = %318
  %322 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 22
  %323 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %324 = load ptr, ptr %323, align 16, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 64, ptr %43) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %43, ptr noundef nonnull align 16 dereferenceable(64) %5)
  %325 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 13
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %44, ptr align 16 %325, i64 16, i1 false), !tbaa.struct !21
  %326 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %327 = load ptr, ptr %326, align 8, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 64, ptr %45) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %45, ptr noundef nonnull align 16 dereferenceable(64) %6)
  %328 = call { double, double } @_ZNK3JPH5Mat448GetAxisXEv(ptr noundef nonnull align 16 dereferenceable(64) %8)
  %329 = getelementptr inbounds %"class.JPH::Vec3", ptr %46, i32 0, i32 0
  %330 = getelementptr inbounds %union.anon, ptr %329, i32 0, i32 0
  %331 = getelementptr inbounds { double, double }, ptr %330, i32 0, i32 0
  %332 = extractvalue { double, double } %328, 0
  store double %332, ptr %331, align 16
  %333 = getelementptr inbounds { double, double }, ptr %330, i32 0, i32 1
  %334 = extractvalue { double, double } %328, 1
  store double %334, ptr %333, align 8
  %335 = getelementptr inbounds { double, double }, ptr %44, i32 0, i32 0
  %336 = load double, ptr %335, align 16
  %337 = getelementptr inbounds { double, double }, ptr %44, i32 0, i32 1
  %338 = load double, ptr %337, align 8
  %339 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 0
  %340 = load double, ptr %339, align 16
  %341 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 1
  %342 = load double, ptr %341, align 8
  call void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232) %322, ptr noundef nonnull align 16 dereferenceable(122) %324, ptr noundef nonnull align 16 dereferenceable(64) %43, double %336, double %338, ptr noundef nonnull align 16 dereferenceable(122) %327, ptr noundef nonnull align 16 dereferenceable(64) %45, double %340, double %342)
  call void @llvm.lifetime.end.p0(i64 64, ptr %45) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %43) #9
  br label %440

343:                                              ; preds = %318
  %344 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 22
  %345 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %346 = load ptr, ptr %345, align 16, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 64, ptr %47) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %47, ptr noundef nonnull align 16 dereferenceable(64) %5)
  %347 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 14
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %48, ptr align 16 %347, i64 16, i1 false), !tbaa.struct !21
  %348 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %349 = load ptr, ptr %348, align 8, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 64, ptr %49) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %49, ptr noundef nonnull align 16 dereferenceable(64) %6)
  %350 = call { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64) %8)
  %351 = getelementptr inbounds %"class.JPH::Vec3", ptr %50, i32 0, i32 0
  %352 = getelementptr inbounds %union.anon, ptr %351, i32 0, i32 0
  %353 = getelementptr inbounds { double, double }, ptr %352, i32 0, i32 0
  %354 = extractvalue { double, double } %350, 0
  store double %354, ptr %353, align 16
  %355 = getelementptr inbounds { double, double }, ptr %352, i32 0, i32 1
  %356 = extractvalue { double, double } %350, 1
  store double %356, ptr %355, align 8
  %357 = getelementptr inbounds { double, double }, ptr %48, i32 0, i32 0
  %358 = load double, ptr %357, align 16
  %359 = getelementptr inbounds { double, double }, ptr %48, i32 0, i32 1
  %360 = load double, ptr %359, align 8
  %361 = getelementptr inbounds { double, double }, ptr %50, i32 0, i32 0
  %362 = load double, ptr %361, align 16
  %363 = getelementptr inbounds { double, double }, ptr %50, i32 0, i32 1
  %364 = load double, ptr %363, align 8
  call void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232) %344, ptr noundef nonnull align 16 dereferenceable(122) %346, ptr noundef nonnull align 16 dereferenceable(64) %47, double %358, double %360, ptr noundef nonnull align 16 dereferenceable(122) %349, ptr noundef nonnull align 16 dereferenceable(64) %49, double %362, double %364)
  call void @llvm.lifetime.end.p0(i64 64, ptr %49) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %47) #9
  br label %440

365:                                              ; preds = %318
  %366 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 22
  %367 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %368 = load ptr, ptr %367, align 16, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 64, ptr %51) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %51, ptr noundef nonnull align 16 dereferenceable(64) %5)
  %369 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 15
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %52, ptr align 16 %369, i64 16, i1 false), !tbaa.struct !21
  %370 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %371 = load ptr, ptr %370, align 8, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 64, ptr %53) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %53, ptr noundef nonnull align 16 dereferenceable(64) %6)
  %372 = call { double, double } @_ZNK3JPH5Mat448GetAxisYEv(ptr noundef nonnull align 16 dereferenceable(64) %8)
  %373 = getelementptr inbounds %"class.JPH::Vec3", ptr %54, i32 0, i32 0
  %374 = getelementptr inbounds %union.anon, ptr %373, i32 0, i32 0
  %375 = getelementptr inbounds { double, double }, ptr %374, i32 0, i32 0
  %376 = extractvalue { double, double } %372, 0
  store double %376, ptr %375, align 16
  %377 = getelementptr inbounds { double, double }, ptr %374, i32 0, i32 1
  %378 = extractvalue { double, double } %372, 1
  store double %378, ptr %377, align 8
  %379 = getelementptr inbounds { double, double }, ptr %52, i32 0, i32 0
  %380 = load double, ptr %379, align 16
  %381 = getelementptr inbounds { double, double }, ptr %52, i32 0, i32 1
  %382 = load double, ptr %381, align 8
  %383 = getelementptr inbounds { double, double }, ptr %54, i32 0, i32 0
  %384 = load double, ptr %383, align 16
  %385 = getelementptr inbounds { double, double }, ptr %54, i32 0, i32 1
  %386 = load double, ptr %385, align 8
  call void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232) %366, ptr noundef nonnull align 16 dereferenceable(122) %368, ptr noundef nonnull align 16 dereferenceable(64) %51, double %380, double %382, ptr noundef nonnull align 16 dereferenceable(122) %371, ptr noundef nonnull align 16 dereferenceable(64) %53, double %384, double %386)
  call void @llvm.lifetime.end.p0(i64 64, ptr %53) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %51) #9
  br label %440

387:                                              ; preds = %318
  call void @llvm.lifetime.start.p0(i64 16, ptr %55) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr %56) #9
  %388 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 3
  call void @llvm.lifetime.start.p0(i64 64, ptr %57) #9
  %389 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 2
  call void @llvm.lifetime.start.p0(i64 64, ptr %58) #9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %60, ptr align 16 %15, i64 16, i1 false), !tbaa.struct !21
  %390 = getelementptr inbounds { double, double }, ptr %60, i32 0, i32 0
  %391 = load double, ptr %390, align 16
  %392 = getelementptr inbounds { double, double }, ptr %60, i32 0, i32 1
  %393 = load double, ptr %392, align 8
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %59, double %391, double %393, float noundef 0.000000e+00)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %62, ptr align 16 %17, i64 16, i1 false), !tbaa.struct !21
  %394 = getelementptr inbounds { double, double }, ptr %62, i32 0, i32 0
  %395 = load double, ptr %394, align 16
  %396 = getelementptr inbounds { double, double }, ptr %62, i32 0, i32 1
  %397 = load double, ptr %396, align 8
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %61, double %395, double %397, float noundef 0.000000e+00)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %64, ptr align 16 %16, i64 16, i1 false), !tbaa.struct !21
  %398 = getelementptr inbounds { double, double }, ptr %64, i32 0, i32 0
  %399 = load double, ptr %398, align 16
  %400 = getelementptr inbounds { double, double }, ptr %64, i32 0, i32 1
  %401 = load double, ptr %400, align 8
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %63, double %399, double %401, float noundef 0.000000e+00)
  %402 = call { double, double } @_ZN3JPH4Vec45sZeroEv()
  %403 = getelementptr inbounds %"class.JPH::Vec4", ptr %65, i32 0, i32 0
  %404 = getelementptr inbounds %union.anon.2, ptr %403, i32 0, i32 0
  %405 = getelementptr inbounds { double, double }, ptr %404, i32 0, i32 0
  %406 = extractvalue { double, double } %402, 0
  store double %406, ptr %405, align 16
  %407 = getelementptr inbounds { double, double }, ptr %404, i32 0, i32 1
  %408 = extractvalue { double, double } %402, 1
  store double %408, ptr %407, align 8
  %409 = getelementptr inbounds { double, double }, ptr %59, i32 0, i32 0
  %410 = load double, ptr %409, align 16
  %411 = getelementptr inbounds { double, double }, ptr %59, i32 0, i32 1
  %412 = load double, ptr %411, align 8
  %413 = getelementptr inbounds { double, double }, ptr %61, i32 0, i32 0
  %414 = load double, ptr %413, align 16
  %415 = getelementptr inbounds { double, double }, ptr %61, i32 0, i32 1
  %416 = load double, ptr %415, align 8
  %417 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 0
  %418 = load double, ptr %417, align 16
  %419 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 1
  %420 = load double, ptr %419, align 8
  %421 = getelementptr inbounds { double, double }, ptr %65, i32 0, i32 0
  %422 = load double, ptr %421, align 16
  %423 = getelementptr inbounds { double, double }, ptr %65, i32 0, i32 1
  %424 = load double, ptr %423, align 8
  call void @_ZN3JPH5Mat44C2ENS_4Vec4ES1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(64) %58, double %410, double %412, double %414, double %416, double %418, double %420, double %422, double %424)
  call void @_ZNK3JPH5Mat4411Multiply3x3ERKS0_(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %57, ptr noundef nonnull align 16 dereferenceable(64) %389, ptr noundef nonnull align 16 dereferenceable(64) %58)
  call void @_ZNK3JPH5Mat4426Multiply3x3RightTransposedERKS0_(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %56, ptr noundef nonnull align 16 dereferenceable(64) %388, ptr noundef nonnull align 16 dereferenceable(64) %57)
  %425 = call { double, double } @_ZNK3JPH5Mat4413GetQuaternionEv(ptr noundef nonnull align 16 dereferenceable(64) %56)
  %426 = getelementptr inbounds %"class.JPH::Quat", ptr %55, i32 0, i32 0
  %427 = getelementptr inbounds %"class.JPH::Vec4", ptr %426, i32 0, i32 0
  %428 = getelementptr inbounds %union.anon.2, ptr %427, i32 0, i32 0
  %429 = getelementptr inbounds { double, double }, ptr %428, i32 0, i32 0
  %430 = extractvalue { double, double } %425, 0
  store double %430, ptr %429, align 16
  %431 = getelementptr inbounds { double, double }, ptr %428, i32 0, i32 1
  %432 = extractvalue { double, double } %425, 1
  store double %432, ptr %431, align 8
  %433 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 16
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %433, ptr align 16 %55, i64 16, i1 false), !tbaa.struct !21
  call void @llvm.lifetime.end.p0(i64 64, ptr %58) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %57) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %56) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %55) #9
  br label %434

434:                                              ; preds = %387, %318
  %435 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 23
  %436 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %437 = load ptr, ptr %436, align 16, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 64, ptr %66) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %66, ptr noundef nonnull align 16 dereferenceable(64) %5)
  %438 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %439 = load ptr, ptr %438, align 8, !tbaa !20
  call void @llvm.lifetime.start.p0(i64 64, ptr %67) #9
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %67, ptr noundef nonnull align 16 dereferenceable(64) %6)
  call void @_ZN3JPH27RotationEulerConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ES3_S6_(ptr noundef nonnull align 16 dereferenceable(208) %435, ptr noundef nonnull align 16 dereferenceable(122) %437, ptr noundef nonnull align 16 dereferenceable(64) %66, ptr noundef nonnull align 16 dereferenceable(122) %439, ptr noundef nonnull align 16 dereferenceable(64) %67)
  call void @llvm.lifetime.end.p0(i64 64, ptr %67) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %66) #9
  br label %440

440:                                              ; preds = %434, %365, %343, %321, %318, %318
  %441 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 7
  %442 = load i32, ptr %441, align 4, !tbaa !46
  switch i32 %442, label %607 [
    i32 0, label %443
    i32 1, label %483
    i32 2, label %519
  ]

443:                                              ; preds = %440
  %444 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 5
  %445 = load float, ptr %444, align 4, !tbaa !47
  %446 = fcmp ogt float %445, 0.000000e+00
  br i1 %446, label %447, label %480

447:                                              ; preds = %443
  %448 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 21
  %449 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %450 = load ptr, ptr %449, align 16, !tbaa !11
  %451 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 10
  %452 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 12
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %69, ptr align 16 %452, i64 16, i1 false), !tbaa.struct !21
  %453 = getelementptr inbounds { double, double }, ptr %69, i32 0, i32 0
  %454 = load double, ptr %453, align 16
  %455 = getelementptr inbounds { double, double }, ptr %69, i32 0, i32 1
  %456 = load double, ptr %455, align 8
  %457 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %451, double %454, double %456)
  %458 = getelementptr inbounds %"class.JPH::Vec3", ptr %68, i32 0, i32 0
  %459 = getelementptr inbounds %union.anon, ptr %458, i32 0, i32 0
  %460 = getelementptr inbounds { double, double }, ptr %459, i32 0, i32 0
  %461 = extractvalue { double, double } %457, 0
  store double %461, ptr %460, align 16
  %462 = getelementptr inbounds { double, double }, ptr %459, i32 0, i32 1
  %463 = extractvalue { double, double } %457, 1
  store double %463, ptr %462, align 8
  %464 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %465 = load ptr, ptr %464, align 8, !tbaa !20
  %466 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %70, ptr align 16 %466, i64 16, i1 false), !tbaa.struct !21
  %467 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 13
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %71, ptr align 16 %467, i64 16, i1 false), !tbaa.struct !21
  %468 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 0
  %469 = load double, ptr %468, align 16
  %470 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 1
  %471 = load double, ptr %470, align 8
  %472 = getelementptr inbounds { double, double }, ptr %70, i32 0, i32 0
  %473 = load double, ptr %472, align 16
  %474 = getelementptr inbounds { double, double }, ptr %70, i32 0, i32 1
  %475 = load double, ptr %474, align 8
  %476 = getelementptr inbounds { double, double }, ptr %71, i32 0, i32 0
  %477 = load double, ptr %476, align 16
  %478 = getelementptr inbounds { double, double }, ptr %71, i32 0, i32 1
  %479 = load double, ptr %478, align 8
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %448, ptr noundef nonnull align 16 dereferenceable(122) %450, double %469, double %471, ptr noundef nonnull align 16 dereferenceable(122) %465, double %473, double %475, double %477, double %479, float noundef 0.000000e+00)
  br label %482

480:                                              ; preds = %443
  %481 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 21
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %481)
  br label %482

482:                                              ; preds = %480, %447
  br label %607

483:                                              ; preds = %440
  %484 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 21
  %485 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %486 = load ptr, ptr %485, align 16, !tbaa !11
  %487 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 10
  %488 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 12
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %73, ptr align 16 %488, i64 16, i1 false), !tbaa.struct !21
  %489 = getelementptr inbounds { double, double }, ptr %73, i32 0, i32 0
  %490 = load double, ptr %489, align 16
  %491 = getelementptr inbounds { double, double }, ptr %73, i32 0, i32 1
  %492 = load double, ptr %491, align 8
  %493 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %487, double %490, double %492)
  %494 = getelementptr inbounds %"class.JPH::Vec3", ptr %72, i32 0, i32 0
  %495 = getelementptr inbounds %union.anon, ptr %494, i32 0, i32 0
  %496 = getelementptr inbounds { double, double }, ptr %495, i32 0, i32 0
  %497 = extractvalue { double, double } %493, 0
  store double %497, ptr %496, align 16
  %498 = getelementptr inbounds { double, double }, ptr %495, i32 0, i32 1
  %499 = extractvalue { double, double } %493, 1
  store double %499, ptr %498, align 8
  %500 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %501 = load ptr, ptr %500, align 8, !tbaa !20
  %502 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %74, ptr align 16 %502, i64 16, i1 false), !tbaa.struct !21
  %503 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 13
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %75, ptr align 16 %503, i64 16, i1 false), !tbaa.struct !21
  %504 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 8
  %505 = load float, ptr %504, align 8, !tbaa !48
  %506 = fneg float %505
  %507 = getelementptr inbounds { double, double }, ptr %72, i32 0, i32 0
  %508 = load double, ptr %507, align 16
  %509 = getelementptr inbounds { double, double }, ptr %72, i32 0, i32 1
  %510 = load double, ptr %509, align 8
  %511 = getelementptr inbounds { double, double }, ptr %74, i32 0, i32 0
  %512 = load double, ptr %511, align 16
  %513 = getelementptr inbounds { double, double }, ptr %74, i32 0, i32 1
  %514 = load double, ptr %513, align 8
  %515 = getelementptr inbounds { double, double }, ptr %75, i32 0, i32 0
  %516 = load double, ptr %515, align 16
  %517 = getelementptr inbounds { double, double }, ptr %75, i32 0, i32 1
  %518 = load double, ptr %517, align 8
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %484, ptr noundef nonnull align 16 dereferenceable(122) %486, double %508, double %510, ptr noundef nonnull align 16 dereferenceable(122) %501, double %512, double %514, double %516, double %518, float noundef %506)
  br label %607

519:                                              ; preds = %440
  %520 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 6
  %521 = getelementptr inbounds %"class.JPH::MotorSettings", ptr %520, i32 0, i32 0
  %522 = call noundef zeroext i1 @_ZNK3JPH14SpringSettings12HasStiffnessEv(ptr noundef nonnull align 4 dereferenceable(12) %521)
  br i1 %522, label %523, label %604

523:                                              ; preds = %519
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #9
  %524 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 1
  %525 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %524)
  %526 = call noundef zeroext i1 @_ZNK3JPH18PathConstraintPath9IsLoopingEv(ptr noundef nonnull align 8 dereferenceable(13) %525)
  br i1 %526, label %527, label %561

527:                                              ; preds = %523
  call void @llvm.lifetime.start.p0(i64 4, ptr %77) #9
  %528 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 1
  %529 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %528)
  %530 = load ptr, ptr %529, align 8, !tbaa !43
  %531 = getelementptr inbounds ptr, ptr %530, i64 4
  %532 = load ptr, ptr %531, align 8
  %533 = call noundef float %532(ptr noundef nonnull align 8 dereferenceable(13) %529)
  store float %533, ptr %77, align 4, !tbaa !9
  %534 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 17
  %535 = load float, ptr %534, align 16, !tbaa !23
  %536 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 9
  %537 = load float, ptr %536, align 4, !tbaa !49
  %538 = fsub float %535, %537
  %539 = load float, ptr %77, align 4, !tbaa !9
  %540 = call noundef float @_ZSt4fmodff(float noundef %538, float noundef %539)
  store float %540, ptr %76, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %78) #9
  %541 = load float, ptr %77, align 4, !tbaa !9
  %542 = fmul float 5.000000e-01, %541
  store float %542, ptr %78, align 4, !tbaa !9
  %543 = load float, ptr %76, align 4, !tbaa !9
  %544 = load float, ptr %78, align 4, !tbaa !9
  %545 = fcmp ogt float %543, %544
  br i1 %545, label %546, label %550

546:                                              ; preds = %527
  %547 = load float, ptr %77, align 4, !tbaa !9
  %548 = load float, ptr %76, align 4, !tbaa !9
  %549 = fsub float %548, %547
  store float %549, ptr %76, align 4, !tbaa !9
  br label %560

550:                                              ; preds = %527
  %551 = load float, ptr %76, align 4, !tbaa !9
  %552 = load float, ptr %78, align 4, !tbaa !9
  %553 = fneg float %552
  %554 = fcmp olt float %551, %553
  br i1 %554, label %555, label %559

555:                                              ; preds = %550
  %556 = load float, ptr %77, align 4, !tbaa !9
  %557 = load float, ptr %76, align 4, !tbaa !9
  %558 = fadd float %557, %556
  store float %558, ptr %76, align 4, !tbaa !9
  br label %559

559:                                              ; preds = %555, %550
  br label %560

560:                                              ; preds = %559, %546
  call void @llvm.lifetime.end.p0(i64 4, ptr %78) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %77) #9
  br label %567

561:                                              ; preds = %523
  %562 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 17
  %563 = load float, ptr %562, align 16, !tbaa !23
  %564 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 9
  %565 = load float, ptr %564, align 4, !tbaa !49
  %566 = fsub float %563, %565
  store float %566, ptr %76, align 4, !tbaa !9
  br label %567

567:                                              ; preds = %561, %560
  %568 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 21
  %569 = load float, ptr %4, align 4, !tbaa !9
  %570 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 1
  %571 = load ptr, ptr %570, align 16, !tbaa !11
  %572 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 10
  %573 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 12
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %80, ptr align 16 %573, i64 16, i1 false), !tbaa.struct !21
  %574 = getelementptr inbounds { double, double }, ptr %80, i32 0, i32 0
  %575 = load double, ptr %574, align 16
  %576 = getelementptr inbounds { double, double }, ptr %80, i32 0, i32 1
  %577 = load double, ptr %576, align 8
  %578 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %572, double %575, double %577)
  %579 = getelementptr inbounds %"class.JPH::Vec3", ptr %79, i32 0, i32 0
  %580 = getelementptr inbounds %union.anon, ptr %579, i32 0, i32 0
  %581 = getelementptr inbounds { double, double }, ptr %580, i32 0, i32 0
  %582 = extractvalue { double, double } %578, 0
  store double %582, ptr %581, align 16
  %583 = getelementptr inbounds { double, double }, ptr %580, i32 0, i32 1
  %584 = extractvalue { double, double } %578, 1
  store double %584, ptr %583, align 8
  %585 = getelementptr inbounds %"class.JPH::TwoBodyConstraint", ptr %83, i32 0, i32 2
  %586 = load ptr, ptr %585, align 8, !tbaa !20
  %587 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %81, ptr align 16 %587, i64 16, i1 false), !tbaa.struct !21
  %588 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 13
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %82, ptr align 16 %588, i64 16, i1 false), !tbaa.struct !21
  %589 = load float, ptr %76, align 4, !tbaa !9
  %590 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 6
  %591 = getelementptr inbounds %"class.JPH::MotorSettings", ptr %590, i32 0, i32 0
  %592 = getelementptr inbounds { double, double }, ptr %79, i32 0, i32 0
  %593 = load double, ptr %592, align 16
  %594 = getelementptr inbounds { double, double }, ptr %79, i32 0, i32 1
  %595 = load double, ptr %594, align 8
  %596 = getelementptr inbounds { double, double }, ptr %81, i32 0, i32 0
  %597 = load double, ptr %596, align 16
  %598 = getelementptr inbounds { double, double }, ptr %81, i32 0, i32 1
  %599 = load double, ptr %598, align 8
  %600 = getelementptr inbounds { double, double }, ptr %82, i32 0, i32 0
  %601 = load double, ptr %600, align 16
  %602 = getelementptr inbounds { double, double }, ptr %82, i32 0, i32 1
  %603 = load double, ptr %602, align 8
  call void @_ZN3JPH18AxisConstraintPart41CalculateConstraintPropertiesWithSettingsEfRKNS_4BodyENS_4Vec3ES3_S4_S4_ffRKNS_14SpringSettingsE(ptr noundef nonnull align 4 dereferenceable(64) %568, float noundef %569, ptr noundef nonnull align 16 dereferenceable(122) %571, double %593, double %595, ptr noundef nonnull align 16 dereferenceable(122) %586, double %597, double %599, double %601, double %603, float noundef 0.000000e+00, float noundef %589, ptr noundef nonnull align 4 dereferenceable(12) %591)
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #9
  br label %606

604:                                              ; preds = %519
  %605 = getelementptr inbounds %"class.JPH::PathConstraint", ptr %83, i32 0, i32 21
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %605)
  br label %606

606:                                              ; preds = %604, %567
  br label %607

607:                                              ; preds = %606, %483, %482, %440
  call void @llvm.lifetime.end.p0(i64 16, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %8) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %7) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %6) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %5) #9
  ret void
}

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4427InversedRotationTranslationEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) #4 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122)) #6 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH22DualAxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_S7_S7_(ptr noundef nonnull align 16 dereferenceable(152), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, double, double, double, double) #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) #4 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: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH18PathConstraintPath9IsLoopingEv(ptr noundef nonnull align 8 dereferenceable(13)) #8 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) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double) #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisXEv(ptr noundef nonnull align 16 dereferenceable(64)) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64)) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisYEv(ptr noundef nonnull align 16 dereferenceable(64)) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4426Multiply3x3RightTransposedERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4411Multiply3x3ERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec45sZeroEv() #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4413GetQuaternionEv(ptr noundef nonnull align 16 dereferenceable(64)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27RotationEulerConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ES3_S6_(ptr noundef nonnull align 16 dereferenceable(208), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH14SpringSettings12HasStiffnessEv(ptr noundef nonnull align 4 dereferenceable(12)) #1 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart41CalculateConstraintPropertiesWithSettingsEfRKNS_4BodyENS_4Vec3ES3_S4_S4_ffRKNS_14SpringSettingsE(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, ptr noundef nonnull align 4 dereferenceable(12)) #6 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 #7 = { 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 #8 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = !{!12, !6, i64 32}
!12 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !13, i64 0, !6, i64 32, !6, i64 40}
!13 = !{!"_ZTSN3JPH10ConstraintE", !14, i64 8, !17, i64 12, !17, i64 16, !7, i64 20, !7, i64 21, !18, i64 22, !19, i64 24}
!14 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !15, i64 0}
!15 = !{!"_ZTSSt6atomicIjE", !16, i64 0}
!16 = !{!"_ZTSSt13__atomic_baseIjE", !17, i64 0}
!17 = !{!"int", !7, i64 0}
!18 = !{!"bool", !7, i64 0}
!19 = !{!"long", !7, i64 0}
!20 = !{!12, !6, i64 40}
!21 = !{i64 0, i64 16, !22}
!22 = !{!7, !7, i64 0}
!23 = !{!24, !10, i64 352}
!24 = !{!"_ZTSN3JPH14PathConstraintE", !12, i64 0, !25, i64 48, !26, i64 64, !26, i64 128, !27, i64 192, !10, i64 196, !28, i64 200, !31, i64 228, !10, i64 232, !10, i64 236, !32, i64 240, !32, i64 256, !32, i64 272, !32, i64 288, !32, i64 304, !32, i64 320, !33, i64 336, !10, i64 352, !35, i64 368, !38, i64 528, !38, i64 592, !41, i64 656, !42, i64 896}
!25 = !{!"_ZTSN3JPH8RefConstINS_18PathConstraintPathEEE", !6, i64 0}
!26 = !{!"_ZTSN3JPH5Mat44E", !7, i64 0}
!27 = !{!"_ZTSN3JPH27EPathRotationConstraintTypeE", !7, i64 0}
!28 = !{!"_ZTSN3JPH13MotorSettingsE", !29, i64 0, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24}
!29 = !{!"_ZTSN3JPH14SpringSettingsE", !30, i64 0, !7, i64 4, !10, i64 8}
!30 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!31 = !{!"_ZTSN3JPH11EMotorStateE", !7, i64 0}
!32 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!33 = !{!"_ZTSN3JPH4QuatE", !34, i64 0}
!34 = !{!"_ZTSN3JPH4Vec4E", !7, i64 0}
!35 = !{!"_ZTSN3JPH22DualAxisConstraintPartE", !32, i64 0, !32, i64 16, !32, i64 32, !32, i64 48, !32, i64 64, !32, i64 80, !32, i64 96, !32, i64 112, !36, i64 128, !37, i64 144}
!36 = !{!"_ZTSN3JPH6MatrixILj2ELj2EEE", !7, i64 0}
!37 = !{!"_ZTSN3JPH6VectorILj2EEE", !7, i64 0}
!38 = !{!"_ZTSN3JPH18AxisConstraintPartE", !39, i64 0, !39, i64 12, !39, i64 24, !39, i64 36, !10, i64 48, !40, i64 52, !10, i64 60}
!39 = !{!"_ZTSN3JPH6Float3E", !10, i64 0, !10, i64 4, !10, i64 8}
!40 = !{!"_ZTSN3JPH10SpringPartE", !10, i64 0, !10, i64 4}
!41 = !{!"_ZTSN3JPH27HingeRotationConstraintPartE", !32, i64 0, !32, i64 16, !32, i64 32, !26, i64 48, !26, i64 112, !32, i64 176, !32, i64 192, !36, i64 208, !37, i64 224}
!42 = !{!"_ZTSN3JPH27RotationEulerConstraintPartE", !26, i64 0, !26, i64 64, !26, i64 128, !32, i64 192}
!43 = !{!44, !44, i64 0}
!44 = !{!"vtable pointer", !8, i64 0}
!45 = !{!24, !27, i64 192}
!46 = !{!24, !31, i64 228}
!47 = !{!24, !10, i64 196}
!48 = !{!24, !10, i64 232}
!49 = !{!24, !10, i64 236}


; 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.2 }
%union.anon.2 = 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: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(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 #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16), double, double, float noundef) unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5Mat44C2ENS_4Vec4ES1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(64), double, double, double, double, double, double, double, double) unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH14PathConstraint29CalculateConstraintPropertiesEf(ptr noundef nonnull align 16 dereferenceable(1104) %0, float noundef %1) local_unnamed_addr #6 align 2 {
  %3 = alloca %"class.JPH::Mat44", align 16
  %4 = alloca %"class.JPH::Mat44", align 16
  %5 = alloca %"class.JPH::Mat44", align 16
  %6 = alloca %"class.JPH::Mat44", align 16
  %7 = alloca %"class.JPH::Vec3", align 16
  %8 = alloca %"class.JPH::Mat44", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Vec3", align 16
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca %"class.JPH::Mat44", align 16
  %15 = alloca %"class.JPH::Mat44", align 16
  %16 = alloca %"class.JPH::Mat44", align 16
  %17 = alloca %"class.JPH::Mat44", align 16
  %18 = alloca %"class.JPH::Mat44", align 16
  %19 = alloca %"class.JPH::Mat44", align 16
  %20 = alloca %"class.JPH::Mat44", align 16
  %21 = alloca %"class.JPH::Mat44", align 16
  %22 = alloca %"class.JPH::Mat44", align 16
  %23 = alloca %"class.JPH::Mat44", align 16
  %24 = alloca %"class.JPH::Mat44", align 16
  %25 = alloca %"class.JPH::Vec4", align 16
  %26 = alloca %"class.JPH::Vec4", align 16
  %27 = alloca %"class.JPH::Vec4", align 16
  %28 = alloca %"class.JPH::Mat44", align 16
  %29 = alloca %"class.JPH::Mat44", align 16
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %3) #8
  %30 = getelementptr inbounds i8, ptr %0, i64 32
  %31 = load ptr, ptr %30, align 16, !tbaa !5
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %3, ptr noundef nonnull align 16 dereferenceable(122) %31)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %4) #8
  %32 = getelementptr inbounds i8, ptr %0, i64 40
  %33 = load ptr, ptr %32, align 8, !tbaa !17
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %4, ptr noundef nonnull align 16 dereferenceable(122) %33)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %5) #8
  %34 = getelementptr inbounds i8, ptr %0, i64 64
  call void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %5, ptr noundef nonnull align 16 dereferenceable(64) %3, ptr noundef nonnull align 16 dereferenceable(64) %34)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %6) #8
  %35 = getelementptr inbounds i8, ptr %0, i64 128
  call void @_ZNK3JPH5Mat44mlERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %6, ptr noundef nonnull align 16 dereferenceable(64) %4, ptr noundef nonnull align 16 dereferenceable(64) %35)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #8
  %36 = call { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64) %6)
  %37 = extractvalue { double, double } %36, 0
  store double %37, ptr %7, align 16
  %38 = getelementptr inbounds i8, ptr %7, i64 8
  %39 = extractvalue { double, double } %36, 1
  store double %39, ptr %38, align 8
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %8) #8
  call void @_ZNK3JPH5Mat4427InversedRotationTranslationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %8, ptr noundef nonnull align 16 dereferenceable(64) %5)
  %40 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %8, double %37, double %39)
  %41 = extractvalue { double, double } %40, 0
  %42 = extractvalue { double, double } %40, 1
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #8
  %43 = getelementptr inbounds i8, ptr %0, i64 48
  %44 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
  %45 = getelementptr inbounds i8, ptr %0, i64 352
  %46 = load float, ptr %45, align 16, !tbaa !18
  %47 = load ptr, ptr %44, align 8, !tbaa !39
  %48 = getelementptr inbounds i8, ptr %47, i64 40
  %49 = load ptr, ptr %48, align 8
  %50 = call noundef float %49(ptr noundef nonnull align 8 dereferenceable(13) %44, double %41, double %42, float noundef %46)
  store float %50, ptr %45, align 16, !tbaa !18
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #8
  %51 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
  %52 = load float, ptr %45, align 16, !tbaa !18
  %53 = load ptr, ptr %51, align 8, !tbaa !39
  %54 = getelementptr inbounds i8, ptr %53, i64 48
  %55 = load ptr, ptr %54, align 8
  call void %55(ptr noundef nonnull align 8 dereferenceable(13) %51, float noundef %52, ptr noundef nonnull align 16 dereferenceable(16) %9, ptr noundef nonnull align 16 dereferenceable(16) %10, ptr noundef nonnull align 16 dereferenceable(16) %11, ptr noundef nonnull align 16 dereferenceable(16) %12)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #8
  %.sroa.096.0.copyload = load double, ptr %9, align 16
  %.sroa.297.0..sroa_idx = getelementptr inbounds i8, ptr %9, i64 8
  %.sroa.297.0.copyload = load double, ptr %.sroa.297.0..sroa_idx, align 8, !tbaa !41
  %56 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.096.0.copyload, double %.sroa.297.0.copyload)
  %57 = extractvalue { double, double } %56, 0
  store double %57, ptr %13, align 16
  %58 = getelementptr inbounds i8, ptr %13, i64 8
  %59 = extractvalue { double, double } %56, 1
  store double %59, ptr %58, align 8
  %60 = load ptr, ptr %30, align 16, !tbaa !5
  %61 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %60)
  %62 = extractvalue { double, double } %61, 0
  %63 = extractvalue { double, double } %61, 1
  %64 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %62, double %63)
  %65 = extractvalue { double, double } %64, 0
  %66 = extractvalue { double, double } %64, 1
  %67 = getelementptr inbounds i8, ptr %0, i64 240
  store double %65, ptr %67, align 16
  %.sroa.495.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 248
  store double %66, ptr %.sroa.495.0..sroa_idx, align 8, !tbaa !41
  %68 = load ptr, ptr %32, align 8, !tbaa !17
  %69 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %68)
  %70 = extractvalue { double, double } %69, 0
  %71 = extractvalue { double, double } %69, 1
  %72 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %7, double %70, double %71)
  %73 = extractvalue { double, double } %72, 0
  %74 = extractvalue { double, double } %72, 1
  %75 = getelementptr inbounds i8, ptr %0, i64 256
  store double %73, ptr %75, align 16
  %.sroa.491.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 264
  store double %74, ptr %.sroa.491.0..sroa_idx, align 8, !tbaa !41
  %.sroa.084.0.copyload = load double, ptr %13, align 16
  %.sroa.285.0.copyload = load double, ptr %58, align 8, !tbaa !41
  %76 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %7, double %.sroa.084.0.copyload, double %.sroa.285.0.copyload)
  %77 = extractvalue { double, double } %76, 0
  %78 = extractvalue { double, double } %76, 1
  %79 = getelementptr inbounds i8, ptr %0, i64 272
  store double %77, ptr %79, align 16
  %.sroa.487.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 280
  store double %78, ptr %.sroa.487.0..sroa_idx, align 8, !tbaa !41
  %.sroa.080.0.copyload = load double, ptr %11, align 16
  %.sroa.281.0..sroa_idx = getelementptr inbounds i8, ptr %11, i64 8
  %.sroa.281.0.copyload = load double, ptr %.sroa.281.0..sroa_idx, align 8, !tbaa !41
  %80 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.080.0.copyload, double %.sroa.281.0.copyload)
  %81 = extractvalue { double, double } %80, 0
  %82 = extractvalue { double, double } %80, 1
  %83 = getelementptr inbounds i8, ptr %0, i64 304
  store double %81, ptr %83, align 16
  %.sroa.483.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 312
  store double %82, ptr %.sroa.483.0..sroa_idx, align 8, !tbaa !41
  %.sroa.076.0.copyload = load double, ptr %12, align 16
  %.sroa.277.0..sroa_idx = getelementptr inbounds i8, ptr %12, i64 8
  %.sroa.277.0.copyload = load double, ptr %.sroa.277.0..sroa_idx, align 8, !tbaa !41
  %84 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.076.0.copyload, double %.sroa.277.0.copyload)
  %85 = extractvalue { double, double } %84, 0
  %86 = extractvalue { double, double } %84, 1
  %87 = getelementptr inbounds i8, ptr %0, i64 320
  store double %85, ptr %87, align 16
  %.sroa.479.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 328
  store double %86, ptr %.sroa.479.0..sroa_idx, align 8, !tbaa !41
  %.sroa.072.0.copyload = load double, ptr %10, align 16
  %.sroa.273.0..sroa_idx = getelementptr inbounds i8, ptr %10, i64 8
  %.sroa.273.0.copyload = load double, ptr %.sroa.273.0..sroa_idx, align 8, !tbaa !41
  %88 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %5, double %.sroa.072.0.copyload, double %.sroa.273.0.copyload)
  %89 = extractvalue { double, double } %88, 0
  %90 = extractvalue { double, double } %88, 1
  %91 = getelementptr inbounds i8, ptr %0, i64 288
  store double %89, ptr %91, align 16
  %.sroa.475.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 296
  store double %90, ptr %.sroa.475.0..sroa_idx, align 8, !tbaa !41
  %92 = getelementptr inbounds i8, ptr %0, i64 368
  %93 = load ptr, ptr %30, align 16, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %14) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %14, ptr noundef nonnull align 16 dereferenceable(64) %3)
  %.sroa.068.0.copyload = load double, ptr %79, align 16
  %.sroa.269.0.copyload = load double, ptr %.sroa.487.0..sroa_idx, align 8, !tbaa !41
  %94 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %67, double %.sroa.068.0.copyload, double %.sroa.269.0.copyload)
  %95 = extractvalue { double, double } %94, 0
  %96 = extractvalue { double, double } %94, 1
  %97 = load ptr, ptr %32, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %15) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %15, ptr noundef nonnull align 16 dereferenceable(64) %4)
  %.sroa.066.0.copyload = load double, ptr %75, align 16
  %.sroa.267.0.copyload = load double, ptr %.sroa.491.0..sroa_idx, align 8, !tbaa !41
  %.sroa.064.0.copyload = load double, ptr %83, align 16
  %.sroa.265.0.copyload = load double, ptr %.sroa.483.0..sroa_idx, align 8, !tbaa !41
  %.sroa.062.0.copyload = load double, ptr %87, align 16
  %.sroa.263.0.copyload = load double, ptr %.sroa.479.0..sroa_idx, align 8, !tbaa !41
  call void @_ZN3JPH22DualAxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_S7_S7_(ptr noundef nonnull align 16 dereferenceable(152) %92, ptr noundef nonnull align 16 dereferenceable(122) %93, ptr noundef nonnull align 16 dereferenceable(64) %14, double %95, double %96, ptr noundef nonnull align 16 dereferenceable(122) %97, ptr noundef nonnull align 16 dereferenceable(64) %15, double %.sroa.066.0.copyload, double %.sroa.267.0.copyload, double %.sroa.064.0.copyload, double %.sroa.265.0.copyload, double %.sroa.062.0.copyload, double %.sroa.263.0.copyload)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %15) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %14) #8
  %98 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
  %99 = call noundef zeroext i1 @_ZNK3JPH18PathConstraintPath9IsLoopingEv(ptr noundef nonnull align 8 dereferenceable(13) %98)
  br i1 %99, label %117, label %100

100:                                              ; preds = %2
  %101 = load float, ptr %45, align 16, !tbaa !18
  %102 = fcmp ugt float %101, 0.000000e+00
  br i1 %102, label %103, label %110

103:                                              ; preds = %100
  %104 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
  %105 = load ptr, ptr %104, align 8, !tbaa !39
  %106 = getelementptr inbounds i8, ptr %105, i64 32
  %107 = load ptr, ptr %106, align 8
  %108 = call noundef float %107(ptr noundef nonnull align 8 dereferenceable(13) %104)
  %109 = fcmp ult float %101, %108
  br i1 %109, label %117, label %110

110:                                              ; preds = %103, %100
  %111 = getelementptr inbounds i8, ptr %0, i64 528
  %112 = load ptr, ptr %30, align 16, !tbaa !5
  %.sroa.058.0.copyload = load double, ptr %79, align 16
  %.sroa.259.0.copyload = load double, ptr %.sroa.487.0..sroa_idx, align 8, !tbaa !41
  %113 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %67, double %.sroa.058.0.copyload, double %.sroa.259.0.copyload)
  %114 = extractvalue { double, double } %113, 0
  %115 = extractvalue { double, double } %113, 1
  %116 = load ptr, ptr %32, align 8, !tbaa !17
  %.sroa.056.0.copyload = load double, ptr %75, align 16
  %.sroa.257.0.copyload = load double, ptr %.sroa.491.0..sroa_idx, align 8, !tbaa !41
  %.sroa.054.0.copyload = load double, ptr %91, align 16
  %.sroa.255.0.copyload = load double, ptr %.sroa.475.0..sroa_idx, align 8, !tbaa !41
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %111, ptr noundef nonnull align 16 dereferenceable(122) %112, double %114, double %115, ptr noundef nonnull align 16 dereferenceable(122) %116, double %.sroa.056.0.copyload, double %.sroa.257.0.copyload, double %.sroa.054.0.copyload, double %.sroa.255.0.copyload, float noundef 0.000000e+00)
  br label %119

117:                                              ; preds = %103, %2
  %118 = getelementptr inbounds i8, ptr %0, i64 528
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %118)
  br label %119

119:                                              ; preds = %117, %110
  %120 = getelementptr inbounds i8, ptr %0, i64 192
  %121 = load i32, ptr %120, align 16, !tbaa !42
  switch i32 %121, label %164 [
    i32 5, label %160
    i32 1, label %122
    i32 2, label %129
    i32 3, label %136
    i32 4, label %143
  ]

122:                                              ; preds = %119
  %123 = getelementptr inbounds i8, ptr %0, i64 656
  %124 = load ptr, ptr %30, align 16, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %16) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %16, ptr noundef nonnull align 16 dereferenceable(64) %3)
  %.sroa.052.0.copyload = load double, ptr %91, align 16
  %.sroa.253.0.copyload = load double, ptr %.sroa.475.0..sroa_idx, align 8, !tbaa !41
  %125 = load ptr, ptr %32, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %17) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %17, ptr noundef nonnull align 16 dereferenceable(64) %4)
  %126 = call { double, double } @_ZNK3JPH5Mat448GetAxisXEv(ptr noundef nonnull align 16 dereferenceable(64) %6)
  %127 = extractvalue { double, double } %126, 0
  %128 = extractvalue { double, double } %126, 1
  call void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232) %123, ptr noundef nonnull align 16 dereferenceable(122) %124, ptr noundef nonnull align 16 dereferenceable(64) %16, double %.sroa.052.0.copyload, double %.sroa.253.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %125, ptr noundef nonnull align 16 dereferenceable(64) %17, double %127, double %128)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %17) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %16) #8
  br label %164

129:                                              ; preds = %119
  %130 = getelementptr inbounds i8, ptr %0, i64 656
  %131 = load ptr, ptr %30, align 16, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %18) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %18, ptr noundef nonnull align 16 dereferenceable(64) %3)
  %.sroa.048.0.copyload = load double, ptr %83, align 16
  %.sroa.249.0.copyload = load double, ptr %.sroa.483.0..sroa_idx, align 8, !tbaa !41
  %132 = load ptr, ptr %32, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %19) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %19, ptr noundef nonnull align 16 dereferenceable(64) %4)
  %133 = call { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64) %6)
  %134 = extractvalue { double, double } %133, 0
  %135 = extractvalue { double, double } %133, 1
  call void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232) %130, ptr noundef nonnull align 16 dereferenceable(122) %131, ptr noundef nonnull align 16 dereferenceable(64) %18, double %.sroa.048.0.copyload, double %.sroa.249.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %132, ptr noundef nonnull align 16 dereferenceable(64) %19, double %134, double %135)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %19) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %18) #8
  br label %164

136:                                              ; preds = %119
  %137 = getelementptr inbounds i8, ptr %0, i64 656
  %138 = load ptr, ptr %30, align 16, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %20) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %20, ptr noundef nonnull align 16 dereferenceable(64) %3)
  %.sroa.044.0.copyload = load double, ptr %87, align 16
  %.sroa.245.0.copyload = load double, ptr %.sroa.479.0..sroa_idx, align 8, !tbaa !41
  %139 = load ptr, ptr %32, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %21) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %21, ptr noundef nonnull align 16 dereferenceable(64) %4)
  %140 = call { double, double } @_ZNK3JPH5Mat448GetAxisYEv(ptr noundef nonnull align 16 dereferenceable(64) %6)
  %141 = extractvalue { double, double } %140, 0
  %142 = extractvalue { double, double } %140, 1
  call void @_ZN3JPH27HingeRotationConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_(ptr noundef nonnull align 16 dereferenceable(232) %137, ptr noundef nonnull align 16 dereferenceable(122) %138, ptr noundef nonnull align 16 dereferenceable(64) %20, double %.sroa.044.0.copyload, double %.sroa.245.0.copyload, ptr noundef nonnull align 16 dereferenceable(122) %139, ptr noundef nonnull align 16 dereferenceable(64) %21, double %141, double %142)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %21) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %20) #8
  br label %164

143:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %22) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %23) #8
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %24) #8
  %.sroa.039.0.copyload = load double, ptr %10, align 16
  %.sroa.240.0.copyload = load double, ptr %.sroa.273.0..sroa_idx, align 8, !tbaa !41
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %25, double %.sroa.039.0.copyload, double %.sroa.240.0.copyload, float noundef 0.000000e+00)
  %.sroa.037.0.copyload = load double, ptr %12, align 16
  %.sroa.238.0.copyload = load double, ptr %.sroa.277.0..sroa_idx, align 8, !tbaa !41
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %26, double %.sroa.037.0.copyload, double %.sroa.238.0.copyload, float noundef 0.000000e+00)
  %.sroa.035.0.copyload = load double, ptr %11, align 16
  %.sroa.236.0.copyload = load double, ptr %.sroa.281.0..sroa_idx, align 8, !tbaa !41
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %27, double %.sroa.035.0.copyload, double %.sroa.236.0.copyload, float noundef 0.000000e+00)
  %144 = call { double, double } @_ZN3JPH4Vec45sZeroEv()
  %145 = extractvalue { double, double } %144, 0
  %146 = extractvalue { double, double } %144, 1
  %147 = load double, ptr %25, align 16
  %148 = getelementptr inbounds i8, ptr %25, i64 8
  %149 = load double, ptr %148, align 8
  %150 = load double, ptr %26, align 16
  %151 = getelementptr inbounds i8, ptr %26, i64 8
  %152 = load double, ptr %151, align 8
  %153 = load double, ptr %27, align 16
  %154 = getelementptr inbounds i8, ptr %27, i64 8
  %155 = load double, ptr %154, align 8
  call void @_ZN3JPH5Mat44C2ENS_4Vec4ES1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(64) %24, double %147, double %149, double %150, double %152, double %153, double %155, double %145, double %146)
  call void @_ZNK3JPH5Mat4411Multiply3x3ERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %23, ptr noundef nonnull align 16 dereferenceable(64) %34, ptr noundef nonnull align 16 dereferenceable(64) %24)
  call void @_ZNK3JPH5Mat4426Multiply3x3RightTransposedERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %22, ptr noundef nonnull align 16 dereferenceable(64) %35, ptr noundef nonnull align 16 dereferenceable(64) %23)
  %156 = call { double, double } @_ZNK3JPH5Mat4413GetQuaternionEv(ptr noundef nonnull align 16 dereferenceable(64) %22)
  %157 = extractvalue { double, double } %156, 0
  %158 = extractvalue { double, double } %156, 1
  %159 = getelementptr inbounds i8, ptr %0, i64 336
  store double %157, ptr %159, align 16
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 344
  store double %158, ptr %.sroa.4.0..sroa_idx, align 8, !tbaa !41
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %24) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %23) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %22) #8
  br label %160

160:                                              ; preds = %119, %143
  %161 = getelementptr inbounds i8, ptr %0, i64 896
  %162 = load ptr, ptr %30, align 16, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %28) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %28, ptr noundef nonnull align 16 dereferenceable(64) %3)
  %163 = load ptr, ptr %32, align 8, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %29) #8
  call void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %29, ptr noundef nonnull align 16 dereferenceable(64) %4)
  call void @_ZN3JPH27RotationEulerConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ES3_S6_(ptr noundef nonnull align 16 dereferenceable(208) %161, ptr noundef nonnull align 16 dereferenceable(122) %162, ptr noundef nonnull align 16 dereferenceable(64) %28, ptr noundef nonnull align 16 dereferenceable(122) %163, ptr noundef nonnull align 16 dereferenceable(64) %29)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %29) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %28) #8
  br label %164

164:                                              ; preds = %160, %136, %129, %122, %119
  %165 = getelementptr inbounds i8, ptr %0, i64 228
  %166 = load i32, ptr %165, align 4, !tbaa !43
  switch i32 %166, label %229 [
    i32 0, label %167
    i32 1, label %179
    i32 2, label %189
  ]

167:                                              ; preds = %164
  %168 = getelementptr inbounds i8, ptr %0, i64 196
  %169 = load float, ptr %168, align 4, !tbaa !44
  %170 = fcmp ogt float %169, 0.000000e+00
  %171 = getelementptr inbounds i8, ptr %0, i64 592
  br i1 %170, label %172, label %178

172:                                              ; preds = %167
  %173 = load ptr, ptr %30, align 16, !tbaa !5
  %.sroa.029.0.copyload = load double, ptr %79, align 16
  %.sroa.230.0.copyload = load double, ptr %.sroa.487.0..sroa_idx, align 8, !tbaa !41
  %174 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %67, double %.sroa.029.0.copyload, double %.sroa.230.0.copyload)
  %175 = extractvalue { double, double } %174, 0
  %176 = extractvalue { double, double } %174, 1
  %177 = load ptr, ptr %32, align 8, !tbaa !17
  %.sroa.027.0.copyload = load double, ptr %75, align 16
  %.sroa.228.0.copyload = load double, ptr %.sroa.491.0..sroa_idx, align 8, !tbaa !41
  %.sroa.025.0.copyload = load double, ptr %91, align 16
  %.sroa.226.0.copyload = load double, ptr %.sroa.475.0..sroa_idx, align 8, !tbaa !41
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %171, ptr noundef nonnull align 16 dereferenceable(122) %173, double %175, double %176, ptr noundef nonnull align 16 dereferenceable(122) %177, double %.sroa.027.0.copyload, double %.sroa.228.0.copyload, double %.sroa.025.0.copyload, double %.sroa.226.0.copyload, float noundef 0.000000e+00)
  br label %229

178:                                              ; preds = %167
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %171)
  br label %229

179:                                              ; preds = %164
  %180 = getelementptr inbounds i8, ptr %0, i64 592
  %181 = load ptr, ptr %30, align 16, !tbaa !5
  %.sroa.021.0.copyload = load double, ptr %79, align 16
  %.sroa.222.0.copyload = load double, ptr %.sroa.487.0..sroa_idx, align 8, !tbaa !41
  %182 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %67, double %.sroa.021.0.copyload, double %.sroa.222.0.copyload)
  %183 = extractvalue { double, double } %182, 0
  %184 = extractvalue { double, double } %182, 1
  %185 = load ptr, ptr %32, align 8, !tbaa !17
  %.sroa.019.0.copyload = load double, ptr %75, align 16
  %.sroa.220.0.copyload = load double, ptr %.sroa.491.0..sroa_idx, align 8, !tbaa !41
  %.sroa.017.0.copyload = load double, ptr %91, align 16
  %.sroa.218.0.copyload = load double, ptr %.sroa.475.0..sroa_idx, align 8, !tbaa !41
  %186 = getelementptr inbounds i8, ptr %0, i64 232
  %187 = load float, ptr %186, align 8, !tbaa !45
  %188 = fneg float %187
  call void @_ZN3JPH18AxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyENS_4Vec3ES3_S4_S4_f(ptr noundef nonnull align 4 dereferenceable(64) %180, ptr noundef nonnull align 16 dereferenceable(122) %181, double %183, double %184, ptr noundef nonnull align 16 dereferenceable(122) %185, double %.sroa.019.0.copyload, double %.sroa.220.0.copyload, double %.sroa.017.0.copyload, double %.sroa.218.0.copyload, float noundef %188)
  br label %229

189:                                              ; preds = %164
  %190 = getelementptr inbounds i8, ptr %0, i64 200
  %191 = call noundef zeroext i1 @_ZNK3JPH14SpringSettings12HasStiffnessEv(ptr noundef nonnull align 4 dereferenceable(12) %190)
  br i1 %191, label %192, label %227

192:                                              ; preds = %189
  %193 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
  %194 = call noundef zeroext i1 @_ZNK3JPH18PathConstraintPath9IsLoopingEv(ptr noundef nonnull align 8 dereferenceable(13) %193)
  br i1 %194, label %195, label %215

195:                                              ; preds = %192
  %196 = call noundef ptr @_ZNK3JPH8RefConstINS_18PathConstraintPathEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
  %197 = load ptr, ptr %196, align 8, !tbaa !39
  %198 = getelementptr inbounds i8, ptr %197, i64 32
  %199 = load ptr, ptr %198, align 8
  %200 = call noundef float %199(ptr noundef nonnull align 8 dereferenceable(13) %196)
  %201 = load float, ptr %45, align 16, !tbaa !18
  %202 = getelementptr inbounds i8, ptr %0, i64 236
  %203 = load float, ptr %202, align 4, !tbaa !46
  %204 = fsub float %201, %203
  %205 = call noundef float @_ZSt4fmodff(float noundef %204, float noundef %200)
  %206 = fmul float %200, 5.000000e-01
  %207 = fcmp ogt float %205, %206
  br i1 %207, label %208, label %210

208:                                              ; preds = %195
  %209 = fsub float %205, %200
  br label %220

210:                                              ; preds = %195
  %211 = fneg float %206
  %212 = fcmp olt float %205, %211
  br i1 %212, label %213, label %220

213:                                              ; preds = %210
  %214 = fadd float %200, %205
  br label %220

215:                                              ; preds = %192
  %216 = load float, ptr %45, align 16, !tbaa !18
  %217 = getelementptr inbounds i8, ptr %0, i64 236
  %218 = load float, ptr %217, align 4, !tbaa !46
  %219 = fsub float %216, %218
  br label %220

220:                                              ; preds = %208, %213, %210, %215
  %.1 = phi float [ %219, %215 ], [ %209, %208 ], [ %214, %213 ], [ %205, %210 ]
  %221 = getelementptr inbounds i8, ptr %0, i64 592
  %222 = load ptr, ptr %30, align 16, !tbaa !5
  %.sroa.03.0.copyload = load double, ptr %79, align 16
  %.sroa.24.0.copyload = load double, ptr %.sroa.487.0..sroa_idx, align 8, !tbaa !41
  %223 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %67, double %.sroa.03.0.copyload, double %.sroa.24.0.copyload)
  %224 = extractvalue { double, double } %223, 0
  %225 = extractvalue { double, double } %223, 1
  %226 = load ptr, ptr %32, align 8, !tbaa !17
  %.sroa.01.0.copyload = load double, ptr %75, align 16
  %.sroa.22.0.copyload = load double, ptr %.sroa.491.0..sroa_idx, align 8, !tbaa !41
  %.sroa.0.0.copyload = load double, ptr %91, align 16
  %.sroa.2.0.copyload = load double, ptr %.sroa.475.0..sroa_idx, align 8, !tbaa !41
  call void @_ZN3JPH18AxisConstraintPart41CalculateConstraintPropertiesWithSettingsEfRKNS_4BodyENS_4Vec3ES3_S4_S4_ffRKNS_14SpringSettingsE(ptr noundef nonnull align 4 dereferenceable(64) %221, float noundef %1, ptr noundef nonnull align 16 dereferenceable(122) %222, double %224, double %225, ptr noundef nonnull align 16 dereferenceable(122) %226, double %.sroa.01.0.copyload, double %.sroa.22.0.copyload, double %.sroa.0.0.copyload, double %.sroa.2.0.copyload, float noundef 0.000000e+00, float noundef %.1, ptr noundef nonnull align 4 dereferenceable(12) %190)
  br label %229

227:                                              ; preds = %189
  %228 = getelementptr inbounds i8, ptr %0, i64 592
  call void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64) %228)
  br label %229

229:                                              ; preds = %220, %227, %172, %178, %179, %164
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %6) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %4) #8
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %3) #8
  ret void
}

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4427InversedRotationTranslationEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #5 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 #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH22DualAxisConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ENS_4Vec3ES3_S6_S7_S7_S7_(ptr noundef nonnull align 16 dereferenceable(152), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), double, double, double, double, double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4411GetRotationEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH18PathConstraintPath9IsLoopingEv(ptr noundef nonnull align 8 dereferenceable(13)) local_unnamed_addr #7 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 #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart10DeactivateEv(ptr noundef nonnull align 4 dereferenceable(64)) local_unnamed_addr #1 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisXEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisZEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat448GetAxisYEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4426Multiply3x3RightTransposedERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4411Multiply3x3ERKS0_(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec45sZeroEv() local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4413GetQuaternionEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH27RotationEulerConstraintPart29CalculateConstraintPropertiesERKNS_4BodyERKNS_5Mat44ES3_S6_(ptr noundef nonnull align 16 dereferenceable(208), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH14SpringSettings12HasStiffnessEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #1 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart41CalculateConstraintPropertiesWithSettingsEfRKNS_4BodyENS_4Vec3ES3_S4_S4_ffRKNS_14SpringSettingsE(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, ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5 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 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { 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 #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 = { 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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !16, i64 32}
!6 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !7, i64 0, !16, i64 32, !16, i64 40}
!7 = !{!"_ZTSN3JPH10ConstraintE", !8, i64 8, !11, i64 12, !11, i64 16, !12, i64 20, !12, i64 21, !14, i64 22, !15, i64 24}
!8 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !9, i64 0}
!9 = !{!"_ZTSSt6atomicIjE", !10, i64 0}
!10 = !{!"_ZTSSt13__atomic_baseIjE", !11, i64 0}
!11 = !{!"int", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"bool", !12, i64 0}
!15 = !{!"long", !12, i64 0}
!16 = !{!"any pointer", !12, i64 0}
!17 = !{!6, !16, i64 40}
!18 = !{!19, !23, i64 352}
!19 = !{!"_ZTSN3JPH14PathConstraintE", !6, i64 0, !20, i64 48, !21, i64 64, !21, i64 128, !22, i64 192, !23, i64 196, !24, i64 200, !27, i64 228, !23, i64 232, !23, i64 236, !28, i64 240, !28, i64 256, !28, i64 272, !28, i64 288, !28, i64 304, !28, i64 320, !29, i64 336, !23, i64 352, !31, i64 368, !34, i64 528, !34, i64 592, !37, i64 656, !38, i64 896}
!20 = !{!"_ZTSN3JPH8RefConstINS_18PathConstraintPathEEE", !16, i64 0}
!21 = !{!"_ZTSN3JPH5Mat44E", !12, i64 0}
!22 = !{!"_ZTSN3JPH27EPathRotationConstraintTypeE", !12, i64 0}
!23 = !{!"float", !12, i64 0}
!24 = !{!"_ZTSN3JPH13MotorSettingsE", !25, i64 0, !23, i64 12, !23, i64 16, !23, i64 20, !23, i64 24}
!25 = !{!"_ZTSN3JPH14SpringSettingsE", !26, i64 0, !12, i64 4, !23, i64 8}
!26 = !{!"_ZTSN3JPH11ESpringModeE", !12, i64 0}
!27 = !{!"_ZTSN3JPH11EMotorStateE", !12, i64 0}
!28 = !{!"_ZTSN3JPH4Vec3E", !12, i64 0}
!29 = !{!"_ZTSN3JPH4QuatE", !30, i64 0}
!30 = !{!"_ZTSN3JPH4Vec4E", !12, i64 0}
!31 = !{!"_ZTSN3JPH22DualAxisConstraintPartE", !28, i64 0, !28, i64 16, !28, i64 32, !28, i64 48, !28, i64 64, !28, i64 80, !28, i64 96, !28, i64 112, !32, i64 128, !33, i64 144}
!32 = !{!"_ZTSN3JPH6MatrixILj2ELj2EEE", !12, i64 0}
!33 = !{!"_ZTSN3JPH6VectorILj2EEE", !12, i64 0}
!34 = !{!"_ZTSN3JPH18AxisConstraintPartE", !35, i64 0, !35, i64 12, !35, i64 24, !35, i64 36, !23, i64 48, !36, i64 52, !23, i64 60}
!35 = !{!"_ZTSN3JPH6Float3E", !23, i64 0, !23, i64 4, !23, i64 8}
!36 = !{!"_ZTSN3JPH10SpringPartE", !23, i64 0, !23, i64 4}
!37 = !{!"_ZTSN3JPH27HingeRotationConstraintPartE", !28, i64 0, !28, i64 16, !28, i64 32, !21, i64 48, !21, i64 112, !28, i64 176, !28, i64 192, !32, i64 208, !33, i64 224}
!38 = !{!"_ZTSN3JPH27RotationEulerConstraintPartE", !21, i64 0, !21, i64 64, !21, i64 128, !28, i64 192}
!39 = !{!40, !40, i64 0}
!40 = !{!"vtable pointer", !13, i64 0}
!41 = !{!12, !12, i64 0}
!42 = !{!19, !22, i64 192}
!43 = !{!19, !27, i64 228}
!44 = !{!19, !23, i64 196}
!45 = !{!19, !23, i64 232}
!46 = !{!19, !23, i64 236}


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