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

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

%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.4 }
%union.anon.4 = type { <4 x float> }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::SwingTwistConstraint" = type { %"class.JPH::TwoBodyConstraint", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Quat", %"class.JPH::Quat", float, float, float, float, float, %"class.JPH::MotorSettings", %"class.JPH::MotorSettings", i32, i32, %"class.JPH::Vec3", %"class.JPH::Quat", [3 x %"class.JPH::Vec3"], %"class.JPH::PointConstraintPart", %"class.JPH::SwingTwistConstraintPart", [3 x %"class.JPH::AngleConstraintPart"] }
%"class.JPH::TwoBodyConstraint" = type { %"class.JPH::Constraint", ptr, ptr }
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.3", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.3" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::MotorSettings" = type { %"class.JPH::SpringSettings", float, float, float, float }
%"class.JPH::SpringSettings" = type { i8, %union.anon.2, float }
%union.anon.2 = type { float }
%"class.JPH::PointConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Mat44", %"class.JPH::Vec3" }
%"class.JPH::SwingTwistConstraintPart" = type { i8, i8, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::AngleConstraintPart", %"class.JPH::AngleConstraintPart", %"class.JPH::AngleConstraintPart" }
%"class.JPH::AngleConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }
%"class.JPH::SwingTwistConstraintSettings" = type { %"class.JPH::TwoBodyConstraintSettings", i32, %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", i8, float, float, float, float, float, %"class.JPH::MotorSettings", %"class.JPH::MotorSettings" }
%"class.JPH::TwoBodyConstraintSettings" = type { %"class.JPH::ConstraintSettings" }
%"class.JPH::ConstraintSettings" = type { %"class.JPH::SerializableObject", %"class.JPH::RefTarget", i8, i32, i32, i32, float, i64 }
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget" = type { %"struct.std::atomic" }

@_ZTVN3JPH20SwingTwistConstraintE = external dso_local unnamed_addr constant { [20 x ptr] }, align 8

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH20SwingTwistConstraint12UpdateLimitsEv(ptr noundef nonnull align 16 dereferenceable(944)) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH20SwingTwistConstraintC2ERNS_4BodyES2_RKNS_28SwingTwistConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(944) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(224) %3) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca %"class.JPH::Mat44", align 16
  %14 = alloca %"class.JPH::Vec4", align 16
  %15 = alloca %"class.JPH::Vec3", align 16
  %16 = alloca %"class.JPH::Vec4", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Vec4", align 16
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Vec4", align 16
  %21 = alloca %"class.JPH::Quat", align 16
  %22 = alloca %"class.JPH::Vec3", align 16
  %23 = alloca %"class.JPH::Vec3", align 16
  %24 = alloca %"class.JPH::Mat44", align 16
  %25 = alloca %"class.JPH::Vec4", align 16
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca %"class.JPH::Vec4", align 16
  %28 = alloca %"class.JPH::Vec3", align 16
  %29 = alloca %"class.JPH::Vec4", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::Vec4", align 16
  %32 = alloca %"class.JPH::Quat", align 16
  %33 = alloca %"class.JPH::Vec3", align 16
  %34 = alloca %"class.JPH::Mat44", align 16
  %35 = alloca %"class.JPH::Vec3", align 16
  %36 = alloca %"class.JPH::Quat", align 16
  %37 = alloca %"class.JPH::Quat", align 16
  %38 = alloca %"class.JPH::Quat", align 16
  %39 = alloca %"class.JPH::Quat", align 16
  %40 = alloca %"class.JPH::Vec3", align 16
  %41 = alloca %"class.JPH::Mat44", align 16
  %42 = alloca %"class.JPH::Vec3", align 16
  %43 = alloca %"class.JPH::Quat", align 16
  %44 = alloca %"class.JPH::Quat", align 16
  %45 = alloca %"class.JPH::Quat", align 16
  %46 = alloca %"class.JPH::Quat", align 16
  %47 = alloca %"class.JPH::Vec3", align 16
  %48 = alloca %"class.JPH::Vec3", align 16
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store ptr %3, ptr %8, align 8, !tbaa !5
  %49 = load ptr, ptr %5, align 8
  %50 = load ptr, ptr %6, align 8, !tbaa !5
  %51 = load ptr, ptr %7, align 8, !tbaa !5
  %52 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48) %49, ptr noundef nonnull align 16 dereferenceable(122) %50, ptr noundef nonnull align 16 dereferenceable(122) %51, ptr noundef nonnull align 8 dereferenceable(40) %52)
  store ptr getelementptr inbounds inrange(-16, 144) ({ [20 x ptr] }, ptr @_ZTVN3JPH20SwingTwistConstraintE, i32 0, i32 0, i32 2), ptr %49, align 16, !tbaa !9
  %53 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 1
  %54 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 2
  %55 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 3
  %56 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 4
  %57 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 5
  %58 = load ptr, ptr %8, align 8, !tbaa !5
  %59 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %58, i32 0, i32 9
  %60 = load float, ptr %59, align 4, !tbaa !11
  store float %60, ptr %57, align 16, !tbaa !29
  %61 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 6
  %62 = load ptr, ptr %8, align 8, !tbaa !5
  %63 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %62, i32 0, i32 10
  %64 = load float, ptr %63, align 8, !tbaa !42
  store float %64, ptr %61, align 4, !tbaa !43
  %65 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 7
  %66 = load ptr, ptr %8, align 8, !tbaa !5
  %67 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %66, i32 0, i32 11
  %68 = load float, ptr %67, align 4, !tbaa !44
  store float %68, ptr %65, align 8, !tbaa !45
  %69 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 8
  %70 = load ptr, ptr %8, align 8, !tbaa !5
  %71 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %70, i32 0, i32 12
  %72 = load float, ptr %71, align 16, !tbaa !46
  store float %72, ptr %69, align 4, !tbaa !47
  %73 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 9
  %74 = load ptr, ptr %8, align 8, !tbaa !5
  %75 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %74, i32 0, i32 13
  %76 = load float, ptr %75, align 4, !tbaa !48
  store float %76, ptr %73, align 16, !tbaa !49
  %77 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 10
  %78 = load ptr, ptr %8, align 8, !tbaa !5
  %79 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %78, i32 0, i32 14
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %77, ptr align 8 %79, i64 28, i1 false), !tbaa.struct !50
  %80 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 11
  %81 = load ptr, ptr %8, align 8, !tbaa !5
  %82 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %81, i32 0, i32 15
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %80, ptr align 4 %82, i64 28, i1 false), !tbaa.struct !50
  %83 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 12
  store i32 0, ptr %83, align 4, !tbaa !54
  %84 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 13
  store i32 0, ptr %84, align 16, !tbaa !55
  %85 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 14
  %86 = invoke { double, double } @_ZN3JPH4Vec35sZeroEv()
          to label %87 unwind label %354

87:                                               ; preds = %4
  %88 = getelementptr inbounds %"class.JPH::Vec3", ptr %85, i32 0, i32 0
  %89 = getelementptr inbounds %union.anon, ptr %88, i32 0, i32 0
  %90 = getelementptr inbounds { double, double }, ptr %89, i32 0, i32 0
  %91 = extractvalue { double, double } %86, 0
  store double %91, ptr %90, align 16
  %92 = getelementptr inbounds { double, double }, ptr %89, i32 0, i32 1
  %93 = extractvalue { double, double } %86, 1
  store double %93, ptr %92, align 8
  %94 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 15
  %95 = invoke { double, double } @_ZN3JPH4Quat9sIdentityEv()
          to label %96 unwind label %354

96:                                               ; preds = %87
  %97 = getelementptr inbounds %"class.JPH::Quat", ptr %94, i32 0, i32 0
  %98 = getelementptr inbounds %"class.JPH::Vec4", ptr %97, i32 0, i32 0
  %99 = getelementptr inbounds %union.anon.4, ptr %98, i32 0, i32 0
  %100 = getelementptr inbounds { double, double }, ptr %99, i32 0, i32 0
  %101 = extractvalue { double, double } %95, 0
  store double %101, ptr %100, align 16
  %102 = getelementptr inbounds { double, double }, ptr %99, i32 0, i32 1
  %103 = extractvalue { double, double } %95, 1
  store double %103, ptr %102, align 8
  %104 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 16
  %105 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 17
  invoke void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240) %105)
          to label %106 unwind label %354

106:                                              ; preds = %96
  %107 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 18
  call void @_ZN3JPH24SwingTwistConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(272) %107) #9
  %108 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 19
  %109 = getelementptr inbounds [3 x %"class.JPH::AngleConstraintPart"], ptr %108, i32 0, i32 0
  %110 = getelementptr inbounds %"class.JPH::AngleConstraintPart", ptr %109, i64 3
  br label %111

111:                                              ; preds = %111, %106
  %112 = phi ptr [ %109, %106 ], [ %113, %111 ]
  call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %112) #9
  %113 = getelementptr inbounds %"class.JPH::AngleConstraintPart", ptr %112, i64 1
  %114 = icmp eq ptr %113, %110
  br i1 %114, label %115, label %111

115:                                              ; preds = %111
  %116 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 18
  %117 = load ptr, ptr %8, align 8, !tbaa !5
  %118 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %117, i32 0, i32 8
  %119 = load i8, ptr %118, align 16, !tbaa !56
  invoke void @_ZN3JPH24SwingTwistConstraintPart12SetSwingTypeENS_10ESwingTypeE(ptr noundef nonnull align 16 dereferenceable(272) %116, i8 noundef zeroext %119)
          to label %120 unwind label %354

120:                                              ; preds = %115
  call void @llvm.lifetime.start.p0(i64 16, ptr %11) #9
  %121 = load ptr, ptr %8, align 8, !tbaa !5
  %122 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %121, i32 0, i32 4
  %123 = load ptr, ptr %8, align 8, !tbaa !5
  %124 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %123, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %12, ptr align 16 %124, i64 16, i1 false), !tbaa.struct !57
  %125 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 0
  %126 = load double, ptr %125, align 16
  %127 = getelementptr inbounds { double, double }, ptr %12, i32 0, i32 1
  %128 = load double, ptr %127, align 8
  %129 = invoke { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %122, double %126, double %128)
          to label %130 unwind label %358

130:                                              ; preds = %120
  %131 = getelementptr inbounds %"class.JPH::Vec3", ptr %11, i32 0, i32 0
  %132 = getelementptr inbounds %union.anon, ptr %131, i32 0, i32 0
  %133 = getelementptr inbounds { double, double }, ptr %132, i32 0, i32 0
  %134 = extractvalue { double, double } %129, 0
  store double %134, ptr %133, align 16
  %135 = getelementptr inbounds { double, double }, ptr %132, i32 0, i32 1
  %136 = extractvalue { double, double } %129, 1
  store double %136, ptr %135, align 8
  call void @llvm.lifetime.start.p0(i64 64, ptr %13) #9
  %137 = load ptr, ptr %8, align 8, !tbaa !5
  %138 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %137, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %15, ptr align 16 %138, i64 16, i1 false), !tbaa.struct !57
  %139 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 0
  %140 = load double, ptr %139, align 16
  %141 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 1
  %142 = load double, ptr %141, align 8
  invoke void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %14, double %140, double %142, float noundef 0.000000e+00)
          to label %143 unwind label %362

143:                                              ; preds = %130
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %17, ptr align 16 %11, i64 16, i1 false), !tbaa.struct !57
  %144 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 0
  %145 = load double, ptr %144, align 16
  %146 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 1
  %147 = load double, ptr %146, align 8
  invoke void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %16, double %145, double %147, float noundef 0.000000e+00)
          to label %148 unwind label %362

148:                                              ; preds = %143
  %149 = load ptr, ptr %8, align 8, !tbaa !5
  %150 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %149, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %19, ptr align 16 %150, i64 16, i1 false), !tbaa.struct !57
  %151 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 0
  %152 = load double, ptr %151, align 16
  %153 = getelementptr inbounds { double, double }, ptr %19, i32 0, i32 1
  %154 = load double, ptr %153, align 8
  invoke void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %18, double %152, double %154, float noundef 0.000000e+00)
          to label %155 unwind label %362

155:                                              ; preds = %148
  invoke void @_ZN3JPH4Vec4C2Effff(ptr noundef nonnull align 16 dereferenceable(16) %20, float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 1.000000e+00)
          to label %156 unwind label %362

156:                                              ; preds = %155
  %157 = getelementptr inbounds { double, double }, ptr %14, i32 0, i32 0
  %158 = load double, ptr %157, align 16
  %159 = getelementptr inbounds { double, double }, ptr %14, i32 0, i32 1
  %160 = load double, ptr %159, align 8
  %161 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 0
  %162 = load double, ptr %161, align 16
  %163 = getelementptr inbounds { double, double }, ptr %16, i32 0, i32 1
  %164 = load double, ptr %163, align 8
  %165 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 0
  %166 = load double, ptr %165, align 16
  %167 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 1
  %168 = load double, ptr %167, align 8
  %169 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 0
  %170 = load double, ptr %169, align 16
  %171 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 1
  %172 = load double, ptr %171, align 8
  invoke void @_ZN3JPH5Mat44C2ENS_4Vec4ES1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(64) %13, double %158, double %160, double %162, double %164, double %166, double %168, double %170, double %172)
          to label %173 unwind label %362

173:                                              ; preds = %156
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #9
  %174 = invoke { double, double } @_ZNK3JPH5Mat4413GetQuaternionEv(ptr noundef nonnull align 16 dereferenceable(64) %13)
          to label %175 unwind label %366

175:                                              ; preds = %173
  %176 = getelementptr inbounds %"class.JPH::Quat", ptr %21, i32 0, i32 0
  %177 = getelementptr inbounds %"class.JPH::Vec4", ptr %176, i32 0, i32 0
  %178 = getelementptr inbounds %union.anon.4, ptr %177, i32 0, i32 0
  %179 = getelementptr inbounds { double, double }, ptr %178, i32 0, i32 0
  %180 = extractvalue { double, double } %174, 0
  store double %180, ptr %179, align 16
  %181 = getelementptr inbounds { double, double }, ptr %178, i32 0, i32 1
  %182 = extractvalue { double, double } %174, 1
  store double %182, ptr %181, align 8
  %183 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %183, ptr align 16 %21, i64 16, i1 false), !tbaa.struct !57
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #9
  %184 = load ptr, ptr %8, align 8, !tbaa !5
  %185 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %184, i32 0, i32 7
  %186 = load ptr, ptr %8, align 8, !tbaa !5
  %187 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %186, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %23, ptr align 16 %187, i64 16, i1 false), !tbaa.struct !57
  %188 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 0
  %189 = load double, ptr %188, align 16
  %190 = getelementptr inbounds { double, double }, ptr %23, i32 0, i32 1
  %191 = load double, ptr %190, align 8
  %192 = invoke { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %185, double %189, double %191)
          to label %193 unwind label %370

193:                                              ; preds = %175
  %194 = getelementptr inbounds %"class.JPH::Vec3", ptr %22, i32 0, i32 0
  %195 = getelementptr inbounds %union.anon, ptr %194, i32 0, i32 0
  %196 = getelementptr inbounds { double, double }, ptr %195, i32 0, i32 0
  %197 = extractvalue { double, double } %192, 0
  store double %197, ptr %196, align 16
  %198 = getelementptr inbounds { double, double }, ptr %195, i32 0, i32 1
  %199 = extractvalue { double, double } %192, 1
  store double %199, ptr %198, align 8
  call void @llvm.lifetime.start.p0(i64 64, ptr %24) #9
  %200 = load ptr, ptr %8, align 8, !tbaa !5
  %201 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %200, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %26, ptr align 16 %201, i64 16, i1 false), !tbaa.struct !57
  %202 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 0
  %203 = load double, ptr %202, align 16
  %204 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 1
  %205 = load double, ptr %204, align 8
  invoke void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %25, double %203, double %205, float noundef 0.000000e+00)
          to label %206 unwind label %374

206:                                              ; preds = %193
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %28, ptr align 16 %22, i64 16, i1 false), !tbaa.struct !57
  %207 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 0
  %208 = load double, ptr %207, align 16
  %209 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 1
  %210 = load double, ptr %209, align 8
  invoke void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %27, double %208, double %210, float noundef 0.000000e+00)
          to label %211 unwind label %374

211:                                              ; preds = %206
  %212 = load ptr, ptr %8, align 8, !tbaa !5
  %213 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %212, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %30, ptr align 16 %213, i64 16, i1 false), !tbaa.struct !57
  %214 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 0
  %215 = load double, ptr %214, align 16
  %216 = getelementptr inbounds { double, double }, ptr %30, i32 0, i32 1
  %217 = load double, ptr %216, align 8
  invoke void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %29, double %215, double %217, float noundef 0.000000e+00)
          to label %218 unwind label %374

218:                                              ; preds = %211
  invoke void @_ZN3JPH4Vec4C2Effff(ptr noundef nonnull align 16 dereferenceable(16) %31, float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 1.000000e+00)
          to label %219 unwind label %374

219:                                              ; preds = %218
  %220 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 0
  %221 = load double, ptr %220, align 16
  %222 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 1
  %223 = load double, ptr %222, align 8
  %224 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 0
  %225 = load double, ptr %224, align 16
  %226 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 1
  %227 = load double, ptr %226, align 8
  %228 = getelementptr inbounds { double, double }, ptr %29, i32 0, i32 0
  %229 = load double, ptr %228, align 16
  %230 = getelementptr inbounds { double, double }, ptr %29, i32 0, i32 1
  %231 = load double, ptr %230, align 8
  %232 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %233 = load double, ptr %232, align 16
  %234 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %235 = load double, ptr %234, align 8
  invoke void @_ZN3JPH5Mat44C2ENS_4Vec4ES1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(64) %24, double %221, double %223, double %225, double %227, double %229, double %231, double %233, double %235)
          to label %236 unwind label %374

236:                                              ; preds = %219
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #9
  %237 = invoke { double, double } @_ZNK3JPH5Mat4413GetQuaternionEv(ptr noundef nonnull align 16 dereferenceable(64) %24)
          to label %238 unwind label %378

238:                                              ; preds = %236
  %239 = getelementptr inbounds %"class.JPH::Quat", ptr %32, i32 0, i32 0
  %240 = getelementptr inbounds %"class.JPH::Vec4", ptr %239, i32 0, i32 0
  %241 = getelementptr inbounds %union.anon.4, ptr %240, i32 0, i32 0
  %242 = getelementptr inbounds { double, double }, ptr %241, i32 0, i32 0
  %243 = extractvalue { double, double } %237, 0
  store double %243, ptr %242, align 16
  %244 = getelementptr inbounds { double, double }, ptr %241, i32 0, i32 1
  %245 = extractvalue { double, double } %237, 1
  store double %245, ptr %244, align 8
  %246 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %246, ptr align 16 %32, i64 16, i1 false), !tbaa.struct !57
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #9
  %247 = load ptr, ptr %8, align 8, !tbaa !5
  %248 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %247, i32 0, i32 1
  %249 = load i32, ptr %248, align 8, !tbaa !58
  %250 = icmp eq i32 %249, 1
  br i1 %250, label %251, label %398

251:                                              ; preds = %238
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr %34) #9
  %252 = load ptr, ptr %6, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %34, ptr noundef nonnull align 16 dereferenceable(122) %252)
          to label %253 unwind label %382

253:                                              ; preds = %251
  %254 = load ptr, ptr %8, align 8, !tbaa !5
  %255 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %254, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %35, ptr align 16 %255, i64 16, i1 false), !tbaa.struct !57
  %256 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 0
  %257 = load double, ptr %256, align 16
  %258 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 1
  %259 = load double, ptr %258, align 8
  %260 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %34, double %257, double %259)
          to label %261 unwind label %382

261:                                              ; preds = %253
  %262 = getelementptr inbounds %"class.JPH::Vec3", ptr %33, i32 0, i32 0
  %263 = getelementptr inbounds %union.anon, ptr %262, i32 0, i32 0
  %264 = getelementptr inbounds { double, double }, ptr %263, i32 0, i32 0
  %265 = extractvalue { double, double } %260, 0
  store double %265, ptr %264, align 16
  %266 = getelementptr inbounds { double, double }, ptr %263, i32 0, i32 1
  %267 = extractvalue { double, double } %260, 1
  store double %267, ptr %266, align 8
  %268 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %268, ptr align 16 %33, i64 16, i1 false), !tbaa.struct !57
  call void @llvm.lifetime.end.p0(i64 64, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %36) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #9
  %269 = load ptr, ptr %6, align 8, !tbaa !5
  %270 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %269)
          to label %271 unwind label %386

271:                                              ; preds = %261
  %272 = getelementptr inbounds %"class.JPH::Quat", ptr %38, i32 0, i32 0
  %273 = getelementptr inbounds %"class.JPH::Vec4", ptr %272, i32 0, i32 0
  %274 = getelementptr inbounds %union.anon.4, ptr %273, i32 0, i32 0
  %275 = getelementptr inbounds { double, double }, ptr %274, i32 0, i32 0
  %276 = extractvalue { double, double } %270, 0
  store double %276, ptr %275, align 16
  %277 = getelementptr inbounds { double, double }, ptr %274, i32 0, i32 1
  %278 = extractvalue { double, double } %270, 1
  store double %278, ptr %277, align 8
  %279 = invoke { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %38)
          to label %280 unwind label %386

280:                                              ; preds = %271
  %281 = getelementptr inbounds %"class.JPH::Quat", ptr %37, i32 0, i32 0
  %282 = getelementptr inbounds %"class.JPH::Vec4", ptr %281, i32 0, i32 0
  %283 = getelementptr inbounds %union.anon.4, ptr %282, i32 0, i32 0
  %284 = getelementptr inbounds { double, double }, ptr %283, i32 0, i32 0
  %285 = extractvalue { double, double } %279, 0
  store double %285, ptr %284, align 16
  %286 = getelementptr inbounds { double, double }, ptr %283, i32 0, i32 1
  %287 = extractvalue { double, double } %279, 1
  store double %287, ptr %286, align 8
  %288 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %39, ptr align 16 %288, i64 16, i1 false), !tbaa.struct !57
  %289 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 0
  %290 = load double, ptr %289, align 16
  %291 = getelementptr inbounds { double, double }, ptr %39, i32 0, i32 1
  %292 = load double, ptr %291, align 8
  %293 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %37, double %290, double %292)
          to label %294 unwind label %386

294:                                              ; preds = %280
  %295 = getelementptr inbounds %"class.JPH::Quat", ptr %36, i32 0, i32 0
  %296 = getelementptr inbounds %"class.JPH::Vec4", ptr %295, i32 0, i32 0
  %297 = getelementptr inbounds %union.anon.4, ptr %296, i32 0, i32 0
  %298 = getelementptr inbounds { double, double }, ptr %297, i32 0, i32 0
  %299 = extractvalue { double, double } %293, 0
  store double %299, ptr %298, align 16
  %300 = getelementptr inbounds { double, double }, ptr %297, i32 0, i32 1
  %301 = extractvalue { double, double } %293, 1
  store double %301, ptr %300, align 8
  %302 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %302, ptr align 16 %36, i64 16, i1 false), !tbaa.struct !57
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr %41) #9
  %303 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %41, ptr noundef nonnull align 16 dereferenceable(122) %303)
          to label %304 unwind label %390

304:                                              ; preds = %294
  %305 = load ptr, ptr %8, align 8, !tbaa !5
  %306 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %305, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %42, ptr align 16 %306, i64 16, i1 false), !tbaa.struct !57
  %307 = getelementptr inbounds { double, double }, ptr %42, i32 0, i32 0
  %308 = load double, ptr %307, align 16
  %309 = getelementptr inbounds { double, double }, ptr %42, i32 0, i32 1
  %310 = load double, ptr %309, align 8
  %311 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %41, double %308, double %310)
          to label %312 unwind label %390

312:                                              ; preds = %304
  %313 = getelementptr inbounds %"class.JPH::Vec3", ptr %40, i32 0, i32 0
  %314 = getelementptr inbounds %union.anon, ptr %313, i32 0, i32 0
  %315 = getelementptr inbounds { double, double }, ptr %314, i32 0, i32 0
  %316 = extractvalue { double, double } %311, 0
  store double %316, ptr %315, align 16
  %317 = getelementptr inbounds { double, double }, ptr %314, i32 0, i32 1
  %318 = extractvalue { double, double } %311, 1
  store double %318, ptr %317, align 8
  %319 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %319, ptr align 16 %40, i64 16, i1 false), !tbaa.struct !57
  call void @llvm.lifetime.end.p0(i64 64, ptr %41) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %43) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %45) #9
  %320 = load ptr, ptr %7, align 8, !tbaa !5
  %321 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %320)
          to label %322 unwind label %394

322:                                              ; preds = %312
  %323 = getelementptr inbounds %"class.JPH::Quat", ptr %45, i32 0, i32 0
  %324 = getelementptr inbounds %"class.JPH::Vec4", ptr %323, i32 0, i32 0
  %325 = getelementptr inbounds %union.anon.4, ptr %324, i32 0, i32 0
  %326 = getelementptr inbounds { double, double }, ptr %325, i32 0, i32 0
  %327 = extractvalue { double, double } %321, 0
  store double %327, ptr %326, align 16
  %328 = getelementptr inbounds { double, double }, ptr %325, i32 0, i32 1
  %329 = extractvalue { double, double } %321, 1
  store double %329, ptr %328, align 8
  %330 = invoke { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %45)
          to label %331 unwind label %394

331:                                              ; preds = %322
  %332 = getelementptr inbounds %"class.JPH::Quat", ptr %44, i32 0, i32 0
  %333 = getelementptr inbounds %"class.JPH::Vec4", ptr %332, i32 0, i32 0
  %334 = getelementptr inbounds %union.anon.4, ptr %333, i32 0, i32 0
  %335 = getelementptr inbounds { double, double }, ptr %334, i32 0, i32 0
  %336 = extractvalue { double, double } %330, 0
  store double %336, ptr %335, align 16
  %337 = getelementptr inbounds { double, double }, ptr %334, i32 0, i32 1
  %338 = extractvalue { double, double } %330, 1
  store double %338, ptr %337, align 8
  %339 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %46, ptr align 16 %339, i64 16, i1 false), !tbaa.struct !57
  %340 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 0
  %341 = load double, ptr %340, align 16
  %342 = getelementptr inbounds { double, double }, ptr %46, i32 0, i32 1
  %343 = load double, ptr %342, align 8
  %344 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %44, double %341, double %343)
          to label %345 unwind label %394

345:                                              ; preds = %331
  %346 = getelementptr inbounds %"class.JPH::Quat", ptr %43, i32 0, i32 0
  %347 = getelementptr inbounds %"class.JPH::Vec4", ptr %346, i32 0, i32 0
  %348 = getelementptr inbounds %union.anon.4, ptr %347, i32 0, i32 0
  %349 = getelementptr inbounds { double, double }, ptr %348, i32 0, i32 0
  %350 = extractvalue { double, double } %344, 0
  store double %350, ptr %349, align 16
  %351 = getelementptr inbounds { double, double }, ptr %348, i32 0, i32 1
  %352 = extractvalue { double, double } %344, 1
  store double %352, ptr %351, align 8
  %353 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %353, ptr align 16 %43, i64 16, i1 false), !tbaa.struct !57
  call void @llvm.lifetime.end.p0(i64 16, ptr %45) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #9
  br label %405

354:                                              ; preds = %115, %96, %87, %4
  %355 = landingpad { ptr, i32 }
          cleanup
  %356 = extractvalue { ptr, i32 } %355, 0
  store ptr %356, ptr %9, align 8
  %357 = extractvalue { ptr, i32 } %355, 1
  store i32 %357, ptr %10, align 4
  br label %411

358:                                              ; preds = %120
  %359 = landingpad { ptr, i32 }
          cleanup
  %360 = extractvalue { ptr, i32 } %359, 0
  store ptr %360, ptr %9, align 8
  %361 = extractvalue { ptr, i32 } %359, 1
  store i32 %361, ptr %10, align 4
  br label %410

362:                                              ; preds = %156, %155, %148, %143, %130
  %363 = landingpad { ptr, i32 }
          cleanup
  %364 = extractvalue { ptr, i32 } %363, 0
  store ptr %364, ptr %9, align 8
  %365 = extractvalue { ptr, i32 } %363, 1
  store i32 %365, ptr %10, align 4
  br label %409

366:                                              ; preds = %173
  %367 = landingpad { ptr, i32 }
          cleanup
  %368 = extractvalue { ptr, i32 } %367, 0
  store ptr %368, ptr %9, align 8
  %369 = extractvalue { ptr, i32 } %367, 1
  store i32 %369, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #9
  br label %409

370:                                              ; preds = %175
  %371 = landingpad { ptr, i32 }
          cleanup
  %372 = extractvalue { ptr, i32 } %371, 0
  store ptr %372, ptr %9, align 8
  %373 = extractvalue { ptr, i32 } %371, 1
  store i32 %373, ptr %10, align 4
  br label %408

374:                                              ; preds = %405, %219, %218, %211, %206, %193
  %375 = landingpad { ptr, i32 }
          cleanup
  %376 = extractvalue { ptr, i32 } %375, 0
  store ptr %376, ptr %9, align 8
  %377 = extractvalue { ptr, i32 } %375, 1
  store i32 %377, ptr %10, align 4
  br label %407

378:                                              ; preds = %236
  %379 = landingpad { ptr, i32 }
          cleanup
  %380 = extractvalue { ptr, i32 } %379, 0
  store ptr %380, ptr %9, align 8
  %381 = extractvalue { ptr, i32 } %379, 1
  store i32 %381, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #9
  br label %407

382:                                              ; preds = %253, %251
  %383 = landingpad { ptr, i32 }
          cleanup
  %384 = extractvalue { ptr, i32 } %383, 0
  store ptr %384, ptr %9, align 8
  %385 = extractvalue { ptr, i32 } %383, 1
  store i32 %385, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #9
  br label %407

386:                                              ; preds = %280, %271, %261
  %387 = landingpad { ptr, i32 }
          cleanup
  %388 = extractvalue { ptr, i32 } %387, 0
  store ptr %388, ptr %9, align 8
  %389 = extractvalue { ptr, i32 } %387, 1
  store i32 %389, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #9
  br label %407

390:                                              ; preds = %304, %294
  %391 = landingpad { ptr, i32 }
          cleanup
  %392 = extractvalue { ptr, i32 } %391, 0
  store ptr %392, ptr %9, align 8
  %393 = extractvalue { ptr, i32 } %391, 1
  store i32 %393, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %41) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #9
  br label %407

394:                                              ; preds = %331, %322, %312
  %395 = landingpad { ptr, i32 }
          cleanup
  %396 = extractvalue { ptr, i32 } %395, 0
  store ptr %396, ptr %9, align 8
  %397 = extractvalue { ptr, i32 } %395, 1
  store i32 %397, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %45) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #9
  br label %407

398:                                              ; preds = %238
  call void @llvm.lifetime.start.p0(i64 16, ptr %47) #9
  %399 = load ptr, ptr %8, align 8, !tbaa !5
  %400 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %399, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %47, ptr align 16 %400, i64 16, i1 false), !tbaa.struct !57
  %401 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %401, ptr align 16 %47, i64 16, i1 false), !tbaa.struct !57
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr %48) #9
  %402 = load ptr, ptr %8, align 8, !tbaa !5
  %403 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %402, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %48, ptr align 16 %403, i64 16, i1 false), !tbaa.struct !57
  %404 = getelementptr inbounds %"class.JPH::SwingTwistConstraint", ptr %49, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %404, ptr align 16 %48, i64 16, i1 false), !tbaa.struct !57
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #9
  br label %405

405:                                              ; preds = %398, %345
  invoke void @_ZN3JPH20SwingTwistConstraint12UpdateLimitsEv(ptr noundef nonnull align 16 dereferenceable(944) %49)
          to label %406 unwind label %374

406:                                              ; preds = %405
  call void @llvm.lifetime.end.p0(i64 64, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr %13) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #9
  ret void

407:                                              ; preds = %394, %390, %386, %382, %378, %374
  call void @llvm.lifetime.end.p0(i64 64, ptr %24) #9
  br label %408

408:                                              ; preds = %407, %370
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #9
  br label %409

409:                                              ; preds = %408, %366, %362
  call void @llvm.lifetime.end.p0(i64 64, ptr %13) #9
  br label %410

410:                                              ; preds = %409, %358
  call void @llvm.lifetime.end.p0(i64 16, ptr %11) #9
  br label %411

411:                                              ; preds = %410, %354
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(48) %49) #9
  br label %412

412:                                              ; preds = %411
  %413 = load ptr, ptr %9, align 8
  %414 = load i32, ptr %10, align 4
  %415 = insertvalue { ptr, i32 } poison, ptr %413, 0
  %416 = insertvalue { ptr, i32 } %415, i32 %414, 1
  resume { ptr, i32 } %416
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #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 } @_ZN3JPH4Vec35sZeroEv() #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Quat9sIdentityEv() #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH24SwingTwistConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(272)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH24SwingTwistConstraintPart12SetSwingTypeENS_10ESwingTypeE(ptr noundef nonnull align 16 dereferenceable(272), i8 noundef zeroext) #7 align 2

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

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16), double, double, float noundef) unnamed_addr #8 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec4C2Effff(ptr noundef nonnull align 16 dereferenceable(16), float noundef, float noundef, float noundef, float noundef) unnamed_addr #3 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 #8 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 @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #5 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 } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122)) #5 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #7 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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 = { 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 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="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 = !{!"vtable pointer", !8, i64 0}
!11 = !{!12, !21, i64 148}
!12 = !{!"_ZTSN3JPH28SwingTwistConstraintSettingsE", !13, i64 0, !23, i64 40, !24, i64 48, !24, i64 64, !24, i64 80, !24, i64 96, !24, i64 112, !24, i64 128, !25, i64 144, !21, i64 148, !21, i64 152, !21, i64 156, !21, i64 160, !21, i64 164, !26, i64 168, !26, i64 196}
!13 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !14, i64 0}
!14 = !{!"_ZTSN3JPH18ConstraintSettingsE", !15, i64 0, !16, i64 8, !20, i64 12, !19, i64 16, !19, i64 20, !19, i64 24, !21, i64 28, !22, i64 32}
!15 = !{!"_ZTSN3JPH18SerializableObjectE"}
!16 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !17, i64 0}
!17 = !{!"_ZTSSt6atomicIjE", !18, i64 0}
!18 = !{!"_ZTSSt13__atomic_baseIjE", !19, i64 0}
!19 = !{!"int", !7, i64 0}
!20 = !{!"bool", !7, i64 0}
!21 = !{!"float", !7, i64 0}
!22 = !{!"long", !7, i64 0}
!23 = !{!"_ZTSN3JPH16EConstraintSpaceE", !7, i64 0}
!24 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!25 = !{!"_ZTSN3JPH10ESwingTypeE", !7, i64 0}
!26 = !{!"_ZTSN3JPH13MotorSettingsE", !27, i64 0, !21, i64 12, !21, i64 16, !21, i64 20, !21, i64 24}
!27 = !{!"_ZTSN3JPH14SpringSettingsE", !28, i64 0, !7, i64 4, !21, i64 8}
!28 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!29 = !{!30, !21, i64 112}
!30 = !{!"_ZTSN3JPH20SwingTwistConstraintE", !31, i64 0, !24, i64 48, !24, i64 64, !34, i64 80, !34, i64 96, !21, i64 112, !21, i64 116, !21, i64 120, !21, i64 124, !21, i64 128, !26, i64 132, !26, i64 160, !36, i64 188, !36, i64 192, !24, i64 208, !34, i64 224, !7, i64 240, !37, i64 288, !39, i64 528, !7, i64 800}
!31 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !32, i64 0, !6, i64 32, !6, i64 40}
!32 = !{!"_ZTSN3JPH10ConstraintE", !33, i64 8, !19, i64 12, !19, i64 16, !7, i64 20, !7, i64 21, !20, i64 22, !22, i64 24}
!33 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !17, i64 0}
!34 = !{!"_ZTSN3JPH4QuatE", !35, i64 0}
!35 = !{!"_ZTSN3JPH4Vec4E", !7, i64 0}
!36 = !{!"_ZTSN3JPH11EMotorStateE", !7, i64 0}
!37 = !{!"_ZTSN3JPH19PointConstraintPartE", !24, i64 0, !24, i64 16, !38, i64 32, !38, i64 96, !38, i64 160, !24, i64 224}
!38 = !{!"_ZTSN3JPH5Mat44E", !7, i64 0}
!39 = !{!"_ZTSN3JPH24SwingTwistConstraintPartE", !7, i64 0, !25, i64 1, !21, i64 4, !21, i64 8, !21, i64 12, !21, i64 16, !21, i64 20, !21, i64 24, !21, i64 28, !21, i64 32, !21, i64 36, !21, i64 40, !21, i64 44, !21, i64 48, !21, i64 52, !21, i64 56, !21, i64 60, !21, i64 64, !24, i64 80, !24, i64 96, !24, i64 112, !40, i64 128, !40, i64 176, !40, i64 224}
!40 = !{!"_ZTSN3JPH19AngleConstraintPartE", !24, i64 0, !24, i64 16, !21, i64 32, !41, i64 36, !21, i64 44}
!41 = !{!"_ZTSN3JPH10SpringPartE", !21, i64 0, !21, i64 4}
!42 = !{!12, !21, i64 152}
!43 = !{!30, !21, i64 116}
!44 = !{!12, !21, i64 156}
!45 = !{!30, !21, i64 120}
!46 = !{!12, !21, i64 160}
!47 = !{!30, !21, i64 124}
!48 = !{!12, !21, i64 164}
!49 = !{!30, !21, i64 128}
!50 = !{i64 0, i64 1, !51, i64 4, i64 4, !52, i64 8, i64 4, !53, i64 12, i64 4, !53, i64 16, i64 4, !53, i64 20, i64 4, !53, i64 24, i64 4, !53}
!51 = !{!28, !28, i64 0}
!52 = !{!7, !7, i64 0}
!53 = !{!21, !21, i64 0}
!54 = !{!30, !36, i64 188}
!55 = !{!30, !36, i64 192}
!56 = !{!12, !25, i64 144}
!57 = !{i64 0, i64 16, !52}
!58 = !{!12, !23, i64 40}


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

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

@_ZTVN3JPH20SwingTwistConstraintE = external dso_local unnamed_addr constant { [20 x ptr] }, align 8

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH20SwingTwistConstraint12UpdateLimitsEv(ptr noundef nonnull align 16 dereferenceable(944)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH20SwingTwistConstraintC2ERNS_4BodyES2_RKNS_28SwingTwistConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(944) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(224) %3) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.JPH::Mat44", align 16
  %6 = alloca %"class.JPH::Vec4", align 16
  %7 = alloca %"class.JPH::Vec4", align 16
  %8 = alloca %"class.JPH::Vec4", align 16
  %9 = alloca %"class.JPH::Vec4", align 16
  %10 = alloca %"class.JPH::Mat44", align 16
  %11 = alloca %"class.JPH::Vec4", align 16
  %12 = alloca %"class.JPH::Vec4", align 16
  %13 = alloca %"class.JPH::Vec4", align 16
  %14 = alloca %"class.JPH::Vec4", align 16
  %15 = alloca %"class.JPH::Mat44", align 16
  %16 = alloca %"class.JPH::Quat", align 16
  %17 = alloca %"class.JPH::Quat", align 16
  %18 = alloca %"class.JPH::Mat44", align 16
  %19 = alloca %"class.JPH::Quat", align 16
  %20 = alloca %"class.JPH::Quat", align 16
  tail call void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 8 dereferenceable(40) %3)
  store ptr getelementptr inbounds inrange(-16, 144) (i8, ptr @_ZTVN3JPH20SwingTwistConstraintE, i64 16), ptr %0, align 16, !tbaa !5
  %21 = getelementptr inbounds i8, ptr %0, i64 112
  %22 = getelementptr inbounds i8, ptr %3, i64 148
  %23 = load <4 x float>, ptr %22, align 4, !tbaa !8
  store <4 x float> %23, ptr %21, align 16, !tbaa !8
  %24 = getelementptr inbounds i8, ptr %0, i64 128
  %25 = getelementptr inbounds i8, ptr %3, i64 164
  %26 = load float, ptr %25, align 4, !tbaa !11
  store float %26, ptr %24, align 16, !tbaa !28
  %27 = getelementptr inbounds i8, ptr %0, i64 132
  %28 = getelementptr inbounds i8, ptr %3, i64 168
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(28) %27, ptr noundef nonnull align 8 dereferenceable(28) %28, i64 28, i1 false), !tbaa.struct !42
  %29 = getelementptr inbounds i8, ptr %0, i64 160
  %30 = getelementptr inbounds i8, ptr %3, i64 196
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(28) %29, ptr noundef nonnull align 4 dereferenceable(28) %30, i64 28, i1 false), !tbaa.struct !42
  %31 = getelementptr inbounds i8, ptr %0, i64 188
  store i32 0, ptr %31, align 4, !tbaa !45
  %32 = getelementptr inbounds i8, ptr %0, i64 192
  store i32 0, ptr %32, align 16, !tbaa !46
  %33 = invoke { double, double } @_ZN3JPH4Vec35sZeroEv()
          to label %34 unwind label %144

34:                                               ; preds = %4
  %35 = getelementptr inbounds i8, ptr %0, i64 208
  %36 = extractvalue { double, double } %33, 0
  store double %36, ptr %35, align 16
  %37 = getelementptr inbounds i8, ptr %0, i64 216
  %38 = extractvalue { double, double } %33, 1
  store double %38, ptr %37, align 8
  %39 = invoke { double, double } @_ZN3JPH4Quat9sIdentityEv()
          to label %40 unwind label %144

40:                                               ; preds = %34
  %41 = getelementptr inbounds i8, ptr %0, i64 224
  %42 = extractvalue { double, double } %39, 0
  store double %42, ptr %41, align 16
  %43 = getelementptr inbounds i8, ptr %0, i64 232
  %44 = extractvalue { double, double } %39, 1
  store double %44, ptr %43, align 8
  %45 = getelementptr inbounds i8, ptr %0, i64 288
  invoke void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240) %45)
          to label %46 unwind label %144

46:                                               ; preds = %40
  %47 = getelementptr inbounds i8, ptr %0, i64 528
  tail call void @_ZN3JPH24SwingTwistConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(272) %47) #9
  %.ptr = getelementptr inbounds i8, ptr %0, i64 800
  tail call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %.ptr) #9
  %.ptr.1 = getelementptr inbounds i8, ptr %0, i64 848
  tail call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %.ptr.1) #9
  %.ptr.2 = getelementptr inbounds i8, ptr %0, i64 896
  tail call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %.ptr.2) #9
  %48 = getelementptr inbounds i8, ptr %3, i64 144
  %49 = load i8, ptr %48, align 16, !tbaa !47
  tail call void @_ZN3JPH24SwingTwistConstraintPart12SetSwingTypeENS_10ESwingTypeE(ptr noundef nonnull align 16 dereferenceable(272) %47, i8 noundef zeroext %49)
  %50 = getelementptr inbounds i8, ptr %3, i64 80
  %51 = getelementptr inbounds i8, ptr %3, i64 64
  %.sroa.038.0.copyload = load double, ptr %51, align 16
  %.sroa.239.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 72
  %.sroa.239.0.copyload = load double, ptr %.sroa.239.0..sroa_idx, align 8, !tbaa !44
  %52 = invoke { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %50, double %.sroa.038.0.copyload, double %.sroa.239.0.copyload)
          to label %53 unwind label %146

53:                                               ; preds = %46
  %54 = extractvalue { double, double } %52, 0
  %55 = extractvalue { double, double } %52, 1
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %5) #9
  %.sroa.036.0.copyload = load double, ptr %51, align 16
  %.sroa.237.0.copyload = load double, ptr %.sroa.239.0..sroa_idx, align 8, !tbaa !44
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %6, double %.sroa.036.0.copyload, double %.sroa.237.0.copyload, float noundef 0.000000e+00)
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %7, double %54, double %55, float noundef 0.000000e+00)
  %.sroa.032.0.copyload = load double, ptr %50, align 16
  %.sroa.233.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 88
  %.sroa.233.0.copyload = load double, ptr %.sroa.233.0..sroa_idx, align 8, !tbaa !44
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %8, double %.sroa.032.0.copyload, double %.sroa.233.0.copyload, float noundef 0.000000e+00)
  invoke void @_ZN3JPH4Vec4C2Effff(ptr noundef nonnull align 16 dereferenceable(16) %9, float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 1.000000e+00)
          to label %56 unwind label %148

56:                                               ; preds = %53
  %57 = load double, ptr %6, align 16
  %58 = getelementptr inbounds i8, ptr %6, i64 8
  %59 = load double, ptr %58, align 8
  %60 = load double, ptr %7, align 16
  %61 = getelementptr inbounds i8, ptr %7, i64 8
  %62 = load double, ptr %61, align 8
  %63 = load double, ptr %8, align 16
  %64 = getelementptr inbounds i8, ptr %8, i64 8
  %65 = load double, ptr %64, align 8
  %66 = load double, ptr %9, align 16
  %67 = getelementptr inbounds i8, ptr %9, i64 8
  %68 = load double, ptr %67, align 8
  call void @_ZN3JPH5Mat44C2ENS_4Vec4ES1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(64) %5, double %57, double %59, double %60, double %62, double %63, double %65, double %66, double %68)
  %69 = invoke { double, double } @_ZNK3JPH5Mat4413GetQuaternionEv(ptr noundef nonnull align 16 dereferenceable(64) %5)
          to label %70 unwind label %150

70:                                               ; preds = %56
  %71 = extractvalue { double, double } %69, 0
  %72 = extractvalue { double, double } %69, 1
  %73 = getelementptr inbounds i8, ptr %0, i64 80
  store double %71, ptr %73, align 16
  %.sroa.531.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 88
  store double %72, ptr %.sroa.531.0..sroa_idx, align 8, !tbaa !44
  %74 = getelementptr inbounds i8, ptr %3, i64 128
  %75 = getelementptr inbounds i8, ptr %3, i64 112
  %.sroa.026.0.copyload = load double, ptr %75, align 16
  %.sroa.227.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 120
  %.sroa.227.0.copyload = load double, ptr %.sroa.227.0..sroa_idx, align 8, !tbaa !44
  %76 = invoke { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %74, double %.sroa.026.0.copyload, double %.sroa.227.0.copyload)
          to label %77 unwind label %152

77:                                               ; preds = %70
  %78 = extractvalue { double, double } %76, 0
  %79 = extractvalue { double, double } %76, 1
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %10) #9
  %.sroa.024.0.copyload = load double, ptr %75, align 16
  %.sroa.225.0.copyload = load double, ptr %.sroa.227.0..sroa_idx, align 8, !tbaa !44
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %11, double %.sroa.024.0.copyload, double %.sroa.225.0.copyload, float noundef 0.000000e+00)
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %12, double %78, double %79, float noundef 0.000000e+00)
  %.sroa.020.0.copyload = load double, ptr %74, align 16
  %.sroa.221.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 136
  %.sroa.221.0.copyload = load double, ptr %.sroa.221.0..sroa_idx, align 8, !tbaa !44
  call void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16) %13, double %.sroa.020.0.copyload, double %.sroa.221.0.copyload, float noundef 0.000000e+00)
  invoke void @_ZN3JPH4Vec4C2Effff(ptr noundef nonnull align 16 dereferenceable(16) %14, float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00, float noundef 1.000000e+00)
          to label %80 unwind label %154

80:                                               ; preds = %77
  %81 = load double, ptr %11, align 16
  %82 = getelementptr inbounds i8, ptr %11, i64 8
  %83 = load double, ptr %82, align 8
  %84 = load double, ptr %12, align 16
  %85 = getelementptr inbounds i8, ptr %12, i64 8
  %86 = load double, ptr %85, align 8
  %87 = load double, ptr %13, align 16
  %88 = getelementptr inbounds i8, ptr %13, i64 8
  %89 = load double, ptr %88, align 8
  %90 = load double, ptr %14, align 16
  %91 = getelementptr inbounds i8, ptr %14, i64 8
  %92 = load double, ptr %91, align 8
  call void @_ZN3JPH5Mat44C2ENS_4Vec4ES1_S1_S1_(ptr noundef nonnull align 16 dereferenceable(64) %10, double %81, double %83, double %84, double %86, double %87, double %89, double %90, double %92)
  %93 = invoke { double, double } @_ZNK3JPH5Mat4413GetQuaternionEv(ptr noundef nonnull align 16 dereferenceable(64) %10)
          to label %94 unwind label %156

94:                                               ; preds = %80
  %95 = extractvalue { double, double } %93, 0
  %96 = extractvalue { double, double } %93, 1
  %97 = getelementptr inbounds i8, ptr %0, i64 96
  store double %95, ptr %97, align 16
  %.sroa.519.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 104
  store double %96, ptr %.sroa.519.0..sroa_idx, align 8, !tbaa !44
  %98 = getelementptr inbounds i8, ptr %3, i64 40
  %99 = load i32, ptr %98, align 8, !tbaa !48
  %100 = icmp eq i32 %99, 1
  br i1 %100, label %101, label %166

101:                                              ; preds = %94
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %15) #9
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %15, ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %102 unwind label %158

102:                                              ; preds = %101
  %103 = getelementptr inbounds i8, ptr %3, i64 48
  %.sroa.014.0.copyload = load double, ptr %103, align 16
  %.sroa.215.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  %.sroa.215.0.copyload = load double, ptr %.sroa.215.0..sroa_idx, align 8, !tbaa !44
  %104 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %15, double %.sroa.014.0.copyload, double %.sroa.215.0.copyload)
          to label %105 unwind label %158

105:                                              ; preds = %102
  %106 = extractvalue { double, double } %104, 0
  %107 = extractvalue { double, double } %104, 1
  %108 = getelementptr inbounds i8, ptr %0, i64 48
  store double %106, ptr %108, align 16
  %.sroa.517.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 56
  store double %107, ptr %.sroa.517.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %15) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #9
  %109 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
          to label %110 unwind label %160

110:                                              ; preds = %105
  %111 = extractvalue { double, double } %109, 0
  store double %111, ptr %17, align 16
  %112 = getelementptr inbounds i8, ptr %17, i64 8
  %113 = extractvalue { double, double } %109, 1
  store double %113, ptr %112, align 8
  %114 = invoke { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %17)
          to label %115 unwind label %160

115:                                              ; preds = %110
  %116 = extractvalue { double, double } %114, 0
  store double %116, ptr %16, align 16
  %117 = getelementptr inbounds i8, ptr %16, i64 8
  %118 = extractvalue { double, double } %114, 1
  store double %118, ptr %117, align 8
  %.sroa.010.0.copyload = load double, ptr %73, align 16
  %.sroa.211.0.copyload = load double, ptr %.sroa.531.0..sroa_idx, align 8, !tbaa !44
  %119 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %16, double %.sroa.010.0.copyload, double %.sroa.211.0.copyload)
          to label %120 unwind label %160

120:                                              ; preds = %115
  %121 = extractvalue { double, double } %119, 0
  %122 = extractvalue { double, double } %119, 1
  store double %121, ptr %73, align 16
  store double %122, ptr %.sroa.531.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #9
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %18) #9
  invoke void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %18, ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %123 unwind label %162

123:                                              ; preds = %120
  %124 = getelementptr inbounds i8, ptr %3, i64 96
  %.sroa.06.0.copyload = load double, ptr %124, align 16
  %.sroa.27.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 104
  %.sroa.27.0.copyload = load double, ptr %.sroa.27.0..sroa_idx, align 8, !tbaa !44
  %125 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %18, double %.sroa.06.0.copyload, double %.sroa.27.0.copyload)
          to label %126 unwind label %162

126:                                              ; preds = %123
  %127 = extractvalue { double, double } %125, 0
  %128 = extractvalue { double, double } %125, 1
  %129 = getelementptr inbounds i8, ptr %0, i64 64
  store double %127, ptr %129, align 16
  %.sroa.59.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 72
  store double %128, ptr %.sroa.59.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %18) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #9
  %130 = invoke { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
          to label %131 unwind label %164

131:                                              ; preds = %126
  %132 = extractvalue { double, double } %130, 0
  store double %132, ptr %20, align 16
  %133 = getelementptr inbounds i8, ptr %20, i64 8
  %134 = extractvalue { double, double } %130, 1
  store double %134, ptr %133, align 8
  %135 = invoke { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %20)
          to label %136 unwind label %164

136:                                              ; preds = %131
  %137 = extractvalue { double, double } %135, 0
  store double %137, ptr %19, align 16
  %138 = getelementptr inbounds i8, ptr %19, i64 8
  %139 = extractvalue { double, double } %135, 1
  store double %139, ptr %138, align 8
  %.sroa.04.0.copyload = load double, ptr %97, align 16
  %.sroa.2.0.copyload = load double, ptr %.sroa.519.0..sroa_idx, align 8, !tbaa !44
  %140 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %19, double %.sroa.04.0.copyload, double %.sroa.2.0.copyload)
          to label %141 unwind label %164

141:                                              ; preds = %136
  %142 = extractvalue { double, double } %140, 0
  %143 = extractvalue { double, double } %140, 1
  store double %142, ptr %97, align 16
  store double %143, ptr %.sroa.519.0..sroa_idx, align 8, !tbaa !44
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #9
  br label %171

144:                                              ; preds = %40, %34, %4
  %145 = landingpad { ptr, i32 }
          cleanup
  br label %175

146:                                              ; preds = %46
  %147 = landingpad { ptr, i32 }
          cleanup
  br label %175

148:                                              ; preds = %53
  %149 = landingpad { ptr, i32 }
          cleanup
  br label %174

150:                                              ; preds = %56
  %151 = landingpad { ptr, i32 }
          cleanup
  br label %174

152:                                              ; preds = %70
  %153 = landingpad { ptr, i32 }
          cleanup
  br label %174

154:                                              ; preds = %171, %77
  %155 = landingpad { ptr, i32 }
          cleanup
  br label %173

156:                                              ; preds = %80
  %157 = landingpad { ptr, i32 }
          cleanup
  br label %173

158:                                              ; preds = %102, %101
  %159 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %15) #9
  br label %173

160:                                              ; preds = %115, %110, %105
  %161 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #9
  br label %173

162:                                              ; preds = %123, %120
  %163 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %18) #9
  br label %173

164:                                              ; preds = %136, %131, %126
  %165 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #9
  br label %173

166:                                              ; preds = %94
  %167 = getelementptr inbounds i8, ptr %3, i64 48
  %.sroa.02.0.copyload = load <4 x float>, ptr %167, align 16, !tbaa !44
  %168 = getelementptr inbounds i8, ptr %0, i64 48
  store <4 x float> %.sroa.02.0.copyload, ptr %168, align 16, !tbaa !44
  %169 = getelementptr inbounds i8, ptr %3, i64 96
  %.sroa.0.0.copyload = load <4 x float>, ptr %169, align 16, !tbaa !44
  %170 = getelementptr inbounds i8, ptr %0, i64 64
  store <4 x float> %.sroa.0.0.copyload, ptr %170, align 16, !tbaa !44
  br label %171

171:                                              ; preds = %166, %141
  invoke void @_ZN3JPH20SwingTwistConstraint12UpdateLimitsEv(ptr noundef nonnull align 16 dereferenceable(944) %0)
          to label %172 unwind label %154

172:                                              ; preds = %171
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %10) #9
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #9
  ret void

173:                                              ; preds = %164, %162, %160, %158, %156, %154
  %.pn = phi { ptr, i32 } [ %155, %154 ], [ %165, %164 ], [ %163, %162 ], [ %161, %160 ], [ %159, %158 ], [ %157, %156 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %10) #9
  br label %174

174:                                              ; preds = %152, %173, %150, %148
  %.pn.pn.pn = phi { ptr, i32 } [ %151, %150 ], [ %149, %148 ], [ %.pn, %173 ], [ %153, %152 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %5) #9
  br label %175

175:                                              ; preds = %146, %174, %144
  %.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %145, %144 ], [ %.pn.pn.pn, %174 ], [ %147, %146 ]
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(48) %0) #9
  resume { ptr, i32 } %.pn.pn.pn.pn.pn
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17TwoBodyConstraintC2ERNS_4BodyES2_RKNS_25TwoBodyConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #1 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec35sZeroEv() local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Quat9sIdentityEv() local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH19PointConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(240)) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH24SwingTwistConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(272)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH24SwingTwistConstraintPart12SetSwingTypeENS_10ESwingTypeE(ptr noundef nonnull align 16 dereferenceable(272), i8 noundef zeroext) local_unnamed_addr #7 align 2

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

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH4Vec4C2ENS_4Vec3Ef(ptr noundef nonnull align 16 dereferenceable(16), double, double, float noundef) unnamed_addr #8 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec4C2Effff(ptr noundef nonnull align 16 dereferenceable(16), float noundef, float noundef, float noundef, float noundef) unnamed_addr #3 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 #8 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body31GetInverseCenterOfMassTransformEv(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: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #5 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #7 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { mustprogress 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 = { 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 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="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 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !9, i64 0}
!9 = !{!"float", !10, i64 0}
!10 = !{!"omnipotent char", !7, i64 0}
!11 = !{!12, !9, i64 164}
!12 = !{!"_ZTSN3JPH28SwingTwistConstraintSettingsE", !13, i64 0, !22, i64 40, !23, i64 48, !23, i64 64, !23, i64 80, !23, i64 96, !23, i64 112, !23, i64 128, !24, i64 144, !9, i64 148, !9, i64 152, !9, i64 156, !9, i64 160, !9, i64 164, !25, i64 168, !25, i64 196}
!13 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !14, i64 0}
!14 = !{!"_ZTSN3JPH18ConstraintSettingsE", !15, i64 0, !16, i64 8, !20, i64 12, !19, i64 16, !19, i64 20, !19, i64 24, !9, i64 28, !21, i64 32}
!15 = !{!"_ZTSN3JPH18SerializableObjectE"}
!16 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !17, i64 0}
!17 = !{!"_ZTSSt6atomicIjE", !18, i64 0}
!18 = !{!"_ZTSSt13__atomic_baseIjE", !19, i64 0}
!19 = !{!"int", !10, i64 0}
!20 = !{!"bool", !10, i64 0}
!21 = !{!"long", !10, i64 0}
!22 = !{!"_ZTSN3JPH16EConstraintSpaceE", !10, i64 0}
!23 = !{!"_ZTSN3JPH4Vec3E", !10, i64 0}
!24 = !{!"_ZTSN3JPH10ESwingTypeE", !10, i64 0}
!25 = !{!"_ZTSN3JPH13MotorSettingsE", !26, i64 0, !9, i64 12, !9, i64 16, !9, i64 20, !9, i64 24}
!26 = !{!"_ZTSN3JPH14SpringSettingsE", !27, i64 0, !10, i64 4, !9, i64 8}
!27 = !{!"_ZTSN3JPH11ESpringModeE", !10, i64 0}
!28 = !{!29, !9, i64 128}
!29 = !{!"_ZTSN3JPH20SwingTwistConstraintE", !30, i64 0, !23, i64 48, !23, i64 64, !34, i64 80, !34, i64 96, !9, i64 112, !9, i64 116, !9, i64 120, !9, i64 124, !9, i64 128, !25, i64 132, !25, i64 160, !36, i64 188, !36, i64 192, !23, i64 208, !34, i64 224, !10, i64 240, !37, i64 288, !39, i64 528, !10, i64 800}
!30 = !{!"_ZTSN3JPH17TwoBodyConstraintE", !31, i64 0, !33, i64 32, !33, i64 40}
!31 = !{!"_ZTSN3JPH10ConstraintE", !32, i64 8, !19, i64 12, !19, i64 16, !10, i64 20, !10, i64 21, !20, i64 22, !21, i64 24}
!32 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !17, i64 0}
!33 = !{!"any pointer", !10, i64 0}
!34 = !{!"_ZTSN3JPH4QuatE", !35, i64 0}
!35 = !{!"_ZTSN3JPH4Vec4E", !10, i64 0}
!36 = !{!"_ZTSN3JPH11EMotorStateE", !10, i64 0}
!37 = !{!"_ZTSN3JPH19PointConstraintPartE", !23, i64 0, !23, i64 16, !38, i64 32, !38, i64 96, !38, i64 160, !23, i64 224}
!38 = !{!"_ZTSN3JPH5Mat44E", !10, i64 0}
!39 = !{!"_ZTSN3JPH24SwingTwistConstraintPartE", !10, i64 0, !24, i64 1, !9, i64 4, !9, i64 8, !9, i64 12, !9, i64 16, !9, i64 20, !9, i64 24, !9, i64 28, !9, i64 32, !9, i64 36, !9, i64 40, !9, i64 44, !9, i64 48, !9, i64 52, !9, i64 56, !9, i64 60, !9, i64 64, !23, i64 80, !23, i64 96, !23, i64 112, !40, i64 128, !40, i64 176, !40, i64 224}
!40 = !{!"_ZTSN3JPH19AngleConstraintPartE", !23, i64 0, !23, i64 16, !9, i64 32, !41, i64 36, !9, i64 44}
!41 = !{!"_ZTSN3JPH10SpringPartE", !9, i64 0, !9, i64 4}
!42 = !{i64 0, i64 1, !43, i64 4, i64 4, !44, i64 8, i64 4, !8, i64 12, i64 4, !8, i64 16, i64 4, !8, i64 20, i64 4, !8, i64 24, i64 4, !8}
!43 = !{!27, !27, i64 0}
!44 = !{!10, !10, i64 0}
!45 = !{!29, !36, i64 188}
!46 = !{!29, !36, i64 192}
!47 = !{!12, !24, i64 144}
!48 = !{!12, !22, i64 40}


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