; LLVM IR from jrouwe/JoltPhysics :: Jolt/Physics/Collision (EstimateCollisionResponse)

; 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"

%"struct.JPH::AssertLastParam" = type { i8 }
%"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.1 }
%union.anon.1 = type { <4 x float> }
%struct.Constraint = type { %struct.AxisConstraint, %struct.AxisConstraint, %struct.AxisConstraint }
%struct.AxisConstraint = type <{ %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, [8 x i8] }>
%"class.JPH::ContactManifold" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SubShapeID", %"class.JPH::SubShapeID", [4 x i8], %"class.JPH::StaticArray", %"class.JPH::StaticArray" }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::StaticArray" = type { i32, [12 x i8], [64 x %"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage"] }
%"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage" = type { [16 x i8] }
%"struct.JPH::CollisionEstimationResult" = type <{ %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::StaticArray.0", [12 x i8] }>
%"class.JPH::StaticArray.0" = type { i32, [64 x %"struct.JPH::StaticArray<JPH::CollisionEstimationResult::Impulse, 64>::Storage"] }
%"struct.JPH::StaticArray<JPH::CollisionEstimationResult::Impulse, 64>::Storage" = type { [12 x i8] }
%"struct.JPH::CollisionEstimationResult::Impulse" = type { float, float, float }

@.str = external hidden unnamed_addr constant [58 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [105 x i8], align 1

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffj(ptr noundef nonnull align 16 dereferenceable(122) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(2128) %2, ptr noundef nonnull align 16 dereferenceable(868) %3, float noundef %4, float noundef %5, float noundef %6, i32 noundef %7) #1 {
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca float, align 4
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca %"struct.JPH::AssertLastParam", align 1
  %19 = alloca %"class.JPH::Vec3", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca i8, align 1
  %23 = alloca ptr, align 8
  %24 = alloca %"class.JPH::Vec3", align 16
  %25 = alloca %"class.JPH::Vec3", align 16
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca i8, align 1
  %28 = alloca ptr, align 8
  %29 = alloca %"class.JPH::Vec3", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca float, align 4
  %33 = alloca float, align 4
  %34 = alloca %"class.JPH::Mat44", align 16
  %35 = alloca %"class.JPH::Mat44", align 16
  %36 = alloca %"class.JPH::Mat44", align 16
  %37 = alloca %"class.JPH::Mat44", align 16
  %38 = alloca %"class.JPH::Mat44", align 16
  %39 = alloca %"class.JPH::Mat44", align 16
  %40 = alloca %"class.JPH::Vec3", align 16
  %41 = alloca %"class.JPH::Vec3", align 16
  %42 = alloca %"class.JPH::Vec3", align 16
  %43 = alloca %"class.JPH::Vec3", align 16
  %44 = alloca %"class.JPH::Vec3", align 16
  %45 = alloca %"class.JPH::Vec3", align 16
  %46 = alloca [64 x %struct.Constraint], align 16
  %47 = alloca i32, align 4
  %48 = alloca ptr, align 8
  %49 = alloca %"class.JPH::Vec3", align 16
  %50 = alloca %"class.JPH::Vec3", align 16
  %51 = alloca %"class.JPH::Vec3", align 16
  %52 = alloca %"class.JPH::Vec3", align 16
  %53 = alloca %"class.JPH::Vec3", align 16
  %54 = alloca %"class.JPH::Vec3", align 16
  %55 = alloca %"class.JPH::Vec3", align 16
  %56 = alloca %"class.JPH::Vec3", align 16
  %57 = alloca %"class.JPH::Vec3", align 16
  %58 = alloca %"class.JPH::Vec3", align 16
  %59 = alloca %"class.JPH::Vec3", align 16
  %60 = alloca %"class.JPH::Vec3", align 16
  %61 = alloca %"class.JPH::Vec3", align 16
  %62 = alloca %"class.JPH::Vec3", align 16
  %63 = alloca %"class.JPH::Vec3", align 16
  %64 = alloca %"class.JPH::Vec3", align 16
  %65 = alloca %"class.JPH::Vec3", align 16
  %66 = alloca %"class.JPH::Vec3", align 16
  %67 = alloca float, align 4
  %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 i32, align 4
  %76 = alloca i32, align 4
  %77 = alloca i32, align 4
  %78 = alloca i32, align 4
  %79 = alloca ptr, align 8
  %80 = alloca ptr, align 8
  %81 = alloca float, align 4
  %82 = alloca %"class.JPH::Vec3", align 16
  %83 = alloca float, align 4
  %84 = alloca %"class.JPH::Vec3", align 16
  %85 = alloca float, align 4
  %86 = alloca float, align 4
  %87 = alloca float, align 4
  %88 = alloca %"class.JPH::Vec3", align 16
  %89 = alloca %"class.JPH::Vec3", align 16
  %90 = alloca i32, align 4
  %91 = alloca %"class.JPH::Vec3", align 16
  store ptr %0, ptr %9, align 8, !tbaa !5
  store ptr %1, ptr %10, align 8, !tbaa !5
  store ptr %2, ptr %11, align 8, !tbaa !5
  store ptr %3, ptr %12, align 8, !tbaa !5
  store float %4, ptr %13, align 4, !tbaa !9
  store float %5, ptr %14, align 4, !tbaa !9
  store float %6, ptr %15, align 4, !tbaa !9
  store i32 %7, ptr %16, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #10
  %92 = load ptr, ptr %11, align 8, !tbaa !5
  %93 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %92, i32 0, i32 6
  %94 = call noundef i32 @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EE4sizeEv(ptr noundef nonnull align 16 dereferenceable(1040) %93)
  store i32 %94, ptr %17, align 4, !tbaa !11
  br label %95

95:                                               ; preds = %8
  %96 = load i32, ptr %17, align 4, !tbaa !11
  %97 = load ptr, ptr %11, align 8, !tbaa !5
  %98 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %97, i32 0, i32 7
  %99 = call noundef i32 @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EE4sizeEv(ptr noundef nonnull align 16 dereferenceable(1040) %98)
  %100 = icmp eq i32 %96, %99
  br i1 %100, label %104, label %101

101:                                              ; preds = %95
  %102 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str, ptr noundef @.str.1, i32 noundef 17)
  br i1 %102, label %103, label %104

103:                                              ; preds = %101
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #10, !srcloc !13
  br label %104

104:                                              ; preds = %103, %101, %95
  br label %105

105:                                              ; preds = %104
  br label %106

106:                                              ; preds = %105
  %107 = load ptr, ptr %12, align 8, !tbaa !5
  %108 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %107, i32 0, i32 6
  %109 = load i32, ptr %17, align 4, !tbaa !11
  call void @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EE6resizeEj(ptr noundef nonnull align 4 dereferenceable(772) %108, i32 noundef %109)
  %110 = load ptr, ptr %12, align 8, !tbaa !5
  %111 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %110, i32 0, i32 6
  %112 = call noundef ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EE4dataEv(ptr noundef nonnull align 4 dereferenceable(772) %111)
  %113 = load i32, ptr %17, align 4, !tbaa !11
  %114 = zext i32 %113 to i64
  %115 = mul i64 %114, 12
  call void @llvm.memset.p0.i64(ptr align 4 %112, i8 0, i64 %115, i1 false)
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #10
  %116 = load ptr, ptr %11, align 8, !tbaa !5
  %117 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %116, i32 0, i32 1
  %118 = call { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16) %117)
  %119 = getelementptr inbounds %"class.JPH::Vec3", ptr %19, i32 0, i32 0
  %120 = getelementptr inbounds %union.anon, ptr %119, i32 0, i32 0
  %121 = getelementptr inbounds { double, double }, ptr %120, i32 0, i32 0
  %122 = extractvalue { double, double } %118, 0
  store double %122, ptr %121, align 16
  %123 = getelementptr inbounds { double, double }, ptr %120, i32 0, i32 1
  %124 = extractvalue { double, double } %118, 1
  store double %124, ptr %123, align 8
  %125 = load ptr, ptr %12, align 8, !tbaa !5
  %126 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %125, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %126, ptr align 16 %19, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #10
  %127 = load ptr, ptr %11, align 8, !tbaa !5
  %128 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %127, i32 0, i32 1
  %129 = load ptr, ptr %12, align 8, !tbaa !5
  %130 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %129, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %21, ptr align 16 %130, i64 16, i1 false), !tbaa.struct !14
  %131 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 0
  %132 = load double, ptr %131, align 16
  %133 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 1
  %134 = load double, ptr %133, align 8
  %135 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %128, double %132, double %134)
  %136 = getelementptr inbounds %"class.JPH::Vec3", ptr %20, i32 0, i32 0
  %137 = getelementptr inbounds %union.anon, ptr %136, i32 0, i32 0
  %138 = getelementptr inbounds { double, double }, ptr %137, i32 0, i32 0
  %139 = extractvalue { double, double } %135, 0
  store double %139, ptr %138, align 16
  %140 = getelementptr inbounds { double, double }, ptr %137, i32 0, i32 1
  %141 = extractvalue { double, double } %135, 1
  store double %141, ptr %140, align 8
  %142 = load ptr, ptr %12, align 8, !tbaa !5
  %143 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %142, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %143, ptr align 16 %20, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #10
  call void @llvm.lifetime.start.p0(i64 1, ptr %22) #10
  %144 = load ptr, ptr %9, align 8, !tbaa !5
  %145 = call noundef zeroext i8 @_ZNK3JPH4Body13GetMotionTypeEv(ptr noundef nonnull align 16 dereferenceable(122) %144)
  store i8 %145, ptr %22, align 1, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #10
  %146 = load ptr, ptr %9, align 8, !tbaa !5
  %147 = call noundef ptr @_ZNK3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %146)
  store ptr %147, ptr %23, align 8, !tbaa !5
  %148 = load i8, ptr %22, align 1, !tbaa !16
  %149 = icmp ne i8 %148, 0
  br i1 %149, label %150, label %171

150:                                              ; preds = %106
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #10
  %151 = load ptr, ptr %23, align 8, !tbaa !5
  %152 = call { double, double } @_ZNK3JPH16MotionProperties17GetLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %151)
  %153 = getelementptr inbounds %"class.JPH::Vec3", ptr %24, 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 = load ptr, ptr %12, align 8, !tbaa !5
  %160 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %159, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %160, ptr align 16 %24, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #10
  %161 = load ptr, ptr %23, align 8, !tbaa !5
  %162 = call { double, double } @_ZNK3JPH16MotionProperties18GetAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %161)
  %163 = getelementptr inbounds %"class.JPH::Vec3", ptr %25, 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 = load ptr, ptr %12, align 8, !tbaa !5
  %170 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %169, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %170, ptr align 16 %25, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #10
  br label %183

171:                                              ; preds = %106
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #10
  %172 = call { double, double } @_ZN3JPH4Vec35sZeroEv()
  %173 = getelementptr inbounds %"class.JPH::Vec3", ptr %26, i32 0, i32 0
  %174 = getelementptr inbounds %union.anon, ptr %173, i32 0, i32 0
  %175 = getelementptr inbounds { double, double }, ptr %174, i32 0, i32 0
  %176 = extractvalue { double, double } %172, 0
  store double %176, ptr %175, align 16
  %177 = getelementptr inbounds { double, double }, ptr %174, i32 0, i32 1
  %178 = extractvalue { double, double } %172, 1
  store double %178, ptr %177, align 8
  %179 = load ptr, ptr %12, align 8, !tbaa !5
  %180 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %179, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %180, ptr align 16 %26, i64 16, i1 false), !tbaa.struct !14
  %181 = load ptr, ptr %12, align 8, !tbaa !5
  %182 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %181, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %182, ptr align 16 %180, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #10
  br label %183

183:                                              ; preds = %171, %150
  call void @llvm.lifetime.start.p0(i64 1, ptr %27) #10
  %184 = load ptr, ptr %10, align 8, !tbaa !5
  %185 = call noundef zeroext i8 @_ZNK3JPH4Body13GetMotionTypeEv(ptr noundef nonnull align 16 dereferenceable(122) %184)
  store i8 %185, ptr %27, align 1, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #10
  %186 = load ptr, ptr %10, align 8, !tbaa !5
  %187 = call noundef ptr @_ZNK3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %186)
  store ptr %187, ptr %28, align 8, !tbaa !5
  %188 = load i8, ptr %27, align 1, !tbaa !16
  %189 = icmp ne i8 %188, 0
  br i1 %189, label %190, label %211

190:                                              ; preds = %183
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #10
  %191 = load ptr, ptr %28, align 8, !tbaa !5
  %192 = call { double, double } @_ZNK3JPH16MotionProperties17GetLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %191)
  %193 = getelementptr inbounds %"class.JPH::Vec3", ptr %29, i32 0, i32 0
  %194 = getelementptr inbounds %union.anon, ptr %193, i32 0, i32 0
  %195 = getelementptr inbounds { double, double }, ptr %194, i32 0, i32 0
  %196 = extractvalue { double, double } %192, 0
  store double %196, ptr %195, align 16
  %197 = getelementptr inbounds { double, double }, ptr %194, i32 0, i32 1
  %198 = extractvalue { double, double } %192, 1
  store double %198, ptr %197, align 8
  %199 = load ptr, ptr %12, align 8, !tbaa !5
  %200 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %199, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %200, ptr align 16 %29, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #10
  %201 = load ptr, ptr %28, align 8, !tbaa !5
  %202 = call { double, double } @_ZNK3JPH16MotionProperties18GetAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %201)
  %203 = getelementptr inbounds %"class.JPH::Vec3", ptr %30, i32 0, i32 0
  %204 = getelementptr inbounds %union.anon, ptr %203, i32 0, i32 0
  %205 = getelementptr inbounds { double, double }, ptr %204, i32 0, i32 0
  %206 = extractvalue { double, double } %202, 0
  store double %206, ptr %205, align 16
  %207 = getelementptr inbounds { double, double }, ptr %204, i32 0, i32 1
  %208 = extractvalue { double, double } %202, 1
  store double %208, ptr %207, align 8
  %209 = load ptr, ptr %12, align 8, !tbaa !5
  %210 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %209, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %210, ptr align 16 %30, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #10
  br label %223

211:                                              ; preds = %183
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #10
  %212 = call { double, double } @_ZN3JPH4Vec35sZeroEv()
  %213 = getelementptr inbounds %"class.JPH::Vec3", ptr %31, i32 0, i32 0
  %214 = getelementptr inbounds %union.anon, ptr %213, i32 0, i32 0
  %215 = getelementptr inbounds { double, double }, ptr %214, i32 0, i32 0
  %216 = extractvalue { double, double } %212, 0
  store double %216, ptr %215, align 16
  %217 = getelementptr inbounds { double, double }, ptr %214, i32 0, i32 1
  %218 = extractvalue { double, double } %212, 1
  store double %218, ptr %217, align 8
  %219 = load ptr, ptr %12, align 8, !tbaa !5
  %220 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %219, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %220, ptr align 16 %31, i64 16, i1 false), !tbaa.struct !14
  %221 = load ptr, ptr %12, align 8, !tbaa !5
  %222 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %221, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %222, ptr align 16 %220, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #10
  br label %223

223:                                              ; preds = %211, %190
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #10
  call void @llvm.lifetime.start.p0(i64 64, ptr %34) #10
  call void @llvm.lifetime.start.p0(i64 64, ptr %35) #10
  %224 = load i8, ptr %22, align 1, !tbaa !16
  %225 = icmp eq i8 %224, 2
  br i1 %225, label %226, label %230

226:                                              ; preds = %223
  %227 = load ptr, ptr %23, align 8, !tbaa !5
  %228 = call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %227)
  store float %228, ptr %32, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 64, ptr %36) #10
  %229 = load ptr, ptr %9, align 8, !tbaa !5
  call void @_ZNK3JPH4Body17GetInverseInertiaEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %36, ptr noundef nonnull align 16 dereferenceable(122) %229)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %36, i64 64, i1 false), !tbaa.struct !18
  call void @llvm.lifetime.end.p0(i64 64, ptr %36) #10
  br label %231

230:                                              ; preds = %223
  store float 0.000000e+00, ptr %32, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 64, ptr %37) #10
  call void @_ZN3JPH5Mat445sZeroEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %37)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %37, i64 64, i1 false), !tbaa.struct !18
  call void @llvm.lifetime.end.p0(i64 64, ptr %37) #10
  br label %231

231:                                              ; preds = %230, %226
  %232 = load i8, ptr %27, align 1, !tbaa !16
  %233 = icmp eq i8 %232, 2
  br i1 %233, label %234, label %238

234:                                              ; preds = %231
  %235 = load ptr, ptr %28, align 8, !tbaa !5
  %236 = call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %235)
  store float %236, ptr %33, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 64, ptr %38) #10
  %237 = load ptr, ptr %10, align 8, !tbaa !5
  call void @_ZNK3JPH4Body17GetInverseInertiaEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %38, ptr noundef nonnull align 16 dereferenceable(122) %237)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %35, ptr align 16 %38, i64 64, i1 false), !tbaa.struct !18
  call void @llvm.lifetime.end.p0(i64 64, ptr %38) #10
  br label %239

238:                                              ; preds = %231
  store float 0.000000e+00, ptr %33, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 64, ptr %39) #10
  call void @_ZN3JPH5Mat445sZeroEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %39)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %35, ptr align 16 %39, i64 64, i1 false), !tbaa.struct !18
  call void @llvm.lifetime.end.p0(i64 64, ptr %39) #10
  br label %239

239:                                              ; preds = %238, %234
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #10
  %240 = load ptr, ptr %9, align 8, !tbaa !5
  %241 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %240)
  %242 = getelementptr inbounds %"class.JPH::Vec3", ptr %41, i32 0, i32 0
  %243 = getelementptr inbounds %union.anon, ptr %242, i32 0, i32 0
  %244 = getelementptr inbounds { double, double }, ptr %243, i32 0, i32 0
  %245 = extractvalue { double, double } %241, 0
  store double %245, ptr %244, align 16
  %246 = getelementptr inbounds { double, double }, ptr %243, i32 0, i32 1
  %247 = extractvalue { double, double } %241, 1
  store double %247, ptr %246, align 8
  %248 = load ptr, ptr %11, align 8, !tbaa !5
  %249 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %248, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %42, ptr align 16 %249, i64 16, i1 false), !tbaa.struct !14
  %250 = getelementptr inbounds { double, double }, ptr %42, i32 0, i32 0
  %251 = load double, ptr %250, align 16
  %252 = getelementptr inbounds { double, double }, ptr %42, i32 0, i32 1
  %253 = load double, ptr %252, align 8
  %254 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %41, double %251, double %253)
  %255 = getelementptr inbounds %"class.JPH::Vec3", ptr %40, i32 0, i32 0
  %256 = getelementptr inbounds %union.anon, ptr %255, i32 0, i32 0
  %257 = getelementptr inbounds { double, double }, ptr %256, i32 0, i32 0
  %258 = extractvalue { double, double } %254, 0
  store double %258, ptr %257, align 16
  %259 = getelementptr inbounds { double, double }, ptr %256, i32 0, i32 1
  %260 = extractvalue { double, double } %254, 1
  store double %260, ptr %259, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %43) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #10
  %261 = load ptr, ptr %10, align 8, !tbaa !5
  %262 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %261)
  %263 = getelementptr inbounds %"class.JPH::Vec3", ptr %44, i32 0, i32 0
  %264 = getelementptr inbounds %union.anon, ptr %263, i32 0, i32 0
  %265 = getelementptr inbounds { double, double }, ptr %264, i32 0, i32 0
  %266 = extractvalue { double, double } %262, 0
  store double %266, ptr %265, align 16
  %267 = getelementptr inbounds { double, double }, ptr %264, i32 0, i32 1
  %268 = extractvalue { double, double } %262, 1
  store double %268, ptr %267, align 8
  %269 = load ptr, ptr %11, align 8, !tbaa !5
  %270 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %269, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %45, ptr align 16 %270, i64 16, i1 false), !tbaa.struct !14
  %271 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 0
  %272 = load double, ptr %271, align 16
  %273 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 1
  %274 = load double, ptr %273, align 8
  %275 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %44, double %272, double %274)
  %276 = getelementptr inbounds %"class.JPH::Vec3", ptr %43, i32 0, i32 0
  %277 = getelementptr inbounds %union.anon, ptr %276, i32 0, i32 0
  %278 = getelementptr inbounds { double, double }, ptr %277, i32 0, i32 0
  %279 = extractvalue { double, double } %275, 0
  store double %279, ptr %278, align 16
  %280 = getelementptr inbounds { double, double }, ptr %277, i32 0, i32 1
  %281 = extractvalue { double, double } %275, 1
  store double %281, ptr %280, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #10
  call void @llvm.lifetime.start.p0(i64 15360, ptr %46) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #10
  store i32 0, ptr %47, align 4, !tbaa !11
  br label %282

282:                                              ; preds = %487, %239
  %283 = load i32, ptr %47, align 4, !tbaa !11
  %284 = load i32, ptr %17, align 4, !tbaa !11
  %285 = icmp ult i32 %283, %284
  br i1 %285, label %287, label %286

286:                                              ; preds = %282
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #10
  br label %490

287:                                              ; preds = %282
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #10
  %288 = load i32, ptr %47, align 4, !tbaa !11
  %289 = zext i32 %288 to i64
  %290 = getelementptr inbounds [64 x %struct.Constraint], ptr %46, i64 0, i64 %289
  store ptr %290, ptr %48, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %49) #10
  %291 = load ptr, ptr %11, align 8, !tbaa !5
  %292 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %291, i32 0, i32 6
  %293 = load i32, ptr %47, align 4, !tbaa !11
  %294 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %292, i32 noundef %293)
  %295 = load ptr, ptr %11, align 8, !tbaa !5
  %296 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %295, i32 0, i32 7
  %297 = load i32, ptr %47, align 4, !tbaa !11
  %298 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %296, i32 noundef %297)
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %51, ptr align 16 %298, i64 16, i1 false), !tbaa.struct !14
  %299 = getelementptr inbounds { double, double }, ptr %51, i32 0, i32 0
  %300 = load double, ptr %299, align 16
  %301 = getelementptr inbounds { double, double }, ptr %51, i32 0, i32 1
  %302 = load double, ptr %301, align 8
  %303 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %294, double %300, double %302)
  %304 = getelementptr inbounds %"class.JPH::Vec3", ptr %50, i32 0, i32 0
  %305 = getelementptr inbounds %union.anon, ptr %304, i32 0, i32 0
  %306 = getelementptr inbounds { double, double }, ptr %305, i32 0, i32 0
  %307 = extractvalue { double, double } %303, 0
  store double %307, ptr %306, align 16
  %308 = getelementptr inbounds { double, double }, ptr %305, i32 0, i32 1
  %309 = extractvalue { double, double } %303, 1
  store double %309, ptr %308, align 8
  %310 = getelementptr inbounds { double, double }, ptr %50, i32 0, i32 0
  %311 = load double, ptr %310, align 16
  %312 = getelementptr inbounds { double, double }, ptr %50, i32 0, i32 1
  %313 = load double, ptr %312, align 8
  %314 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef 5.000000e-01, double %311, double %313)
  %315 = getelementptr inbounds %"class.JPH::Vec3", ptr %49, i32 0, i32 0
  %316 = getelementptr inbounds %union.anon, ptr %315, i32 0, i32 0
  %317 = getelementptr inbounds { double, double }, ptr %316, i32 0, i32 0
  %318 = extractvalue { double, double } %314, 0
  store double %318, ptr %317, align 16
  %319 = getelementptr inbounds { double, double }, ptr %316, i32 0, i32 1
  %320 = extractvalue { double, double } %314, 1
  store double %320, ptr %319, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %53, ptr align 16 %40, i64 16, i1 false), !tbaa.struct !14
  %321 = getelementptr inbounds { double, double }, ptr %53, i32 0, i32 0
  %322 = load double, ptr %321, align 16
  %323 = getelementptr inbounds { double, double }, ptr %53, i32 0, i32 1
  %324 = load double, ptr %323, align 8
  %325 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %49, double %322, double %324)
  %326 = getelementptr inbounds %"class.JPH::Vec3", ptr %52, i32 0, i32 0
  %327 = getelementptr inbounds %union.anon, ptr %326, i32 0, i32 0
  %328 = getelementptr inbounds { double, double }, ptr %327, i32 0, i32 0
  %329 = extractvalue { double, double } %325, 0
  store double %329, ptr %328, align 16
  %330 = getelementptr inbounds { double, double }, ptr %327, i32 0, i32 1
  %331 = extractvalue { double, double } %325, 1
  store double %331, ptr %330, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %54) #10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %55, ptr align 16 %43, i64 16, i1 false), !tbaa.struct !14
  %332 = getelementptr inbounds { double, double }, ptr %55, i32 0, i32 0
  %333 = load double, ptr %332, align 16
  %334 = getelementptr inbounds { double, double }, ptr %55, i32 0, i32 1
  %335 = load double, ptr %334, align 8
  %336 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %49, double %333, double %335)
  %337 = getelementptr inbounds %"class.JPH::Vec3", ptr %54, i32 0, i32 0
  %338 = getelementptr inbounds %union.anon, ptr %337, i32 0, i32 0
  %339 = getelementptr inbounds { double, double }, ptr %338, i32 0, i32 0
  %340 = extractvalue { double, double } %336, 0
  store double %340, ptr %339, align 16
  %341 = getelementptr inbounds { double, double }, ptr %338, i32 0, i32 1
  %342 = extractvalue { double, double } %336, 1
  store double %342, ptr %341, align 8
  %343 = load ptr, ptr %48, align 8, !tbaa !5
  %344 = getelementptr inbounds %struct.Constraint, ptr %343, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %56, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %57, ptr align 16 %54, i64 16, i1 false), !tbaa.struct !14
  %345 = load ptr, ptr %11, align 8, !tbaa !5
  %346 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %345, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %58, ptr align 16 %346, i64 16, i1 false), !tbaa.struct !14
  %347 = load float, ptr %32, align 4, !tbaa !9
  %348 = load float, ptr %33, align 4, !tbaa !9
  %349 = getelementptr inbounds { double, double }, ptr %56, i32 0, i32 0
  %350 = load double, ptr %349, align 16
  %351 = getelementptr inbounds { double, double }, ptr %56, i32 0, i32 1
  %352 = load double, ptr %351, align 8
  %353 = getelementptr inbounds { double, double }, ptr %57, i32 0, i32 0
  %354 = load double, ptr %353, align 16
  %355 = getelementptr inbounds { double, double }, ptr %57, i32 0, i32 1
  %356 = load double, ptr %355, align 8
  %357 = getelementptr inbounds { double, double }, ptr %58, i32 0, i32 0
  %358 = load double, ptr %357, align 16
  %359 = getelementptr inbounds { double, double }, ptr %58, i32 0, i32 1
  %360 = load double, ptr %359, align 8
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjEN14AxisConstraint10InitializeENS_4Vec3ES9_S9_ffRKNS_5Mat44ESC_(ptr noundef nonnull align 16 dereferenceable(72) %344, double %350, double %352, double %354, double %356, double %358, double %360, float noundef %347, float noundef %348, ptr noundef nonnull align 16 dereferenceable(64) %34, ptr noundef nonnull align 16 dereferenceable(64) %35)
  %361 = load float, ptr %14, align 4, !tbaa !9
  %362 = fcmp ogt float %361, 0.000000e+00
  br i1 %362, label %363, label %446

363:                                              ; preds = %287
  call void @llvm.lifetime.start.p0(i64 16, ptr %59) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %60) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %61) #10
  %364 = load ptr, ptr %12, align 8, !tbaa !5
  %365 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %364, i32 0, i32 2
  %366 = load ptr, ptr %12, align 8, !tbaa !5
  %367 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %366, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %63, ptr align 16 %54, i64 16, i1 false), !tbaa.struct !14
  %368 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 0
  %369 = load double, ptr %368, align 16
  %370 = getelementptr inbounds { double, double }, ptr %63, i32 0, i32 1
  %371 = load double, ptr %370, align 8
  %372 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %367, double %369, double %371)
  %373 = getelementptr inbounds %"class.JPH::Vec3", ptr %62, 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 %62, i32 0, i32 0
  %380 = load double, ptr %379, align 16
  %381 = getelementptr inbounds { double, double }, ptr %62, i32 0, i32 1
  %382 = load double, ptr %381, align 8
  %383 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %365, double %380, double %382)
  %384 = getelementptr inbounds %"class.JPH::Vec3", ptr %61, i32 0, i32 0
  %385 = getelementptr inbounds %union.anon, ptr %384, i32 0, i32 0
  %386 = getelementptr inbounds { double, double }, ptr %385, i32 0, i32 0
  %387 = extractvalue { double, double } %383, 0
  store double %387, ptr %386, align 16
  %388 = getelementptr inbounds { double, double }, ptr %385, i32 0, i32 1
  %389 = extractvalue { double, double } %383, 1
  store double %389, ptr %388, align 8
  %390 = load ptr, ptr %12, align 8, !tbaa !5
  %391 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %390, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %64, ptr align 16 %391, i64 16, i1 false), !tbaa.struct !14
  %392 = getelementptr inbounds { double, double }, ptr %64, i32 0, i32 0
  %393 = load double, ptr %392, align 16
  %394 = getelementptr inbounds { double, double }, ptr %64, i32 0, i32 1
  %395 = load double, ptr %394, align 8
  %396 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %61, double %393, double %395)
  %397 = getelementptr inbounds %"class.JPH::Vec3", ptr %60, i32 0, i32 0
  %398 = getelementptr inbounds %union.anon, ptr %397, i32 0, i32 0
  %399 = getelementptr inbounds { double, double }, ptr %398, i32 0, i32 0
  %400 = extractvalue { double, double } %396, 0
  store double %400, ptr %399, align 16
  %401 = getelementptr inbounds { double, double }, ptr %398, i32 0, i32 1
  %402 = extractvalue { double, double } %396, 1
  store double %402, ptr %401, align 8
  %403 = load ptr, ptr %12, align 8, !tbaa !5
  %404 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %403, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %66, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !14
  %405 = getelementptr inbounds { double, double }, ptr %66, i32 0, i32 0
  %406 = load double, ptr %405, align 16
  %407 = getelementptr inbounds { double, double }, ptr %66, i32 0, i32 1
  %408 = load double, ptr %407, align 8
  %409 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %404, double %406, double %408)
  %410 = getelementptr inbounds %"class.JPH::Vec3", ptr %65, i32 0, i32 0
  %411 = getelementptr inbounds %union.anon, ptr %410, i32 0, i32 0
  %412 = getelementptr inbounds { double, double }, ptr %411, i32 0, i32 0
  %413 = extractvalue { double, double } %409, 0
  store double %413, ptr %412, align 16
  %414 = getelementptr inbounds { double, double }, ptr %411, i32 0, i32 1
  %415 = extractvalue { double, double } %409, 1
  store double %415, ptr %414, align 8
  %416 = getelementptr inbounds { double, double }, ptr %65, i32 0, i32 0
  %417 = load double, ptr %416, align 16
  %418 = getelementptr inbounds { double, double }, ptr %65, i32 0, i32 1
  %419 = load double, ptr %418, align 8
  %420 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %60, double %417, double %419)
  %421 = getelementptr inbounds %"class.JPH::Vec3", ptr %59, i32 0, i32 0
  %422 = getelementptr inbounds %union.anon, ptr %421, i32 0, i32 0
  %423 = getelementptr inbounds { double, double }, ptr %422, i32 0, i32 0
  %424 = extractvalue { double, double } %420, 0
  store double %424, ptr %423, align 16
  %425 = getelementptr inbounds { double, double }, ptr %422, i32 0, i32 1
  %426 = extractvalue { double, double } %420, 1
  store double %426, ptr %425, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %61) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %60) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr %67) #10
  %427 = load ptr, ptr %11, align 8, !tbaa !5
  %428 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %427, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %68, ptr align 16 %428, i64 16, i1 false), !tbaa.struct !14
  %429 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 0
  %430 = load double, ptr %429, align 16
  %431 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 1
  %432 = load double, ptr %431, align 8
  %433 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %59, double %430, double %432)
  store float %433, ptr %67, align 4, !tbaa !9
  %434 = load float, ptr %67, align 4, !tbaa !9
  %435 = load float, ptr %15, align 4, !tbaa !9
  %436 = fneg float %435
  %437 = fcmp olt float %434, %436
  br i1 %437, label %438, label %445

438:                                              ; preds = %363
  %439 = load float, ptr %14, align 4, !tbaa !9
  %440 = load float, ptr %67, align 4, !tbaa !9
  %441 = fmul float %439, %440
  %442 = load ptr, ptr %48, align 8, !tbaa !5
  %443 = getelementptr inbounds %struct.Constraint, ptr %442, i32 0, i32 0
  %444 = getelementptr inbounds %struct.AxisConstraint, ptr %443, i32 0, i32 5
  store float %441, ptr %444, align 4, !tbaa !19
  br label %445

445:                                              ; preds = %438, %363
  call void @llvm.lifetime.end.p0(i64 4, ptr %67) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %59) #10
  br label %446

446:                                              ; preds = %445, %287
  %447 = load float, ptr %13, align 4, !tbaa !9
  %448 = fcmp ogt float %447, 0.000000e+00
  br i1 %448, label %449, label %486

449:                                              ; preds = %446
  %450 = load ptr, ptr %48, align 8, !tbaa !5
  %451 = getelementptr inbounds %struct.Constraint, ptr %450, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %69, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %70, ptr align 16 %54, i64 16, i1 false), !tbaa.struct !14
  %452 = load ptr, ptr %12, align 8, !tbaa !5
  %453 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %452, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %71, ptr align 16 %453, i64 16, i1 false), !tbaa.struct !14
  %454 = load float, ptr %32, align 4, !tbaa !9
  %455 = load float, ptr %33, align 4, !tbaa !9
  %456 = getelementptr inbounds { double, double }, ptr %69, i32 0, i32 0
  %457 = load double, ptr %456, align 16
  %458 = getelementptr inbounds { double, double }, ptr %69, i32 0, i32 1
  %459 = load double, ptr %458, align 8
  %460 = getelementptr inbounds { double, double }, ptr %70, i32 0, i32 0
  %461 = load double, ptr %460, align 16
  %462 = getelementptr inbounds { double, double }, ptr %70, i32 0, i32 1
  %463 = load double, ptr %462, align 8
  %464 = getelementptr inbounds { double, double }, ptr %71, i32 0, i32 0
  %465 = load double, ptr %464, align 16
  %466 = getelementptr inbounds { double, double }, ptr %71, i32 0, i32 1
  %467 = load double, ptr %466, align 8
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjEN14AxisConstraint10InitializeENS_4Vec3ES9_S9_ffRKNS_5Mat44ESC_(ptr noundef nonnull align 16 dereferenceable(72) %451, double %457, double %459, double %461, double %463, double %465, double %467, float noundef %454, float noundef %455, ptr noundef nonnull align 16 dereferenceable(64) %34, ptr noundef nonnull align 16 dereferenceable(64) %35)
  %468 = load ptr, ptr %48, align 8, !tbaa !5
  %469 = getelementptr inbounds %struct.Constraint, ptr %468, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %72, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !14
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %73, ptr align 16 %54, i64 16, i1 false), !tbaa.struct !14
  %470 = load ptr, ptr %12, align 8, !tbaa !5
  %471 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %470, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %74, ptr align 16 %471, i64 16, i1 false), !tbaa.struct !14
  %472 = load float, ptr %32, align 4, !tbaa !9
  %473 = load float, ptr %33, align 4, !tbaa !9
  %474 = getelementptr inbounds { double, double }, ptr %72, i32 0, i32 0
  %475 = load double, ptr %474, align 16
  %476 = getelementptr inbounds { double, double }, ptr %72, i32 0, i32 1
  %477 = load double, ptr %476, align 8
  %478 = getelementptr inbounds { double, double }, ptr %73, i32 0, i32 0
  %479 = load double, ptr %478, align 16
  %480 = getelementptr inbounds { double, double }, ptr %73, i32 0, i32 1
  %481 = load double, ptr %480, align 8
  %482 = getelementptr inbounds { double, double }, ptr %74, i32 0, i32 0
  %483 = load double, ptr %482, align 16
  %484 = getelementptr inbounds { double, double }, ptr %74, i32 0, i32 1
  %485 = load double, ptr %484, align 8
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjEN14AxisConstraint10InitializeENS_4Vec3ES9_S9_ffRKNS_5Mat44ESC_(ptr noundef nonnull align 16 dereferenceable(72) %469, double %475, double %477, double %479, double %481, double %483, double %485, float noundef %472, float noundef %473, ptr noundef nonnull align 16 dereferenceable(64) %34, ptr noundef nonnull align 16 dereferenceable(64) %35)
  br label %486

486:                                              ; preds = %449, %446
  call void @llvm.lifetime.end.p0(i64 16, ptr %54) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %49) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #10
  br label %487

487:                                              ; preds = %486
  %488 = load i32, ptr %47, align 4, !tbaa !11
  %489 = add i32 %488, 1
  store i32 %489, ptr %47, align 4, !tbaa !11
  br label %282, !llvm.loop !23

490:                                              ; preds = %286
  call void @llvm.lifetime.start.p0(i64 4, ptr %75) #10
  %491 = load float, ptr %13, align 4, !tbaa !9
  %492 = fcmp ole float %491, 0.000000e+00
  br i1 %492, label %493, label %497

493:                                              ; preds = %490
  %494 = load i32, ptr %17, align 4, !tbaa !11
  %495 = icmp eq i32 %494, 1
  br i1 %495, label %496, label %497

496:                                              ; preds = %493
  br label %499

497:                                              ; preds = %493, %490
  %498 = load i32, ptr %16, align 4, !tbaa !11
  br label %499

499:                                              ; preds = %497, %496
  %500 = phi i32 [ 1, %496 ], [ %498, %497 ]
  store i32 %500, ptr %75, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #10
  store i32 0, ptr %76, align 4, !tbaa !11
  br label %501

501:                                              ; preds = %651, %499
  %502 = load i32, ptr %76, align 4, !tbaa !11
  %503 = load i32, ptr %75, align 4, !tbaa !11
  %504 = icmp slt i32 %502, %503
  br i1 %504, label %506, label %505

505:                                              ; preds = %501
  store i32 7, ptr %77, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #10
  br label %654

506:                                              ; preds = %501
  %507 = load float, ptr %13, align 4, !tbaa !9
  %508 = fcmp ogt float %507, 0.000000e+00
  br i1 %508, label %509, label %622

509:                                              ; preds = %506
  %510 = load i32, ptr %76, align 4, !tbaa !11
  %511 = icmp sgt i32 %510, 0
  br i1 %511, label %512, label %622

512:                                              ; preds = %509
  call void @llvm.lifetime.start.p0(i64 4, ptr %78) #10
  store i32 0, ptr %78, align 4, !tbaa !11
  br label %513

513:                                              ; preds = %618, %512
  %514 = load i32, ptr %78, align 4, !tbaa !11
  %515 = load i32, ptr %17, align 4, !tbaa !11
  %516 = icmp ult i32 %514, %515
  br i1 %516, label %518, label %517

517:                                              ; preds = %513
  store i32 10, ptr %77, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %78) #10
  br label %621

518:                                              ; preds = %513
  call void @llvm.lifetime.start.p0(i64 8, ptr %79) #10
  %519 = load i32, ptr %78, align 4, !tbaa !11
  %520 = zext i32 %519 to i64
  %521 = getelementptr inbounds [64 x %struct.Constraint], ptr %46, i64 0, i64 %520
  store ptr %521, ptr %79, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %80) #10
  %522 = load ptr, ptr %12, align 8, !tbaa !5
  %523 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %522, i32 0, i32 6
  %524 = load i32, ptr %78, align 4, !tbaa !11
  %525 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EEixEj(ptr noundef nonnull align 4 dereferenceable(772) %523, i32 noundef %524)
  store ptr %525, ptr %80, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %81) #10
  %526 = load ptr, ptr %80, align 8, !tbaa !5
  %527 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult::Impulse", ptr %526, i32 0, i32 1
  %528 = load float, ptr %527, align 4, !tbaa !25
  %529 = load ptr, ptr %79, align 8, !tbaa !5
  %530 = getelementptr inbounds %struct.Constraint, ptr %529, i32 0, i32 1
  %531 = load ptr, ptr %12, align 8, !tbaa !5
  %532 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %531, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %82, ptr align 16 %532, i64 16, i1 false), !tbaa.struct !14
  %533 = load ptr, ptr %12, align 8, !tbaa !5
  %534 = getelementptr inbounds { double, double }, ptr %82, i32 0, i32 0
  %535 = load double, ptr %534, align 16
  %536 = getelementptr inbounds { double, double }, ptr %82, i32 0, i32 1
  %537 = load double, ptr %536, align 8
  %538 = call noundef float @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint14SolveGetLambdaENS_4Vec3ERKS6_(ptr noundef nonnull align 16 dereferenceable(72) %530, double %535, double %537, ptr noundef nonnull align 16 dereferenceable(868) %533)
  %539 = fadd float %528, %538
  store float %539, ptr %81, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %83) #10
  %540 = load ptr, ptr %80, align 8, !tbaa !5
  %541 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult::Impulse", ptr %540, i32 0, i32 2
  %542 = load float, ptr %541, align 4, !tbaa !27
  %543 = load ptr, ptr %79, align 8, !tbaa !5
  %544 = getelementptr inbounds %struct.Constraint, ptr %543, i32 0, i32 2
  %545 = load ptr, ptr %12, align 8, !tbaa !5
  %546 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %545, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %84, ptr align 16 %546, i64 16, i1 false), !tbaa.struct !14
  %547 = load ptr, ptr %12, align 8, !tbaa !5
  %548 = getelementptr inbounds { double, double }, ptr %84, i32 0, i32 0
  %549 = load double, ptr %548, align 16
  %550 = getelementptr inbounds { double, double }, ptr %84, i32 0, i32 1
  %551 = load double, ptr %550, align 8
  %552 = call noundef float @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint14SolveGetLambdaENS_4Vec3ERKS6_(ptr noundef nonnull align 16 dereferenceable(72) %544, double %549, double %551, ptr noundef nonnull align 16 dereferenceable(868) %547)
  %553 = fadd float %542, %552
  store float %553, ptr %83, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %85) #10
  %554 = load float, ptr %13, align 4, !tbaa !9
  %555 = load ptr, ptr %80, align 8, !tbaa !5
  %556 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult::Impulse", ptr %555, i32 0, i32 0
  %557 = load float, ptr %556, align 4, !tbaa !28
  %558 = fmul float %554, %557
  store float %558, ptr %85, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %86) #10
  %559 = load float, ptr %81, align 4, !tbaa !9
  %560 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %559)
  %561 = load float, ptr %83, align 4, !tbaa !9
  %562 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %561)
  %563 = fadd float %560, %562
  store float %563, ptr %86, align 4, !tbaa !9
  %564 = load float, ptr %86, align 4, !tbaa !9
  %565 = load float, ptr %85, align 4, !tbaa !9
  %566 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %565)
  %567 = fcmp ogt float %564, %566
  br i1 %567, label %568, label %579

568:                                              ; preds = %518
  call void @llvm.lifetime.start.p0(i64 4, ptr %87) #10
  %569 = load float, ptr %85, align 4, !tbaa !9
  %570 = load float, ptr %86, align 4, !tbaa !9
  %571 = call noundef float @_ZSt4sqrtf(float noundef %570)
  %572 = fdiv float %569, %571
  store float %572, ptr %87, align 4, !tbaa !9
  %573 = load float, ptr %87, align 4, !tbaa !9
  %574 = load float, ptr %81, align 4, !tbaa !9
  %575 = fmul float %574, %573
  store float %575, ptr %81, align 4, !tbaa !9
  %576 = load float, ptr %87, align 4, !tbaa !9
  %577 = load float, ptr %83, align 4, !tbaa !9
  %578 = fmul float %577, %576
  store float %578, ptr %83, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 4, ptr %87) #10
  br label %579

579:                                              ; preds = %568, %518
  %580 = load ptr, ptr %79, align 8, !tbaa !5
  %581 = getelementptr inbounds %struct.Constraint, ptr %580, i32 0, i32 1
  %582 = load ptr, ptr %12, align 8, !tbaa !5
  %583 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %582, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %88, ptr align 16 %583, i64 16, i1 false), !tbaa.struct !14
  %584 = load float, ptr %32, align 4, !tbaa !9
  %585 = load float, ptr %33, align 4, !tbaa !9
  %586 = load float, ptr %81, align 4, !tbaa !9
  %587 = load ptr, ptr %80, align 8, !tbaa !5
  %588 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult::Impulse", ptr %587, i32 0, i32 1
  %589 = load float, ptr %588, align 4, !tbaa !25
  %590 = fsub float %586, %589
  %591 = load ptr, ptr %12, align 8, !tbaa !5
  %592 = getelementptr inbounds { double, double }, ptr %88, i32 0, i32 0
  %593 = load double, ptr %592, align 16
  %594 = getelementptr inbounds { double, double }, ptr %88, i32 0, i32 1
  %595 = load double, ptr %594, align 8
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint16SolveApplyLambdaENS_4Vec3EfffS7_(ptr noundef nonnull align 16 dereferenceable(72) %581, double %593, double %595, float noundef %584, float noundef %585, float noundef %590, ptr noundef nonnull align 16 dereferenceable(868) %591)
  %596 = load ptr, ptr %79, align 8, !tbaa !5
  %597 = getelementptr inbounds %struct.Constraint, ptr %596, i32 0, i32 2
  %598 = load ptr, ptr %12, align 8, !tbaa !5
  %599 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %598, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %89, ptr align 16 %599, i64 16, i1 false), !tbaa.struct !14
  %600 = load float, ptr %32, align 4, !tbaa !9
  %601 = load float, ptr %33, align 4, !tbaa !9
  %602 = load float, ptr %83, align 4, !tbaa !9
  %603 = load ptr, ptr %80, align 8, !tbaa !5
  %604 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult::Impulse", ptr %603, i32 0, i32 2
  %605 = load float, ptr %604, align 4, !tbaa !27
  %606 = fsub float %602, %605
  %607 = load ptr, ptr %12, align 8, !tbaa !5
  %608 = getelementptr inbounds { double, double }, ptr %89, i32 0, i32 0
  %609 = load double, ptr %608, align 16
  %610 = getelementptr inbounds { double, double }, ptr %89, i32 0, i32 1
  %611 = load double, ptr %610, align 8
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint16SolveApplyLambdaENS_4Vec3EfffS7_(ptr noundef nonnull align 16 dereferenceable(72) %597, double %609, double %611, float noundef %600, float noundef %601, float noundef %606, ptr noundef nonnull align 16 dereferenceable(868) %607)
  %612 = load float, ptr %81, align 4, !tbaa !9
  %613 = load ptr, ptr %80, align 8, !tbaa !5
  %614 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult::Impulse", ptr %613, i32 0, i32 1
  store float %612, ptr %614, align 4, !tbaa !25
  %615 = load float, ptr %83, align 4, !tbaa !9
  %616 = load ptr, ptr %80, align 8, !tbaa !5
  %617 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult::Impulse", ptr %616, i32 0, i32 2
  store float %615, ptr %617, align 4, !tbaa !27
  call void @llvm.lifetime.end.p0(i64 4, ptr %86) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %85) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %83) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %81) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %80) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %79) #10
  br label %618

618:                                              ; preds = %579
  %619 = load i32, ptr %78, align 4, !tbaa !11
  %620 = add i32 %619, 1
  store i32 %620, ptr %78, align 4, !tbaa !11
  br label %513, !llvm.loop !29

621:                                              ; preds = %517
  br label %622

622:                                              ; preds = %621, %509, %506
  call void @llvm.lifetime.start.p0(i64 4, ptr %90) #10
  store i32 0, ptr %90, align 4, !tbaa !11
  br label %623

623:                                              ; preds = %647, %622
  %624 = load i32, ptr %90, align 4, !tbaa !11
  %625 = load i32, ptr %17, align 4, !tbaa !11
  %626 = icmp ult i32 %624, %625
  br i1 %626, label %628, label %627

627:                                              ; preds = %623
  store i32 13, ptr %77, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %90) #10
  br label %650

628:                                              ; preds = %623
  %629 = load i32, ptr %90, align 4, !tbaa !11
  %630 = zext i32 %629 to i64
  %631 = getelementptr inbounds [64 x %struct.Constraint], ptr %46, i64 0, i64 %630
  %632 = getelementptr inbounds %struct.Constraint, ptr %631, i32 0, i32 0
  %633 = load ptr, ptr %11, align 8, !tbaa !5
  %634 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %633, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %91, ptr align 16 %634, i64 16, i1 false), !tbaa.struct !14
  %635 = load float, ptr %32, align 4, !tbaa !9
  %636 = load float, ptr %33, align 4, !tbaa !9
  %637 = load ptr, ptr %12, align 8, !tbaa !5
  %638 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult", ptr %637, i32 0, i32 6
  %639 = load i32, ptr %90, align 4, !tbaa !11
  %640 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EEixEj(ptr noundef nonnull align 4 dereferenceable(772) %638, i32 noundef %639)
  %641 = getelementptr inbounds %"struct.JPH::CollisionEstimationResult::Impulse", ptr %640, i32 0, i32 0
  %642 = load ptr, ptr %12, align 8, !tbaa !5
  %643 = getelementptr inbounds { double, double }, ptr %91, i32 0, i32 0
  %644 = load double, ptr %643, align 16
  %645 = getelementptr inbounds { double, double }, ptr %91, i32 0, i32 1
  %646 = load double, ptr %645, align 8
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint5SolveENS_4Vec3EffffRfS7_(ptr noundef nonnull align 16 dereferenceable(72) %632, double %644, double %646, float noundef %635, float noundef %636, float noundef 0.000000e+00, float noundef 0x47EFFFFFE0000000, ptr noundef nonnull align 4 dereferenceable(4) %641, ptr noundef nonnull align 16 dereferenceable(868) %642)
  br label %647

647:                                              ; preds = %628
  %648 = load i32, ptr %90, align 4, !tbaa !11
  %649 = add i32 %648, 1
  store i32 %649, ptr %90, align 4, !tbaa !11
  br label %623, !llvm.loop !30

650:                                              ; preds = %627
  br label %651

651:                                              ; preds = %650
  %652 = load i32, ptr %76, align 4, !tbaa !11
  %653 = add nsw i32 %652, 1
  store i32 %653, ptr %76, align 4, !tbaa !11
  br label %501, !llvm.loop !31

654:                                              ; preds = %505
  call void @llvm.lifetime.end.p0(i64 4, ptr %75) #10
  call void @llvm.lifetime.end.p0(i64 15360, ptr %46) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #10
  call void @llvm.lifetime.end.p0(i64 64, ptr %35) #10
  call void @llvm.lifetime.end.p0(i64 64, ptr %34) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr %27) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #10
  call void @llvm.lifetime.end.p0(i64 1, ptr %22) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #10
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EE4sizeEv(ptr noundef nonnull align 16 dereferenceable(1040)) #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EE6resizeEj(ptr noundef nonnull align 4 dereferenceable(772), i32 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EE4dataEv(ptr noundef nonnull align 4 dereferenceable(772)) #2 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #4

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16)) #5 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) #6

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i8 @_ZNK3JPH4Body13GetMotionTypeEv(ptr noundef nonnull align 16 dereferenceable(122)) #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122)) #2 align 2

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

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec35sZeroEv() #7 align 2

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

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat445sZeroEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122)) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) #7

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjEN14AxisConstraint10InitializeENS_4Vec3ES9_S9_ffRKNS_5Mat44ESC_(ptr noundef nonnull align 16 dereferenceable(72), double, double, double, double, double, double, float noundef, float noundef, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) #3 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #9 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EEixEj(ptr noundef nonnull align 4 dereferenceable(772), i32 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef float @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint14SolveGetLambdaENS_4Vec3ERKS6_(ptr noundef nonnull align 16 dereferenceable(72), double, double, ptr noundef nonnull align 16 dereferenceable(868)) #3 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef) #9

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) #8

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint16SolveApplyLambdaENS_4Vec3EfffS7_(ptr noundef nonnull align 16 dereferenceable(72), double, double, float noundef, float noundef, float noundef, ptr noundef nonnull align 16 dereferenceable(868)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint5SolveENS_4Vec3EffffRfS7_(ptr noundef nonnull align 16 dereferenceable(72), double, double, float noundef, float noundef, float noundef, float noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(868)) #3 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 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #7 = { 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 #8 = { 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 #9 = { 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 #10 = { 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, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{i64 2158045075}
!14 = !{i64 0, i64 16, !15}
!15 = !{!7, !7, i64 0}
!16 = !{!17, !17, i64 0}
!17 = !{!"_ZTSN3JPH11EMotionTypeE", !7, i64 0}
!18 = !{i64 0, i64 64, !15}
!19 = !{!20, !10, i64 68}
!20 = !{!"_ZTSZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjE10Constraint", !21, i64 0, !21, i64 80, !21, i64 160}
!21 = !{!"_ZTSZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjE14AxisConstraint", !22, i64 0, !22, i64 16, !22, i64 32, !22, i64 48, !10, i64 64, !10, i64 68}
!22 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!23 = distinct !{!23, !24}
!24 = !{!"llvm.loop.mustprogress"}
!25 = !{!26, !10, i64 4}
!26 = !{!"_ZTSN3JPH25CollisionEstimationResult7ImpulseE", !10, i64 0, !10, i64 4, !10, i64 8}
!27 = !{!26, !10, i64 8}
!28 = !{!26, !10, i64 0}
!29 = distinct !{!29, !24}
!30 = distinct !{!30, !24}
!31 = distinct !{!31, !24}


; 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.1 }
%union.anon.1 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%struct.Constraint = type { %struct.AxisConstraint, %struct.AxisConstraint, %struct.AxisConstraint }
%struct.AxisConstraint = type <{ %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, [8 x i8] }>

@.str = external hidden unnamed_addr constant [58 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [105 x i8], align 1

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffj(ptr noundef nonnull align 16 dereferenceable(122) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(2128) %2, ptr noundef nonnull align 16 dereferenceable(868) %3, float noundef %4, float noundef %5, float noundef %6, i32 noundef %7) local_unnamed_addr #1 {
  %9 = alloca %"class.JPH::Mat44", align 16
  %10 = alloca %"class.JPH::Mat44", align 16
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca [64 x %struct.Constraint], 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 = getelementptr inbounds i8, ptr %2, i64 48
  %19 = tail call noundef i32 @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EE4sizeEv(ptr noundef nonnull align 16 dereferenceable(1040) %18)
  %20 = getelementptr inbounds i8, ptr %2, i64 1088
  %21 = tail call noundef i32 @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EE4sizeEv(ptr noundef nonnull align 16 dereferenceable(1040) %20)
  %22 = icmp eq i32 %19, %21
  br i1 %22, label %26, label %23

23:                                               ; preds = %8
  %24 = tail call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i32 noundef 17)
  br i1 %24, label %25, label %26

25:                                               ; preds = %23
  tail call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #10, !srcloc !5
  br label %26

26:                                               ; preds = %25, %23, %8
  %27 = getelementptr inbounds i8, ptr %3, i64 96
  tail call void @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EE6resizeEj(ptr noundef nonnull align 4 dereferenceable(772) %27, i32 noundef %19)
  %28 = tail call noundef ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EE4dataEv(ptr noundef nonnull align 4 dereferenceable(772) %27)
  %29 = zext i32 %19 to i64
  %30 = mul nuw nsw i64 %29, 12
  tail call void @llvm.memset.p0.i64(ptr align 4 %28, i8 0, i64 %30, i1 false)
  %31 = getelementptr inbounds i8, ptr %2, i64 16
  %32 = tail call { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16) %31)
  %33 = extractvalue { double, double } %32, 0
  %34 = extractvalue { double, double } %32, 1
  %35 = getelementptr inbounds i8, ptr %3, i64 64
  store double %33, ptr %35, align 16
  %.sroa.4145.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 72
  store double %34, ptr %.sroa.4145.0..sroa_idx, align 8, !tbaa !6
  %36 = tail call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %31, double %33, double %34)
  %37 = extractvalue { double, double } %36, 0
  %38 = extractvalue { double, double } %36, 1
  %39 = getelementptr inbounds i8, ptr %3, i64 80
  store double %37, ptr %39, align 16
  %.sroa.4143.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 88
  store double %38, ptr %.sroa.4143.0..sroa_idx, align 8, !tbaa !6
  %40 = tail call noundef zeroext i8 @_ZNK3JPH4Body13GetMotionTypeEv(ptr noundef nonnull align 16 dereferenceable(122) %0)
  %41 = tail call noundef ptr @_ZNK3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %0)
  %.not = icmp eq i8 %40, 0
  br i1 %.not, label %50, label %42

42:                                               ; preds = %26
  %43 = tail call { double, double } @_ZNK3JPH16MotionProperties17GetLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %41)
  %44 = extractvalue { double, double } %43, 0
  %45 = extractvalue { double, double } %43, 1
  store double %44, ptr %3, align 16
  %.sroa.4134.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 8
  store double %45, ptr %.sroa.4134.0..sroa_idx, align 8, !tbaa !6
  %46 = tail call { double, double } @_ZNK3JPH16MotionProperties18GetAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %41)
  %47 = extractvalue { double, double } %46, 0
  %48 = extractvalue { double, double } %46, 1
  %49 = getelementptr inbounds i8, ptr %3, i64 16
  store double %47, ptr %49, align 16
  %.sroa.4132.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 24
  store double %48, ptr %.sroa.4132.0..sroa_idx, align 8, !tbaa !6
  br label %55

50:                                               ; preds = %26
  %51 = tail call { double, double } @_ZN3JPH4Vec35sZeroEv()
  %52 = extractvalue { double, double } %51, 0
  %53 = extractvalue { double, double } %51, 1
  %54 = getelementptr inbounds i8, ptr %3, i64 16
  store double %52, ptr %54, align 16
  %.sroa.4130.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 24
  store double %53, ptr %.sroa.4130.0..sroa_idx, align 8, !tbaa !6
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %54, i64 16, i1 false), !tbaa.struct !9
  br label %55

55:                                               ; preds = %50, %42
  %56 = tail call noundef zeroext i8 @_ZNK3JPH4Body13GetMotionTypeEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
  %57 = tail call noundef ptr @_ZNK3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
  %.not222 = icmp eq i8 %56, 0
  br i1 %.not222, label %67, label %58

58:                                               ; preds = %55
  %59 = tail call { double, double } @_ZNK3JPH16MotionProperties17GetLinearVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %57)
  %60 = extractvalue { double, double } %59, 0
  %61 = extractvalue { double, double } %59, 1
  %62 = getelementptr inbounds i8, ptr %3, i64 32
  store double %60, ptr %62, align 16
  %.sroa.4123.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 40
  store double %61, ptr %.sroa.4123.0..sroa_idx, align 8, !tbaa !6
  %63 = tail call { double, double } @_ZNK3JPH16MotionProperties18GetAngularVelocityEv(ptr noundef nonnull align 16 dereferenceable(182) %57)
  %64 = extractvalue { double, double } %63, 0
  %65 = extractvalue { double, double } %63, 1
  %66 = getelementptr inbounds i8, ptr %3, i64 48
  store double %64, ptr %66, align 16
  %.sroa.4121.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  store double %65, ptr %.sroa.4121.0..sroa_idx, align 8, !tbaa !6
  br label %73

67:                                               ; preds = %55
  %68 = tail call { double, double } @_ZN3JPH4Vec35sZeroEv()
  %69 = extractvalue { double, double } %68, 0
  %70 = extractvalue { double, double } %68, 1
  %71 = getelementptr inbounds i8, ptr %3, i64 48
  store double %69, ptr %71, align 16
  %.sroa.4119.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 56
  store double %70, ptr %.sroa.4119.0..sroa_idx, align 8, !tbaa !6
  %72 = getelementptr inbounds i8, ptr %3, i64 32
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %72, ptr noundef nonnull align 16 dereferenceable(16) %71, i64 16, i1 false), !tbaa.struct !9
  br label %73

73:                                               ; preds = %67, %58
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %9) #10
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %10) #10
  %74 = icmp eq i8 %40, 2
  br i1 %74, label %75, label %77

75:                                               ; preds = %73
  %76 = tail call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %41)
  call void @_ZNK3JPH4Body17GetInverseInertiaEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %9, ptr noundef nonnull align 16 dereferenceable(122) %0)
  br label %78

77:                                               ; preds = %73
  call void @_ZN3JPH5Mat445sZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %9)
  br label %78

78:                                               ; preds = %77, %75
  %.0 = phi float [ %76, %75 ], [ 0.000000e+00, %77 ]
  %79 = icmp eq i8 %56, 2
  br i1 %79, label %80, label %82

80:                                               ; preds = %78
  %81 = call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %57)
  call void @_ZNK3JPH4Body17GetInverseInertiaEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %10, ptr noundef nonnull align 16 dereferenceable(122) %1)
  br label %83

82:                                               ; preds = %78
  call void @_ZN3JPH5Mat445sZeroEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %10)
  br label %83

83:                                               ; preds = %82, %80
  %.0210 = phi float [ %81, %80 ], [ 0.000000e+00, %82 ]
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #10
  %84 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %0)
  %85 = extractvalue { double, double } %84, 0
  store double %85, ptr %11, align 16
  %86 = getelementptr inbounds i8, ptr %11, i64 8
  %87 = extractvalue { double, double } %84, 1
  store double %87, ptr %86, align 8
  %.sroa.0102.0.copyload = load double, ptr %2, align 16
  %.sroa.2103.0..sroa_idx = getelementptr inbounds i8, ptr %2, i64 8
  %.sroa.2103.0.copyload = load double, ptr %.sroa.2103.0..sroa_idx, align 8, !tbaa !6
  %88 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %11, double %.sroa.0102.0.copyload, double %.sroa.2103.0.copyload)
  %89 = extractvalue { double, double } %88, 0
  %90 = extractvalue { double, double } %88, 1
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #10
  %91 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
  %92 = extractvalue { double, double } %91, 0
  store double %92, ptr %12, align 16
  %93 = getelementptr inbounds i8, ptr %12, i64 8
  %94 = extractvalue { double, double } %91, 1
  store double %94, ptr %93, align 8
  %.sroa.099.0.copyload = load double, ptr %2, align 16
  %.sroa.2100.0.copyload = load double, ptr %.sroa.2103.0..sroa_idx, align 8, !tbaa !6
  %95 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %12, double %.sroa.099.0.copyload, double %.sroa.2100.0.copyload)
  %96 = extractvalue { double, double } %95, 0
  %97 = extractvalue { double, double } %95, 1
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #10
  call void @llvm.lifetime.start.p0(i64 15360, ptr nonnull %13) #10
  %.not247 = icmp eq i32 %19, 0
  br i1 %.not247, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %83
  %98 = getelementptr inbounds i8, ptr %14, i64 8
  %.sroa.274.0..sroa_idx = getelementptr inbounds i8, ptr %2, i64 24
  %99 = fcmp ogt float %5, 0.000000e+00
  %100 = getelementptr inbounds i8, ptr %3, i64 32
  %101 = getelementptr inbounds i8, ptr %3, i64 48
  %102 = getelementptr inbounds i8, ptr %17, i64 8
  %.sroa.268.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 8
  %103 = getelementptr inbounds i8, ptr %16, i64 8
  %104 = getelementptr inbounds i8, ptr %3, i64 16
  %105 = getelementptr inbounds i8, ptr %15, i64 8
  %106 = fneg float %6
  %107 = fcmp ogt float %4, 0.000000e+00
  br label %152

._crit_edge:                                      ; preds = %195, %83
  %108 = fcmp ole float %4, 0.000000e+00
  %109 = icmp eq i32 %19, 1
  %or.cond = and i1 %108, %109
  %110 = select i1 %or.cond, i32 1, i32 %7
  %111 = icmp sgt i32 %110, 0
  br i1 %111, label %.lr.ph232, label %._crit_edge233

.lr.ph232:                                        ; preds = %._crit_edge
  %112 = fcmp ogt float %4, 0.000000e+00
  %.sroa.2.0..sroa_idx = getelementptr inbounds i8, ptr %2, i64 24
  br i1 %112, label %.lr.ph232.split, label %.lr.ph232.split.us

.lr.ph232.split.us:                               ; preds = %.lr.ph232
  br i1 %.not247, label %._crit_edge233, label %.lr.ph228.us.us

.lr.ph228.us.us:                                  ; preds = %.lr.ph232.split.us, %._crit_edge229.us.us
  %.0213230.us.us = phi i32 [ %117, %._crit_edge229.us.us ], [ 0, %.lr.ph232.split.us ]
  br label %113

113:                                              ; preds = %.lr.ph228.us.us, %113
  %indvars.iv255 = phi i64 [ 0, %.lr.ph228.us.us ], [ %indvars.iv.next256, %113 ]
  %114 = getelementptr inbounds [64 x %struct.Constraint], ptr %13, i64 0, i64 %indvars.iv255
  %.sroa.0.0.copyload.us.us = load double, ptr %31, align 16
  %.sroa.2.0.copyload.us.us = load double, ptr %.sroa.2.0..sroa_idx, align 8, !tbaa !6
  %115 = trunc nuw i64 %indvars.iv255 to i32
  %116 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EEixEj(ptr noundef nonnull align 4 dereferenceable(772) %27, i32 noundef %115)
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint5SolveENS_4Vec3EffffRfS7_(ptr noundef nonnull align 16 dereferenceable(72) %114, double %.sroa.0.0.copyload.us.us, double %.sroa.2.0.copyload.us.us, float noundef %.0, float noundef %.0210, float noundef 0.000000e+00, float noundef 0x47EFFFFFE0000000, ptr noundef nonnull align 4 dereferenceable(4) %116, ptr noundef nonnull align 16 dereferenceable(868) %3)
  %indvars.iv.next256 = add nuw nsw i64 %indvars.iv255, 1
  %exitcond259.not = icmp eq i64 %indvars.iv.next256, %29
  br i1 %exitcond259.not, label %._crit_edge229.us.us, label %113, !llvm.loop !10

._crit_edge229.us.us:                             ; preds = %113
  %117 = add nuw nsw i32 %.0213230.us.us, 1
  %exitcond260.not = icmp eq i32 %117, %110
  br i1 %exitcond260.not, label %._crit_edge233, label %.lr.ph228.us.us, !llvm.loop !12

.lr.ph232.split:                                  ; preds = %.lr.ph232
  br i1 %.not247, label %._crit_edge233, label %.lr.ph232.split.split.us

.lr.ph232.split.split.us:                         ; preds = %.lr.ph232.split, %._crit_edge229.us239
  %.0213230.us234 = phi i32 [ %118, %._crit_edge229.us239 ], [ 0, %.lr.ph232.split ]
  %.not250 = icmp eq i32 %.0213230.us234, 0
  br i1 %.not250, label %.lr.ph228.us238.preheader, label %.preheader.us

.lr.ph228.us238.preheader:                        ; preds = %147, %.lr.ph232.split.split.us
  br label %.lr.ph228.us238

._crit_edge229.us239:                             ; preds = %.lr.ph228.us238
  %118 = add nuw nsw i32 %.0213230.us234, 1
  %exitcond271.not = icmp eq i32 %118, %110
  br i1 %exitcond271.not, label %._crit_edge233, label %.lr.ph232.split.split.us, !llvm.loop !12

.lr.ph228.us238:                                  ; preds = %.lr.ph228.us238.preheader, %.lr.ph228.us238
  %indvars.iv266 = phi i64 [ %indvars.iv.next267, %.lr.ph228.us238 ], [ 0, %.lr.ph228.us238.preheader ]
  %119 = getelementptr inbounds [64 x %struct.Constraint], ptr %13, i64 0, i64 %indvars.iv266
  %.sroa.0.0.copyload.us236 = load double, ptr %31, align 16
  %.sroa.2.0.copyload.us237 = load double, ptr %.sroa.2.0..sroa_idx, align 8, !tbaa !6
  %120 = trunc nuw i64 %indvars.iv266 to i32
  %121 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EEixEj(ptr noundef nonnull align 4 dereferenceable(772) %27, i32 noundef %120)
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint5SolveENS_4Vec3EffffRfS7_(ptr noundef nonnull align 16 dereferenceable(72) %119, double %.sroa.0.0.copyload.us236, double %.sroa.2.0.copyload.us237, float noundef %.0, float noundef %.0210, float noundef 0.000000e+00, float noundef 0x47EFFFFFE0000000, ptr noundef nonnull align 4 dereferenceable(4) %121, ptr noundef nonnull align 16 dereferenceable(868) %3)
  %indvars.iv.next267 = add nuw nsw i64 %indvars.iv266, 1
  %exitcond270.not = icmp eq i64 %indvars.iv.next267, %29
  br i1 %exitcond270.not, label %._crit_edge229.us239, label %.lr.ph228.us238, !llvm.loop !10

.preheader.us:                                    ; preds = %.lr.ph232.split.split.us, %147
  %indvars.iv261 = phi i64 [ %indvars.iv.next262, %147 ], [ 0, %.lr.ph232.split.split.us ]
  %122 = getelementptr inbounds [64 x %struct.Constraint], ptr %13, i64 0, i64 %indvars.iv261
  %123 = trunc nuw i64 %indvars.iv261 to i32
  %124 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EEixEj(ptr noundef nonnull align 4 dereferenceable(772) %27, i32 noundef %123)
  %125 = getelementptr inbounds i8, ptr %124, i64 4
  %126 = load float, ptr %125, align 4, !tbaa !13
  %127 = getelementptr inbounds i8, ptr %122, i64 80
  %.sroa.022.0.copyload.us = load double, ptr %35, align 16
  %.sroa.223.0.copyload.us = load double, ptr %.sroa.4145.0..sroa_idx, align 8, !tbaa !6
  %128 = call noundef float @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint14SolveGetLambdaENS_4Vec3ERKS6_(ptr noundef nonnull align 16 dereferenceable(72) %127, double %.sroa.022.0.copyload.us, double %.sroa.223.0.copyload.us, ptr noundef nonnull align 16 dereferenceable(868) %3)
  %129 = fadd float %126, %128
  %130 = getelementptr inbounds i8, ptr %124, i64 8
  %131 = load float, ptr %130, align 4, !tbaa !16
  %132 = getelementptr inbounds i8, ptr %122, i64 160
  %.sroa.016.0.copyload.us = load double, ptr %39, align 16
  %.sroa.217.0.copyload.us = load double, ptr %.sroa.4143.0..sroa_idx, align 8, !tbaa !6
  %133 = call noundef float @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint14SolveGetLambdaENS_4Vec3ERKS6_(ptr noundef nonnull align 16 dereferenceable(72) %132, double %.sroa.016.0.copyload.us, double %.sroa.217.0.copyload.us, ptr noundef nonnull align 16 dereferenceable(868) %3)
  %134 = fadd float %131, %133
  %135 = load float, ptr %124, align 4, !tbaa !17
  %136 = fmul float %135, %4
  %137 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %129)
  %138 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %134)
  %139 = fadd float %137, %138
  %140 = call noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef %136)
  %141 = fcmp ogt float %139, %140
  br i1 %141, label %142, label %147

142:                                              ; preds = %.preheader.us
  %143 = call noundef float @_ZSt4sqrtf(float noundef %139)
  %144 = fdiv float %136, %143
  %145 = fmul float %129, %144
  %146 = fmul float %134, %144
  br label %147

147:                                              ; preds = %142, %.preheader.us
  %.0216.us = phi float [ %146, %142 ], [ %134, %.preheader.us ]
  %.0215.us = phi float [ %145, %142 ], [ %129, %.preheader.us ]
  %.sroa.09.0.copyload.us = load double, ptr %35, align 16
  %.sroa.210.0.copyload.us = load double, ptr %.sroa.4145.0..sroa_idx, align 8, !tbaa !6
  %148 = load float, ptr %125, align 4, !tbaa !13
  %149 = fsub float %.0215.us, %148
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint16SolveApplyLambdaENS_4Vec3EfffS7_(ptr noundef nonnull align 16 dereferenceable(72) %127, double %.sroa.09.0.copyload.us, double %.sroa.210.0.copyload.us, float noundef %.0, float noundef %.0210, float noundef %149, ptr noundef nonnull align 16 dereferenceable(868) %3)
  %.sroa.07.0.copyload.us = load double, ptr %39, align 16
  %.sroa.28.0.copyload.us = load double, ptr %.sroa.4143.0..sroa_idx, align 8, !tbaa !6
  %150 = load float, ptr %130, align 4, !tbaa !16
  %151 = fsub float %.0216.us, %150
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint16SolveApplyLambdaENS_4Vec3EfffS7_(ptr noundef nonnull align 16 dereferenceable(72) %132, double %.sroa.07.0.copyload.us, double %.sroa.28.0.copyload.us, float noundef %.0, float noundef %.0210, float noundef %151, ptr noundef nonnull align 16 dereferenceable(868) %3)
  store float %.0215.us, ptr %125, align 4, !tbaa !13
  store float %.0216.us, ptr %130, align 4, !tbaa !16
  %indvars.iv.next262 = add nuw nsw i64 %indvars.iv261, 1
  %exitcond265.not = icmp eq i64 %indvars.iv.next262, %29
  br i1 %exitcond265.not, label %.lr.ph228.us238.preheader, label %.preheader.us, !llvm.loop !18

152:                                              ; preds = %.lr.ph, %195
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %195 ]
  %153 = getelementptr inbounds [64 x %struct.Constraint], ptr %13, i64 0, i64 %indvars.iv
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #10
  %154 = trunc nuw i64 %indvars.iv to i32
  %155 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %18, i32 noundef %154)
  %156 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %20, i32 noundef %154)
  %.sroa.086.0.copyload = load double, ptr %156, align 16
  %.sroa.287.0..sroa_idx = getelementptr inbounds i8, ptr %156, i64 8
  %.sroa.287.0.copyload = load double, ptr %.sroa.287.0..sroa_idx, align 8, !tbaa !6
  %157 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %155, double %.sroa.086.0.copyload, double %.sroa.287.0.copyload)
  %158 = extractvalue { double, double } %157, 0
  %159 = extractvalue { double, double } %157, 1
  %160 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef 5.000000e-01, double %158, double %159)
  %161 = extractvalue { double, double } %160, 0
  store double %161, ptr %14, align 16
  %162 = extractvalue { double, double } %160, 1
  store double %162, ptr %98, align 8
  %163 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %14, double %89, double %90)
  %164 = extractvalue { double, double } %163, 0
  %165 = extractvalue { double, double } %163, 1
  %166 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %14, double %96, double %97)
  %167 = extractvalue { double, double } %166, 0
  %168 = extractvalue { double, double } %166, 1
  %.sroa.073.0.copyload = load double, ptr %31, align 16
  %.sroa.274.0.copyload = load double, ptr %.sroa.274.0..sroa_idx, align 8, !tbaa !6
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjEN14AxisConstraint10InitializeENS_4Vec3ES9_S9_ffRKNS_5Mat44ESC_(ptr noundef nonnull align 16 dereferenceable(72) %153, double %164, double %165, double %167, double %168, double %.sroa.073.0.copyload, double %.sroa.274.0.copyload, float noundef %.0, float noundef %.0210, ptr noundef nonnull align 16 dereferenceable(64) %9, ptr noundef nonnull align 16 dereferenceable(64) %10)
  br i1 %99, label %169, label %191

169:                                              ; preds = %152
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #10
  %170 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %101, double %167, double %168)
  %171 = extractvalue { double, double } %170, 0
  %172 = extractvalue { double, double } %170, 1
  %173 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %100, double %171, double %172)
  %174 = extractvalue { double, double } %173, 0
  store double %174, ptr %17, align 16
  %175 = extractvalue { double, double } %173, 1
  store double %175, ptr %102, align 8
  %.sroa.067.0.copyload = load double, ptr %3, align 16
  %.sroa.268.0.copyload = load double, ptr %.sroa.268.0..sroa_idx, align 8, !tbaa !6
  %176 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %17, double %.sroa.067.0.copyload, double %.sroa.268.0.copyload)
  %177 = extractvalue { double, double } %176, 0
  store double %177, ptr %16, align 16
  %178 = extractvalue { double, double } %176, 1
  store double %178, ptr %103, align 8
  %179 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %104, double %164, double %165)
  %180 = extractvalue { double, double } %179, 0
  %181 = extractvalue { double, double } %179, 1
  %182 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %16, double %180, double %181)
  %183 = extractvalue { double, double } %182, 0
  store double %183, ptr %15, align 16
  %184 = extractvalue { double, double } %182, 1
  store double %184, ptr %105, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #10
  %.sroa.059.0.copyload = load double, ptr %31, align 16
  %.sroa.260.0.copyload = load double, ptr %.sroa.274.0..sroa_idx, align 8, !tbaa !6
  %185 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %15, double %.sroa.059.0.copyload, double %.sroa.260.0.copyload)
  %186 = fcmp olt float %185, %106
  br i1 %186, label %187, label %190

187:                                              ; preds = %169
  %188 = fmul float %185, %5
  %189 = getelementptr inbounds i8, ptr %153, i64 68
  store float %188, ptr %189, align 4, !tbaa !19
  br label %190

190:                                              ; preds = %187, %169
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #10
  br label %191

191:                                              ; preds = %190, %152
  br i1 %107, label %192, label %195

192:                                              ; preds = %191
  %193 = getelementptr inbounds i8, ptr %153, i64 80
  %.sroa.053.0.copyload = load double, ptr %35, align 16
  %.sroa.254.0.copyload = load double, ptr %.sroa.4145.0..sroa_idx, align 8, !tbaa !6
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjEN14AxisConstraint10InitializeENS_4Vec3ES9_S9_ffRKNS_5Mat44ESC_(ptr noundef nonnull align 16 dereferenceable(72) %193, double %164, double %165, double %167, double %168, double %.sroa.053.0.copyload, double %.sroa.254.0.copyload, float noundef %.0, float noundef %.0210, ptr noundef nonnull align 16 dereferenceable(64) %9, ptr noundef nonnull align 16 dereferenceable(64) %10)
  %194 = getelementptr inbounds i8, ptr %153, i64 160
  %.sroa.047.0.copyload = load double, ptr %39, align 16
  %.sroa.248.0.copyload = load double, ptr %.sroa.4143.0..sroa_idx, align 8, !tbaa !6
  call void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjEN14AxisConstraint10InitializeENS_4Vec3ES9_S9_ffRKNS_5Mat44ESC_(ptr noundef nonnull align 16 dereferenceable(72) %194, double %164, double %165, double %167, double %168, double %.sroa.047.0.copyload, double %.sroa.248.0.copyload, float noundef %.0, float noundef %.0210, ptr noundef nonnull align 16 dereferenceable(64) %9, ptr noundef nonnull align 16 dereferenceable(64) %10)
  br label %195

195:                                              ; preds = %192, %191
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #10
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %29
  br i1 %exitcond.not, label %._crit_edge, label %152, !llvm.loop !23

._crit_edge233:                                   ; preds = %._crit_edge229.us.us, %._crit_edge229.us239, %.lr.ph232.split, %.lr.ph232.split.us, %._crit_edge
  call void @llvm.lifetime.end.p0(i64 15360, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %10) #10
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %9) #10
  ret void
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EE4sizeEv(ptr noundef nonnull align 16 dereferenceable(1040)) local_unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EE6resizeEj(ptr noundef nonnull align 4 dereferenceable(772), i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EE4dataEv(ptr noundef nonnull align 4 dereferenceable(772)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #4

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #5 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) #6

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i8 @_ZNK3JPH4Body13GetMotionTypeEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #2 align 2

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

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec35sZeroEv() local_unnamed_addr #7 align 2

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

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH5Mat445sZeroEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #3 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 #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) local_unnamed_addr #7

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZNK3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) local_unnamed_addr #1 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 #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjEN14AxisConstraint10InitializeENS_4Vec3ES9_S9_ffRKNS_5Mat44ESC_(ptr noundef nonnull align 16 dereferenceable(72), double, double, double, double, double, double, float noundef, float noundef, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #9 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH11StaticArrayINS_25CollisionEstimationResult7ImpulseELj64EEixEj(ptr noundef nonnull align 4 dereferenceable(772), i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef float @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint14SolveGetLambdaENS_4Vec3ERKS6_(ptr noundef nonnull align 16 dereferenceable(72), double, double, ptr noundef nonnull align 16 dereferenceable(868)) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH6SquareIfEET_S1_(float noundef) local_unnamed_addr #9

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) local_unnamed_addr #8

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint16SolveApplyLambdaENS_4Vec3EfffS7_(ptr noundef nonnull align 16 dereferenceable(72), double, double, float noundef, float noundef, float noundef, ptr noundef nonnull align 16 dereferenceable(868)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @_ZZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjENK14AxisConstraint5SolveENS_4Vec3EffffRfS7_(ptr noundef nonnull align 16 dereferenceable(72), double, double, float noundef, float noundef, float noundef, float noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 16 dereferenceable(868)) local_unnamed_addr #3 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 nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #7 = { 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 #8 = { 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 #9 = { 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 #10 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{i64 2158045075}
!6 = !{!7, !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{i64 0, i64 16, !6}
!10 = distinct !{!10, !11}
!11 = !{!"llvm.loop.mustprogress"}
!12 = distinct !{!12, !11}
!13 = !{!14, !15, i64 4}
!14 = !{!"_ZTSN3JPH25CollisionEstimationResult7ImpulseE", !15, i64 0, !15, i64 4, !15, i64 8}
!15 = !{!"float", !7, i64 0}
!16 = !{!14, !15, i64 8}
!17 = !{!14, !15, i64 0}
!18 = distinct !{!18, !11}
!19 = !{!20, !15, i64 68}
!20 = !{!"_ZTSZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjE10Constraint", !21, i64 0, !21, i64 80, !21, i64 160}
!21 = !{!"_ZTSZN3JPH25EstimateCollisionResponseERKNS_4BodyES2_RKNS_15ContactManifoldERNS_25CollisionEstimationResultEfffjE14AxisConstraint", !22, i64 0, !22, i64 16, !22, i64 32, !22, i64 48, !15, i64 64, !15, i64 68}
!22 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!23 = distinct !{!23, !11}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopInstSimplifyPass,LoopRotatePass,LoopSimplifyCFGPass,LoopSimplifyPass,LoopUnrollPass,MemCpyOptPass,ReassociatePass,SCCPPass,SROAPass,SimplifyCFGPass,TailCallElimPass