; LLVM IR from jrouwe/JoltPhysics :: Samples/Tests/Constraints (SwingTwistConstraintTest)

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

%"class.JPH::Ref" = type { ptr }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.4 }
%union.anon.4 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::BodyCreationSettings" = type { %"class.JPH::Vec3", %"class.JPH::Quat", %"class.JPH::Vec3", %"class.JPH::Vec3", i64, i16, %"class.JPH::CollisionGroup", i8, i8, i8, i8, i8, i8, i8, i8, i8, i8, float, float, float, float, float, float, float, i32, i32, i8, float, %"class.JPH::MassProperties", %"class.JPH::RefConst.11", %"class.JPH::RefConst" }
%"class.JPH::CollisionGroup" = type { %"class.JPH::RefConst.5", i32, i32 }
%"class.JPH::RefConst.5" = type { ptr }
%"class.JPH::MassProperties" = type { float, %"class.JPH::Mat44" }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::RefConst.11" = type { ptr }
%"class.JPH::RefConst" = type { ptr }
%"class.JPH::Ref.14" = type { ptr }
%"class.JPH::Ref.17" = type { ptr }
%class.Test = type { ptr, ptr, ptr, ptr, ptr, ptr, i8, %"class.std::unordered_map" }
%"class.std::unordered_map" = type { %"class.std::_Hashtable" }
%"class.std::_Hashtable" = type { ptr, i64, %"struct.std::__detail::_Hash_node_base", i64, %"struct.std::__detail::_Prime_rehash_policy", ptr }
%"struct.std::__detail::_Hash_node_base" = type { ptr }
%"struct.std::__detail::_Prime_rehash_policy" = type { float, i64 }
%"class.JPH::SwingTwistConstraintSettings" = type { %"class.JPH::TwoBodyConstraintSettings", i32, %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", i8, float, float, float, float, float, %"class.JPH::MotorSettings", %"class.JPH::MotorSettings" }
%"class.JPH::TwoBodyConstraintSettings" = type { %"class.JPH::ConstraintSettings" }
%"class.JPH::ConstraintSettings" = type { %"class.JPH::SerializableObject", %"class.JPH::RefTarget.15", i8, i32, i32, i32, float, i64 }
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget.15" = type { %"struct.std::atomic.6" }
%"struct.std::atomic.6" = type { %"struct.std::__atomic_base.7" }
%"struct.std::__atomic_base.7" = type { i32 }
%"class.JPH::MotorSettings" = type { %"class.JPH::SpringSettings", float, float, float, float }
%"class.JPH::SpringSettings" = type { i8, %union.anon.16, float }
%union.anon.16 = type { float }
%class.SwingTwistConstraintTest = type { %class.Test, %"class.JPH::Array" }
%"class.JPH::Array" = type { i64, i64, ptr }

@_ZN24SwingTwistConstraintTest20sNormalHalfConeAngleE = external dso_local global float, align 4
@_ZN24SwingTwistConstraintTest19sPlaneHalfConeAngleE = external dso_local global float, align 4
@_ZN24SwingTwistConstraintTest14sTwistMinAngleE = external dso_local global float, align 4
@_ZN24SwingTwistConstraintTest14sTwistMaxAngleE = external dso_local global float, align 4

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN24SwingTwistConstraintTest10InitializeEv(ptr noundef nonnull align 8 dereferenceable(136) %0) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca float, align 4
  %4 = alloca i32, align 4
  %5 = alloca %"class.JPH::Ref", align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca %"class.JPH::Quat", align 16
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca i32, align 4
  %14 = alloca %"class.JPH::Vec3", align 16
  %15 = alloca ptr, align 8
  %16 = alloca %"class.JPH::BodyCreationSettings", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Quat", align 16
  %19 = alloca %"class.JPH::Quat", align 16
  %20 = alloca %"class.JPH::Vec3", align 16
  %21 = alloca %"class.JPH::Quat", align 16
  %22 = alloca %"class.JPH::CollisionGroup", align 8
  %23 = alloca %"class.JPH::Ref.14", 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 %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::Ref.17", align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %29 = load ptr, ptr %2, align 8
  %30 = call noundef nonnull align 16 dereferenceable(122) ptr @_ZN4Test11CreateFloorEf(ptr noundef nonnull align 8 dereferenceable(112) %29, float noundef 2.000000e+02)
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #10
  store float 1.500000e+00, ptr %3, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #10
  store i32 10, ptr %4, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #10
  %31 = call noundef ptr @_ZN3JPH16GroupFilterTablenwEm(i64 noundef 40)
  invoke void @_ZN3JPH16GroupFilterTableC2Ej(ptr noundef nonnull align 8 dereferenceable(40) %31, i32 noundef 10)
          to label %32 unwind label %37

32:                                               ; preds = %1
  call void @_ZN3JPH3RefINS_16GroupFilterTableEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %5, ptr noundef %31)
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #10
  store i32 0, ptr %8, align 4, !tbaa !11
  br label %33

33:                                               ; preds = %48, %32
  %34 = load i32, ptr %8, align 4, !tbaa !11
  %35 = icmp ult i32 %34, 9
  br i1 %35, label %41, label %36

36:                                               ; preds = %33
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #10
  br label %55

37:                                               ; preds = %1
  %38 = landingpad { ptr, i32 }
          cleanup
  %39 = extractvalue { ptr, i32 } %38, 0
  store ptr %39, ptr %6, align 8
  %40 = extractvalue { ptr, i32 } %38, 1
  store i32 %40, ptr %7, align 4
  call void @_ZN3JPH16GroupFilterTabledlEPv(ptr noundef %31) #10
  br label %347

41:                                               ; preds = %33
  %42 = invoke noundef ptr @_ZNK3JPH3RefINS_16GroupFilterTableEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %5)
          to label %43 unwind label %51

43:                                               ; preds = %41
  %44 = load i32, ptr %8, align 4, !tbaa !11
  %45 = load i32, ptr %8, align 4, !tbaa !11
  %46 = add i32 %45, 1
  invoke void @_ZN3JPH16GroupFilterTable16DisableCollisionEjj(ptr noundef nonnull align 8 dereferenceable(40) %42, i32 noundef %44, i32 noundef %46)
          to label %47 unwind label %51

47:                                               ; preds = %43
  br label %48

48:                                               ; preds = %47
  %49 = load i32, ptr %8, align 4, !tbaa !11
  %50 = add i32 %49, 1
  store i32 %50, ptr %8, align 4, !tbaa !11
  br label %33, !llvm.loop !13

51:                                               ; preds = %43, %41
  %52 = landingpad { ptr, i32 }
          cleanup
  %53 = extractvalue { ptr, i32 } %52, 0
  store ptr %53, ptr %6, align 8
  %54 = extractvalue { ptr, i32 } %52, 1
  store i32 %54, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #10
  br label %346

55:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #10
  store ptr null, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %10) #10
  %56 = invoke { double, double } @_ZN3JPH4Vec36sAxisZEv()
          to label %57 unwind label %82

57:                                               ; preds = %55
  %58 = getelementptr inbounds %"class.JPH::Vec3", ptr %11, i32 0, i32 0
  %59 = getelementptr inbounds %union.anon, ptr %58, i32 0, i32 0
  %60 = getelementptr inbounds { double, double }, ptr %59, i32 0, i32 0
  %61 = extractvalue { double, double } %56, 0
  store double %61, ptr %60, align 16
  %62 = getelementptr inbounds { double, double }, ptr %59, i32 0, i32 1
  %63 = extractvalue { double, double } %56, 1
  store double %63, ptr %62, align 8
  %64 = getelementptr inbounds { double, double }, ptr %11, i32 0, i32 0
  %65 = load double, ptr %64, align 16
  %66 = getelementptr inbounds { double, double }, ptr %11, i32 0, i32 1
  %67 = load double, ptr %66, align 8
  %68 = invoke { double, double } @_ZN3JPH4Quat9sRotationENS_4Vec3Ef(double %65, double %67, float noundef 0x3FF921FB60000000)
          to label %69 unwind label %82

69:                                               ; preds = %57
  %70 = getelementptr inbounds %"class.JPH::Quat", ptr %10, i32 0, i32 0
  %71 = getelementptr inbounds %"class.JPH::Vec4", ptr %70, i32 0, i32 0
  %72 = getelementptr inbounds %union.anon.4, ptr %71, i32 0, i32 0
  %73 = getelementptr inbounds { double, double }, ptr %72, i32 0, i32 0
  %74 = extractvalue { double, double } %68, 0
  store double %74, ptr %73, align 16
  %75 = getelementptr inbounds { double, double }, ptr %72, i32 0, i32 1
  %76 = extractvalue { double, double } %68, 1
  store double %76, ptr %75, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #10
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %12, float noundef 0.000000e+00, float noundef 2.500000e+01, float noundef 0.000000e+00)
          to label %77 unwind label %86

77:                                               ; preds = %69
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #10
  store i32 0, ptr %13, align 4, !tbaa !11
  br label %78

78:                                               ; preds = %338, %77
  %79 = load i32, ptr %13, align 4, !tbaa !11
  %80 = icmp slt i32 %79, 10
  br i1 %80, label %90, label %81

81:                                               ; preds = %78
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #10
  br label %343

82:                                               ; preds = %57, %55
  %83 = landingpad { ptr, i32 }
          cleanup
  %84 = extractvalue { ptr, i32 } %83, 0
  store ptr %84, ptr %6, align 8
  %85 = extractvalue { ptr, i32 } %83, 1
  store i32 %85, ptr %7, align 4
  br label %345

86:                                               ; preds = %69
  %87 = landingpad { ptr, i32 }
          cleanup
  %88 = extractvalue { ptr, i32 } %87, 0
  store ptr %88, ptr %6, align 8
  %89 = extractvalue { ptr, i32 } %87, 1
  store i32 %89, ptr %7, align 4
  br label %344

90:                                               ; preds = %78
  %91 = load float, ptr %3, align 4, !tbaa !9
  %92 = fmul float 2.000000e+00, %91
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %14, float noundef %92, float noundef 0.000000e+00, float noundef 0.000000e+00)
          to label %93 unwind label %179

93:                                               ; preds = %90
  %94 = getelementptr inbounds { double, double }, ptr %14, i32 0, i32 0
  %95 = load double, ptr %94, align 16
  %96 = getelementptr inbounds { double, double }, ptr %14, i32 0, i32 1
  %97 = load double, ptr %96, align 8
  %98 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3pLES0_(ptr noundef nonnull align 16 dereferenceable(16) %12, double %95, double %97)
          to label %99 unwind label %179

99:                                               ; preds = %93
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #10
  %100 = getelementptr inbounds %class.Test, ptr %29, i32 0, i32 3
  %101 = load ptr, ptr %100, align 8, !tbaa !15
  call void @llvm.lifetime.start.p0(i64 256, ptr %16) #10
  %102 = invoke noundef ptr @_ZN3JPH12CapsuleShapenwEm(i64 noundef 56)
          to label %103 unwind label %183

103:                                              ; preds = %99
  %104 = load float, ptr %3, align 4, !tbaa !9
  invoke void @_ZN3JPH12CapsuleShapeC2EffPKNS_15PhysicsMaterialE(ptr noundef nonnull align 8 dereferenceable(56) %102, float noundef %104, float noundef 5.000000e-01, ptr noundef null)
          to label %105 unwind label %187

105:                                              ; preds = %103
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %17, ptr align 16 %12, i64 16, i1 false), !tbaa.struct !23
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #10
  %106 = invoke { double, double } @_ZN3JPH4Vec36sAxisXEv()
          to label %107 unwind label %191

107:                                              ; preds = %105
  %108 = getelementptr inbounds %"class.JPH::Vec3", ptr %20, i32 0, i32 0
  %109 = getelementptr inbounds %union.anon, ptr %108, i32 0, i32 0
  %110 = getelementptr inbounds { double, double }, ptr %109, i32 0, i32 0
  %111 = extractvalue { double, double } %106, 0
  store double %111, ptr %110, align 16
  %112 = getelementptr inbounds { double, double }, ptr %109, i32 0, i32 1
  %113 = extractvalue { double, double } %106, 1
  store double %113, ptr %112, align 8
  %114 = load i32, ptr %13, align 4, !tbaa !11
  %115 = sitofp i32 %114 to float
  %116 = fmul float 0x3FE921FB60000000, %115
  %117 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 0
  %118 = load double, ptr %117, align 16
  %119 = getelementptr inbounds { double, double }, ptr %20, i32 0, i32 1
  %120 = load double, ptr %119, align 8
  %121 = invoke { double, double } @_ZN3JPH4Quat9sRotationENS_4Vec3Ef(double %118, double %120, float noundef %116)
          to label %122 unwind label %191

122:                                              ; preds = %107
  %123 = getelementptr inbounds %"class.JPH::Quat", ptr %19, i32 0, i32 0
  %124 = getelementptr inbounds %"class.JPH::Vec4", ptr %123, i32 0, i32 0
  %125 = getelementptr inbounds %union.anon.4, ptr %124, i32 0, i32 0
  %126 = getelementptr inbounds { double, double }, ptr %125, i32 0, i32 0
  %127 = extractvalue { double, double } %121, 0
  store double %127, ptr %126, align 16
  %128 = getelementptr inbounds { double, double }, ptr %125, i32 0, i32 1
  %129 = extractvalue { double, double } %121, 1
  store double %129, ptr %128, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %21, ptr align 16 %10, i64 16, i1 false), !tbaa.struct !23
  %130 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 0
  %131 = load double, ptr %130, align 16
  %132 = getelementptr inbounds { double, double }, ptr %21, i32 0, i32 1
  %133 = load double, ptr %132, align 8
  %134 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %19, double %131, double %133)
          to label %135 unwind label %191

135:                                              ; preds = %122
  %136 = getelementptr inbounds %"class.JPH::Quat", ptr %18, i32 0, i32 0
  %137 = getelementptr inbounds %"class.JPH::Vec4", ptr %136, i32 0, i32 0
  %138 = getelementptr inbounds %union.anon.4, ptr %137, i32 0, i32 0
  %139 = getelementptr inbounds { double, double }, ptr %138, i32 0, i32 0
  %140 = extractvalue { double, double } %134, 0
  store double %140, ptr %139, align 16
  %141 = getelementptr inbounds { double, double }, ptr %138, i32 0, i32 1
  %142 = extractvalue { double, double } %134, 1
  store double %142, ptr %141, align 8
  %143 = load i32, ptr %13, align 4, !tbaa !11
  %144 = icmp eq i32 %143, 0
  %145 = zext i1 %144 to i64
  %146 = select i1 %144, i8 0, i8 2
  %147 = load i32, ptr %13, align 4, !tbaa !11
  %148 = icmp eq i32 %147, 0
  %149 = zext i1 %148 to i64
  %150 = select i1 %148, i16 0, i16 1
  %151 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 0
  %152 = load double, ptr %151, align 16
  %153 = getelementptr inbounds { double, double }, ptr %17, i32 0, i32 1
  %154 = load double, ptr %153, align 8
  %155 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 0
  %156 = load double, ptr %155, align 16
  %157 = getelementptr inbounds { double, double }, ptr %18, i32 0, i32 1
  %158 = load double, ptr %157, align 8
  invoke void @_ZN3JPH20BodyCreationSettingsC2EPKNS_5ShapeENS_4Vec3ENS_4QuatENS_11EMotionTypeEt(ptr noundef nonnull align 16 dereferenceable(256) %16, ptr noundef %102, double %152, double %154, double %156, double %158, i8 noundef zeroext %146, i16 noundef zeroext %150)
          to label %159 unwind label %191

159:                                              ; preds = %135
  %160 = invoke noundef ptr @_ZN3JPH13BodyInterface10CreateBodyERKNS_20BodyCreationSettingsE(ptr noundef nonnull align 8 dereferenceable(24) %101, ptr noundef nonnull align 16 dereferenceable(256) %16)
          to label %161 unwind label %195

161:                                              ; preds = %159
  call void @_ZN3JPH20BodyCreationSettingsD2Ev(ptr noundef nonnull align 16 dereferenceable(256) %16) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #10
  call void @llvm.lifetime.end.p0(i64 256, ptr %16) #10
  store ptr %160, ptr %15, align 8, !tbaa !5
  %162 = load ptr, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #10
  %163 = invoke noundef ptr @_ZNK3JPH3RefINS_16GroupFilterTableEEcvPS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %5)
          to label %164 unwind label %201

164:                                              ; preds = %161
  %165 = load i32, ptr %13, align 4, !tbaa !11
  invoke void @_ZN3JPH14CollisionGroupC2EPKNS_11GroupFilterEjj(ptr noundef nonnull align 8 dereferenceable(16) %22, ptr noundef %163, i32 noundef 0, i32 noundef %165)
          to label %166 unwind label %201

166:                                              ; preds = %164
  invoke void @_ZN3JPH4Body17SetCollisionGroupERKNS_14CollisionGroupE(ptr noundef nonnull align 16 dereferenceable(122) %162, ptr noundef nonnull align 8 dereferenceable(16) %22)
          to label %167 unwind label %205

167:                                              ; preds = %166
  call void @_ZN3JPH14CollisionGroupD2Ev(ptr noundef nonnull align 8 dereferenceable(16) %22) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #10
  %168 = getelementptr inbounds %class.Test, ptr %29, i32 0, i32 3
  %169 = load ptr, ptr %168, align 8, !tbaa !15
  %170 = load ptr, ptr %15, align 8, !tbaa !5
  %171 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %170)
          to label %172 unwind label %210

172:                                              ; preds = %167
  invoke void @_ZN3JPH13BodyInterface7AddBodyERKNS_6BodyIDENS_11EActivationE(ptr noundef nonnull align 8 dereferenceable(24) %169, ptr noundef nonnull align 4 dereferenceable(4) %171, i32 noundef 0)
          to label %173 unwind label %210

173:                                              ; preds = %172
  %174 = load i32, ptr %13, align 4, !tbaa !11
  %175 = icmp ne i32 %174, 0
  br i1 %175, label %176, label %214

176:                                              ; preds = %173
  %177 = load ptr, ptr %15, align 8, !tbaa !5
  invoke void @_ZN3JPH4Body16SetAllowSleepingEb(ptr noundef nonnull align 16 dereferenceable(122) %177, i1 noundef zeroext false)
          to label %178 unwind label %210

178:                                              ; preds = %176
  br label %214

179:                                              ; preds = %93, %90
  %180 = landingpad { ptr, i32 }
          cleanup
  %181 = extractvalue { ptr, i32 } %180, 0
  store ptr %181, ptr %6, align 8
  %182 = extractvalue { ptr, i32 } %180, 1
  store i32 %182, ptr %7, align 4
  br label %342

183:                                              ; preds = %99
  %184 = landingpad { ptr, i32 }
          cleanup
  %185 = extractvalue { ptr, i32 } %184, 0
  store ptr %185, ptr %6, align 8
  %186 = extractvalue { ptr, i32 } %184, 1
  store i32 %186, ptr %7, align 4
  br label %200

187:                                              ; preds = %103
  %188 = landingpad { ptr, i32 }
          cleanup
  %189 = extractvalue { ptr, i32 } %188, 0
  store ptr %189, ptr %6, align 8
  %190 = extractvalue { ptr, i32 } %188, 1
  store i32 %190, ptr %7, align 4
  call void @_ZN3JPH12CapsuleShapedlEPv(ptr noundef %102) #10
  br label %200

191:                                              ; preds = %135, %122, %107, %105
  %192 = landingpad { ptr, i32 }
          cleanup
  %193 = extractvalue { ptr, i32 } %192, 0
  store ptr %193, ptr %6, align 8
  %194 = extractvalue { ptr, i32 } %192, 1
  store i32 %194, ptr %7, align 4
  br label %199

195:                                              ; preds = %159
  %196 = landingpad { ptr, i32 }
          cleanup
  %197 = extractvalue { ptr, i32 } %196, 0
  store ptr %197, ptr %6, align 8
  %198 = extractvalue { ptr, i32 } %196, 1
  store i32 %198, ptr %7, align 4
  call void @_ZN3JPH20BodyCreationSettingsD2Ev(ptr noundef nonnull align 16 dereferenceable(256) %16) #10
  br label %199

199:                                              ; preds = %195, %191
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #10
  br label %200

200:                                              ; preds = %199, %187, %183
  call void @llvm.lifetime.end.p0(i64 256, ptr %16) #10
  br label %341

201:                                              ; preds = %164, %161
  %202 = landingpad { ptr, i32 }
          cleanup
  %203 = extractvalue { ptr, i32 } %202, 0
  store ptr %203, ptr %6, align 8
  %204 = extractvalue { ptr, i32 } %202, 1
  store i32 %204, ptr %7, align 4
  br label %209

205:                                              ; preds = %166
  %206 = landingpad { ptr, i32 }
          cleanup
  %207 = extractvalue { ptr, i32 } %206, 0
  store ptr %207, ptr %6, align 8
  %208 = extractvalue { ptr, i32 } %206, 1
  store i32 %208, ptr %7, align 4
  call void @_ZN3JPH14CollisionGroupD2Ev(ptr noundef nonnull align 8 dereferenceable(16) %22) #10
  br label %209

209:                                              ; preds = %205, %201
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #10
  br label %341

210:                                              ; preds = %176, %172, %167
  %211 = landingpad { ptr, i32 }
          cleanup
  %212 = extractvalue { ptr, i32 } %211, 0
  store ptr %212, ptr %6, align 8
  %213 = extractvalue { ptr, i32 } %211, 1
  store i32 %213, ptr %7, align 4
  br label %341

214:                                              ; preds = %178, %173
  %215 = load ptr, ptr %9, align 8, !tbaa !5
  %216 = icmp ne ptr %215, null
  br i1 %216, label %217, label %336

217:                                              ; preds = %214
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #10
  %218 = invoke noundef ptr @_ZN3JPH28SwingTwistConstraintSettingsnwEm(i64 noundef 224)
          to label %219 unwind label %301

219:                                              ; preds = %217
  invoke void @_ZN3JPH28SwingTwistConstraintSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(224) %218)
          to label %220 unwind label %305

220:                                              ; preds = %219
  invoke void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef %218)
          to label %221 unwind label %301

221:                                              ; preds = %220
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #10
  %222 = load float, ptr %3, align 4, !tbaa !9
  %223 = fneg float %222
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %25, float noundef %223, float noundef 0.000000e+00, float noundef 0.000000e+00)
          to label %224 unwind label %309

224:                                              ; preds = %221
  %225 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 0
  %226 = load double, ptr %225, align 16
  %227 = getelementptr inbounds { double, double }, ptr %25, i32 0, i32 1
  %228 = load double, ptr %227, align 8
  %229 = invoke { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %12, double %226, double %228)
          to label %230 unwind label %309

230:                                              ; preds = %224
  %231 = getelementptr inbounds %"class.JPH::Vec3", ptr %24, i32 0, i32 0
  %232 = getelementptr inbounds %union.anon, ptr %231, i32 0, i32 0
  %233 = getelementptr inbounds { double, double }, ptr %232, i32 0, i32 0
  %234 = extractvalue { double, double } %229, 0
  store double %234, ptr %233, align 16
  %235 = getelementptr inbounds { double, double }, ptr %232, i32 0, i32 1
  %236 = extractvalue { double, double } %229, 1
  store double %236, ptr %235, align 8
  %237 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %238 unwind label %309

238:                                              ; preds = %230
  %239 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %237, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %239, ptr align 16 %24, i64 16, i1 false), !tbaa.struct !23
  %240 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %241 unwind label %309

241:                                              ; preds = %238
  %242 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %240, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %242, ptr align 16 %239, i64 16, i1 false), !tbaa.struct !23
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #10
  %243 = invoke { double, double } @_ZN3JPH4Vec36sAxisXEv()
          to label %244 unwind label %313

244:                                              ; preds = %241
  %245 = getelementptr inbounds %"class.JPH::Vec3", ptr %26, i32 0, i32 0
  %246 = getelementptr inbounds %union.anon, ptr %245, i32 0, i32 0
  %247 = getelementptr inbounds { double, double }, ptr %246, i32 0, i32 0
  %248 = extractvalue { double, double } %243, 0
  store double %248, ptr %247, align 16
  %249 = getelementptr inbounds { double, double }, ptr %246, i32 0, i32 1
  %250 = extractvalue { double, double } %243, 1
  store double %250, ptr %249, align 8
  %251 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %252 unwind label %313

252:                                              ; preds = %244
  %253 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %251, i32 0, i32 6
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %253, ptr align 16 %26, i64 16, i1 false), !tbaa.struct !23
  %254 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %255 unwind label %313

255:                                              ; preds = %252
  %256 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %254, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %256, ptr align 16 %253, i64 16, i1 false), !tbaa.struct !23
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #10
  %257 = invoke { double, double } @_ZN3JPH4Vec36sAxisYEv()
          to label %258 unwind label %317

258:                                              ; preds = %255
  %259 = getelementptr inbounds %"class.JPH::Vec3", ptr %27, i32 0, i32 0
  %260 = getelementptr inbounds %union.anon, ptr %259, i32 0, i32 0
  %261 = getelementptr inbounds { double, double }, ptr %260, i32 0, i32 0
  %262 = extractvalue { double, double } %257, 0
  store double %262, ptr %261, align 16
  %263 = getelementptr inbounds { double, double }, ptr %260, i32 0, i32 1
  %264 = extractvalue { double, double } %257, 1
  store double %264, ptr %263, align 8
  %265 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %266 unwind label %317

266:                                              ; preds = %258
  %267 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %265, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %267, ptr align 16 %27, i64 16, i1 false), !tbaa.struct !23
  %268 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %269 unwind label %317

269:                                              ; preds = %266
  %270 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %268, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %270, ptr align 16 %267, i64 16, i1 false), !tbaa.struct !23
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #10
  %271 = load float, ptr @_ZN24SwingTwistConstraintTest20sNormalHalfConeAngleE, align 4, !tbaa !9
  %272 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %273 unwind label %321

273:                                              ; preds = %269
  %274 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %272, i32 0, i32 9
  store float %271, ptr %274, align 4, !tbaa !25
  %275 = load float, ptr @_ZN24SwingTwistConstraintTest19sPlaneHalfConeAngleE, align 4, !tbaa !9
  %276 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %277 unwind label %321

277:                                              ; preds = %273
  %278 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %276, i32 0, i32 10
  store float %275, ptr %278, align 8, !tbaa !39
  %279 = load float, ptr @_ZN24SwingTwistConstraintTest14sTwistMinAngleE, align 4, !tbaa !9
  %280 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %281 unwind label %321

281:                                              ; preds = %277
  %282 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %280, i32 0, i32 11
  store float %279, ptr %282, align 4, !tbaa !40
  %283 = load float, ptr @_ZN24SwingTwistConstraintTest14sTwistMaxAngleE, align 4, !tbaa !9
  %284 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %285 unwind label %321

285:                                              ; preds = %281
  %286 = getelementptr inbounds %"class.JPH::SwingTwistConstraintSettings", ptr %284, i32 0, i32 12
  store float %283, ptr %286, align 16, !tbaa !41
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #10
  %287 = invoke noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %288 unwind label %325

288:                                              ; preds = %285
  %289 = load ptr, ptr %9, align 8, !tbaa !5
  %290 = load ptr, ptr %15, align 8, !tbaa !5
  %291 = invoke noundef ptr @_ZNK3JPH28SwingTwistConstraintSettings6CreateERNS_4BodyES2_(ptr noundef nonnull align 16 dereferenceable(224) %287, ptr noundef nonnull align 16 dereferenceable(122) %289, ptr noundef nonnull align 16 dereferenceable(122) %290)
          to label %292 unwind label %325

292:                                              ; preds = %288
  invoke void @_ZN3JPH3RefINS_20SwingTwistConstraintEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %28, ptr noundef %291)
          to label %293 unwind label %325

293:                                              ; preds = %292
  %294 = getelementptr inbounds %class.Test, ptr %29, i32 0, i32 2
  %295 = load ptr, ptr %294, align 8, !tbaa !42
  %296 = invoke noundef ptr @_ZNK3JPH3RefINS_20SwingTwistConstraintEEcvPS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %28)
          to label %297 unwind label %329

297:                                              ; preds = %293
  invoke void @_ZN3JPH13PhysicsSystem13AddConstraintEPNS_10ConstraintE(ptr noundef nonnull align 16 dereferenceable(1172) %295, ptr noundef %296)
          to label %298 unwind label %329

298:                                              ; preds = %297
  %299 = getelementptr inbounds %class.SwingTwistConstraintTest, ptr %29, i32 0, i32 1
  invoke void @_ZN3JPH5ArrayINS_3RefINS_20SwingTwistConstraintEEENS_12STLAllocatorIS3_EEE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %299, ptr noundef nonnull align 8 dereferenceable(8) %28)
          to label %300 unwind label %329

300:                                              ; preds = %298
  call void @_ZN3JPH3RefINS_20SwingTwistConstraintEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #10
  call void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %23) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #10
  br label %336

301:                                              ; preds = %220, %217
  %302 = landingpad { ptr, i32 }
          cleanup
  %303 = extractvalue { ptr, i32 } %302, 0
  store ptr %303, ptr %6, align 8
  %304 = extractvalue { ptr, i32 } %302, 1
  store i32 %304, ptr %7, align 4
  br label %335

305:                                              ; preds = %219
  %306 = landingpad { ptr, i32 }
          cleanup
  %307 = extractvalue { ptr, i32 } %306, 0
  store ptr %307, ptr %6, align 8
  %308 = extractvalue { ptr, i32 } %306, 1
  store i32 %308, ptr %7, align 4
  call void @_ZN3JPH28SwingTwistConstraintSettingsdlEPv(ptr noundef %218) #10
  br label %335

309:                                              ; preds = %238, %230, %224, %221
  %310 = landingpad { ptr, i32 }
          cleanup
  %311 = extractvalue { ptr, i32 } %310, 0
  store ptr %311, ptr %6, align 8
  %312 = extractvalue { ptr, i32 } %310, 1
  store i32 %312, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #10
  br label %334

313:                                              ; preds = %252, %244, %241
  %314 = landingpad { ptr, i32 }
          cleanup
  %315 = extractvalue { ptr, i32 } %314, 0
  store ptr %315, ptr %6, align 8
  %316 = extractvalue { ptr, i32 } %314, 1
  store i32 %316, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #10
  br label %334

317:                                              ; preds = %266, %258, %255
  %318 = landingpad { ptr, i32 }
          cleanup
  %319 = extractvalue { ptr, i32 } %318, 0
  store ptr %319, ptr %6, align 8
  %320 = extractvalue { ptr, i32 } %318, 1
  store i32 %320, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #10
  br label %334

321:                                              ; preds = %281, %277, %273, %269
  %322 = landingpad { ptr, i32 }
          cleanup
  %323 = extractvalue { ptr, i32 } %322, 0
  store ptr %323, ptr %6, align 8
  %324 = extractvalue { ptr, i32 } %322, 1
  store i32 %324, ptr %7, align 4
  br label %334

325:                                              ; preds = %292, %288, %285
  %326 = landingpad { ptr, i32 }
          cleanup
  %327 = extractvalue { ptr, i32 } %326, 0
  store ptr %327, ptr %6, align 8
  %328 = extractvalue { ptr, i32 } %326, 1
  store i32 %328, ptr %7, align 4
  br label %333

329:                                              ; preds = %298, %297, %293
  %330 = landingpad { ptr, i32 }
          cleanup
  %331 = extractvalue { ptr, i32 } %330, 0
  store ptr %331, ptr %6, align 8
  %332 = extractvalue { ptr, i32 } %330, 1
  store i32 %332, ptr %7, align 4
  call void @_ZN3JPH3RefINS_20SwingTwistConstraintEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #10
  br label %333

333:                                              ; preds = %329, %325
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #10
  br label %334

334:                                              ; preds = %333, %321, %317, %313, %309
  call void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %23) #10
  br label %335

335:                                              ; preds = %334, %305, %301
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #10
  br label %341

336:                                              ; preds = %300, %214
  %337 = load ptr, ptr %15, align 8, !tbaa !5
  store ptr %337, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #10
  br label %338

338:                                              ; preds = %336
  %339 = load i32, ptr %13, align 4, !tbaa !11
  %340 = add nsw i32 %339, 1
  store i32 %340, ptr %13, align 4, !tbaa !11
  br label %78, !llvm.loop !43

341:                                              ; preds = %335, %210, %209, %200
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #10
  br label %342

342:                                              ; preds = %341, %179
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #10
  br label %344

343:                                              ; preds = %81
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #10
  call void @_ZN3JPH3RefINS_16GroupFilterTableEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %5) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #10
  ret void

344:                                              ; preds = %342, %86
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #10
  br label %345

345:                                              ; preds = %344, %82
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #10
  br label %346

346:                                              ; preds = %345, %51
  call void @_ZN3JPH3RefINS_16GroupFilterTableEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %5) #10
  br label %347

347:                                              ; preds = %346, %37
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #10
  br label %348

348:                                              ; preds = %347
  %349 = load ptr, ptr %6, align 8
  %350 = load i32, ptr %7, align 4
  %351 = insertvalue { ptr, i32 } poison, ptr %349, 0
  %352 = insertvalue { ptr, i32 } %351, i32 %350, 1
  resume { ptr, i32 } %352
}

declare noundef nonnull align 16 dereferenceable(122) ptr @_ZN4Test11CreateFloorEf(ptr noundef nonnull align 8 dereferenceable(112), float noundef) #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH16GroupFilterTablenwEm(i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH16GroupFilterTableC2Ej(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH16GroupFilterTabledlEPv(ptr noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH3RefINS_16GroupFilterTableEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_16GroupFilterTableEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH16GroupFilterTable16DisableCollisionEjj(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef) #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Quat9sRotationENS_4Vec3Ef(double, double, float noundef) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec36sAxisZEv() #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16), float noundef, float noundef, float noundef) unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3pLES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #8 align 2

declare noundef ptr @_ZN3JPH13BodyInterface10CreateBodyERKNS_20BodyCreationSettingsE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 16 dereferenceable(256)) #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH12CapsuleShapenwEm(i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH12CapsuleShapeC2EffPKNS_15PhysicsMaterialE(ptr noundef nonnull align 8 dereferenceable(56), float noundef, float noundef, ptr noundef) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH12CapsuleShapedlEPv(ptr noundef) #4 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) #9

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec36sAxisXEv() #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH20BodyCreationSettingsC2EPKNS_5ShapeENS_4Vec3ENS_4QuatENS_11EMotionTypeEt(ptr noundef nonnull align 16 dereferenceable(256), ptr noundef, double, double, double, double, i8 noundef zeroext, i16 noundef zeroext) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH20BodyCreationSettingsD2Ev(ptr noundef nonnull align 16 dereferenceable(256)) unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH4Body17SetCollisionGroupERKNS_14CollisionGroupE(ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 8 dereferenceable(16)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_16GroupFilterTableEEcvPS1_Ev(ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH14CollisionGroupC2EPKNS_11GroupFilterEjj(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef, i32 noundef, i32 noundef) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH14CollisionGroupD2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #6 align 2

declare void @_ZN3JPH13BodyInterface7AddBodyERKNS_6BodyIDENS_11EActivationE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122)) #6 align 2

declare void @_ZN3JPH4Body16SetAllowSleepingEb(ptr noundef nonnull align 16 dereferenceable(122), i1 noundef zeroext) #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH28SwingTwistConstraintSettingsnwEm(i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH28SwingTwistConstraintSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(224)) unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH28SwingTwistConstraintSettingsdlEPv(ptr noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #5 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 nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec36sAxisYEv() #3 align 2

declare noundef ptr @_ZNK3JPH28SwingTwistConstraintSettings6CreateERNS_4BodyES2_(ptr noundef nonnull align 16 dereferenceable(224), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122)) unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH3RefINS_20SwingTwistConstraintEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH13PhysicsSystem13AddConstraintEPNS_10ConstraintE(ptr noundef nonnull align 16 dereferenceable(1172), ptr noundef) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_20SwingTwistConstraintEEcvPS1_Ev(ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayINS_3RefINS_20SwingTwistConstraintEEENS_12STLAllocatorIS3_EEE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH3RefINS_20SwingTwistConstraintEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH3RefINS_16GroupFilterTableEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #6 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 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = !{!16, !6, i64 24}
!16 = !{!"_ZTS4Test", !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !17, i64 48, !18, i64 56}
!17 = !{!"bool", !7, i64 0}
!18 = !{!"_ZTSSt13unordered_mapIN3JPH6BodyIDENSt7__cxx1112basic_stringIcSt11char_traitsIcENS0_12STLAllocatorIcEEEESt4hashIS1_ESt8equal_toIS1_ESaISt4pairIKS1_S8_EEE", !19, i64 0}
!19 = !{!"_ZTSSt10_HashtableIN3JPH6BodyIDESt4pairIKS1_NSt7__cxx1112basic_stringIcSt11char_traitsIcENS0_12STLAllocatorIcEEEEESaISB_ENSt8__detail10_Select1stESt8equal_toIS1_ESt4hashIS1_ENSD_18_Mod_range_hashingENSD_20_Default_ranged_hashENSD_20_Prime_rehash_policyENSD_17_Hashtable_traitsILb1ELb0ELb1EEEE", !6, i64 0, !20, i64 8, !21, i64 16, !20, i64 24, !22, i64 32, !6, i64 48}
!20 = !{!"long", !7, i64 0}
!21 = !{!"_ZTSNSt8__detail15_Hash_node_baseE", !6, i64 0}
!22 = !{!"_ZTSNSt8__detail20_Prime_rehash_policyE", !10, i64 0, !20, i64 8}
!23 = !{i64 0, i64 16, !24}
!24 = !{!7, !7, i64 0}
!25 = !{!26, !10, i64 148}
!26 = !{!"_ZTSN3JPH28SwingTwistConstraintSettingsE", !27, i64 0, !33, i64 40, !34, i64 48, !34, i64 64, !34, i64 80, !34, i64 96, !34, i64 112, !34, i64 128, !35, i64 144, !10, i64 148, !10, i64 152, !10, i64 156, !10, i64 160, !10, i64 164, !36, i64 168, !36, i64 196}
!27 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !28, i64 0}
!28 = !{!"_ZTSN3JPH18ConstraintSettingsE", !29, i64 0, !30, i64 8, !17, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !10, i64 28, !20, i64 32}
!29 = !{!"_ZTSN3JPH18SerializableObjectE"}
!30 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !31, i64 0}
!31 = !{!"_ZTSSt6atomicIjE", !32, i64 0}
!32 = !{!"_ZTSSt13__atomic_baseIjE", !12, i64 0}
!33 = !{!"_ZTSN3JPH16EConstraintSpaceE", !7, i64 0}
!34 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!35 = !{!"_ZTSN3JPH10ESwingTypeE", !7, i64 0}
!36 = !{!"_ZTSN3JPH13MotorSettingsE", !37, i64 0, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24}
!37 = !{!"_ZTSN3JPH14SpringSettingsE", !38, i64 0, !7, i64 4, !10, i64 8}
!38 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!39 = !{!26, !10, i64 152}
!40 = !{!26, !10, i64 156}
!41 = !{!26, !10, i64 160}
!42 = !{!16, !6, i64 16}
!43 = distinct !{!43, !14}


; 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::Ref" = type { ptr }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::BodyCreationSettings" = type { %"class.JPH::Vec3", %"class.JPH::Quat", %"class.JPH::Vec3", %"class.JPH::Vec3", i64, i16, %"class.JPH::CollisionGroup", i8, i8, i8, i8, i8, i8, i8, i8, i8, i8, float, float, float, float, float, float, float, i32, i32, i8, float, %"class.JPH::MassProperties", %"class.JPH::RefConst.11", %"class.JPH::RefConst" }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.4 }
%union.anon.4 = type { <4 x float> }
%"class.JPH::CollisionGroup" = type { %"class.JPH::RefConst.5", i32, i32 }
%"class.JPH::RefConst.5" = type { ptr }
%"class.JPH::MassProperties" = type { float, %"class.JPH::Mat44" }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::RefConst.11" = type { ptr }
%"class.JPH::RefConst" = type { ptr }
%"class.JPH::Ref.14" = type { ptr }
%"class.JPH::Ref.17" = type { ptr }

@_ZN24SwingTwistConstraintTest20sNormalHalfConeAngleE = external dso_local local_unnamed_addr global float, align 4
@_ZN24SwingTwistConstraintTest19sPlaneHalfConeAngleE = external dso_local local_unnamed_addr global float, align 4
@_ZN24SwingTwistConstraintTest14sTwistMinAngleE = external dso_local local_unnamed_addr global float, align 4
@_ZN24SwingTwistConstraintTest14sTwistMaxAngleE = external dso_local local_unnamed_addr global float, align 4

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN24SwingTwistConstraintTest10InitializeEv(ptr noundef nonnull align 8 dereferenceable(136) %0) unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %"class.JPH::Ref", align 8
  %3 = alloca %"class.JPH::Vec3", align 16
  %4 = alloca %"class.JPH::Vec3", align 16
  %5 = alloca %"class.JPH::BodyCreationSettings", align 16
  %6 = alloca %"class.JPH::Quat", align 16
  %7 = alloca %"class.JPH::CollisionGroup", align 8
  %8 = alloca %"class.JPH::Ref.14", align 8
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Ref.17", align 8
  %11 = tail call noundef nonnull align 16 dereferenceable(122) ptr @_ZN4Test11CreateFloorEf(ptr noundef nonnull align 8 dereferenceable(112) %0, float noundef 2.000000e+02)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #10
  %12 = tail call noundef ptr @_ZN3JPH16GroupFilterTablenwEm(i64 noundef 40)
  invoke void @_ZN3JPH16GroupFilterTableC2Ej(ptr noundef nonnull align 8 dereferenceable(40) %12, i32 noundef 10)
          to label %13 unwind label %17

13:                                               ; preds = %1
  call void @_ZN3JPH3RefINS_16GroupFilterTableEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %2, ptr noundef nonnull %12)
  br label %14

14:                                               ; preds = %19, %13
  %.050 = phi i32 [ 0, %13 ], [ %21, %19 ]
  %exitcond.not = icmp eq i32 %.050, 9
  br i1 %exitcond.not, label %15, label %19

15:                                               ; preds = %14
  %16 = invoke { double, double } @_ZN3JPH4Vec36sAxisZEv()
          to label %24 unwind label %38

17:                                               ; preds = %1
  %18 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZN3JPH16GroupFilterTabledlEPv(ptr noundef %12) #10
  br label %171

19:                                               ; preds = %14
  %20 = call noundef ptr @_ZNK3JPH3RefINS_16GroupFilterTableEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %2)
  %21 = add nuw nsw i32 %.050, 1
  invoke void @_ZN3JPH16GroupFilterTable16DisableCollisionEjj(ptr noundef nonnull align 8 dereferenceable(40) %20, i32 noundef %.050, i32 noundef %21)
          to label %14 unwind label %22, !llvm.loop !5

22:                                               ; preds = %19
  %23 = landingpad { ptr, i32 }
          cleanup
  br label %170

24:                                               ; preds = %15
  %25 = extractvalue { double, double } %16, 0
  %26 = extractvalue { double, double } %16, 1
  %27 = invoke { double, double } @_ZN3JPH4Quat9sRotationENS_4Vec3Ef(double %25, double %26, float noundef 0x3FF921FB60000000)
          to label %28 unwind label %38

28:                                               ; preds = %24
  %29 = extractvalue { double, double } %27, 0
  %30 = extractvalue { double, double } %27, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #10
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %3, float noundef 0.000000e+00, float noundef 2.500000e+01, float noundef 0.000000e+00)
          to label %.preheader unwind label %40

.preheader:                                       ; preds = %28
  %31 = getelementptr inbounds i8, ptr %4, i64 8
  %32 = getelementptr inbounds i8, ptr %0, i64 24
  %.sroa.211.0..sroa_idx = getelementptr inbounds i8, ptr %3, i64 8
  %33 = getelementptr inbounds i8, ptr %6, i64 8
  %34 = getelementptr inbounds i8, ptr %9, i64 8
  %35 = getelementptr inbounds i8, ptr %0, i64 16
  %36 = getelementptr inbounds i8, ptr %0, i64 112
  br label %42

37:                                               ; preds = %167
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #10
  call void @_ZN3JPH3RefINS_16GroupFilterTableEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %2) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #10
  ret void

38:                                               ; preds = %24, %15
  %39 = landingpad { ptr, i32 }
          cleanup
  br label %170

40:                                               ; preds = %28
  %41 = landingpad { ptr, i32 }
          cleanup
  br label %169

42:                                               ; preds = %.preheader, %167
  %.05188 = phi ptr [ null, %.preheader ], [ %69, %167 ]
  %.05287 = phi i32 [ 0, %.preheader ], [ %168, %167 ]
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %4, float noundef 3.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
          to label %43 unwind label %78

43:                                               ; preds = %42
  %44 = load double, ptr %4, align 16
  %45 = load double, ptr %31, align 8
  %46 = call noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3pLES0_(ptr noundef nonnull align 16 dereferenceable(16) %3, double %44, double %45)
  %47 = load ptr, ptr %32, align 8, !tbaa !7
  call void @llvm.lifetime.start.p0(i64 256, ptr nonnull %5) #10
  %48 = invoke noundef ptr @_ZN3JPH12CapsuleShapenwEm(i64 noundef 56)
          to label %49 unwind label %80

49:                                               ; preds = %43
  invoke void @_ZN3JPH12CapsuleShapeC2EffPKNS_15PhysicsMaterialE(ptr noundef nonnull align 8 dereferenceable(56) %48, float noundef 1.500000e+00, float noundef 5.000000e-01, ptr noundef null)
          to label %50 unwind label %82

50:                                               ; preds = %49
  %.sroa.010.0.copyload = load double, ptr %3, align 16
  %.sroa.211.0.copyload = load double, ptr %.sroa.211.0..sroa_idx, align 8, !tbaa !19
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #10
  %51 = invoke { double, double } @_ZN3JPH4Vec36sAxisXEv()
          to label %52 unwind label %84

52:                                               ; preds = %50
  %53 = extractvalue { double, double } %51, 0
  %54 = extractvalue { double, double } %51, 1
  %55 = uitofp nneg i32 %.05287 to float
  %56 = fmul float %55, 0x3FE921FB60000000
  %57 = invoke { double, double } @_ZN3JPH4Quat9sRotationENS_4Vec3Ef(double %53, double %54, float noundef %56)
          to label %58 unwind label %84

58:                                               ; preds = %52
  %59 = extractvalue { double, double } %57, 0
  store double %59, ptr %6, align 16
  %60 = extractvalue { double, double } %57, 1
  store double %60, ptr %33, align 8
  %61 = invoke { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %6, double %29, double %30)
          to label %62 unwind label %84

62:                                               ; preds = %58
  %63 = extractvalue { double, double } %61, 0
  %64 = extractvalue { double, double } %61, 1
  %65 = icmp ne i32 %.05287, 0
  %66 = select i1 %65, i8 2, i8 0
  %67 = zext i1 %65 to i16
  invoke void @_ZN3JPH20BodyCreationSettingsC2EPKNS_5ShapeENS_4Vec3ENS_4QuatENS_11EMotionTypeEt(ptr noundef nonnull align 16 dereferenceable(256) %5, ptr noundef nonnull %48, double %.sroa.010.0.copyload, double %.sroa.211.0.copyload, double %63, double %64, i8 noundef zeroext %66, i16 noundef zeroext %67)
          to label %68 unwind label %84

68:                                               ; preds = %62
  %69 = invoke noundef ptr @_ZN3JPH13BodyInterface10CreateBodyERKNS_20BodyCreationSettingsE(ptr noundef nonnull align 8 dereferenceable(24) %47, ptr noundef nonnull align 16 dereferenceable(256) %5)
          to label %70 unwind label %86

70:                                               ; preds = %68
  call void @_ZN3JPH20BodyCreationSettingsD2Ev(ptr noundef nonnull align 16 dereferenceable(256) %5) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #10
  call void @llvm.lifetime.end.p0(i64 256, ptr nonnull %5) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %7) #10
  %71 = call noundef ptr @_ZNK3JPH3RefINS_16GroupFilterTableEEcvPS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %2)
  invoke void @_ZN3JPH14CollisionGroupC2EPKNS_11GroupFilterEjj(ptr noundef nonnull align 8 dereferenceable(16) %7, ptr noundef %71, i32 noundef 0, i32 noundef %.05287)
          to label %72 unwind label %90

72:                                               ; preds = %70
  invoke void @_ZN3JPH4Body17SetCollisionGroupERKNS_14CollisionGroupE(ptr noundef nonnull align 16 dereferenceable(122) %69, ptr noundef nonnull align 8 dereferenceable(16) %7)
          to label %73 unwind label %92

73:                                               ; preds = %72
  call void @_ZN3JPH14CollisionGroupD2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #10
  %74 = load ptr, ptr %32, align 8, !tbaa !7
  %75 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %69)
  invoke void @_ZN3JPH13BodyInterface7AddBodyERKNS_6BodyIDENS_11EActivationE(ptr noundef nonnull align 8 dereferenceable(24) %74, ptr noundef nonnull align 4 dereferenceable(4) %75, i32 noundef 0)
          to label %76 unwind label %95

76:                                               ; preds = %73
  %.not = icmp eq i32 %.05287, 0
  br i1 %.not, label %97, label %77

77:                                               ; preds = %76
  invoke void @_ZN3JPH4Body16SetAllowSleepingEb(ptr noundef nonnull align 16 dereferenceable(122) %69, i1 noundef zeroext false)
          to label %97 unwind label %95

78:                                               ; preds = %42
  %79 = landingpad { ptr, i32 }
          cleanup
  br label %169

80:                                               ; preds = %43
  %81 = landingpad { ptr, i32 }
          cleanup
  br label %89

82:                                               ; preds = %49
  %83 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN3JPH12CapsuleShapedlEPv(ptr noundef %48) #10
  br label %89

84:                                               ; preds = %62, %58, %52, %50
  %85 = landingpad { ptr, i32 }
          cleanup
  br label %88

86:                                               ; preds = %68
  %87 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN3JPH20BodyCreationSettingsD2Ev(ptr noundef nonnull align 16 dereferenceable(256) %5) #10
  br label %88

88:                                               ; preds = %86, %84
  %.pn = phi { ptr, i32 } [ %87, %86 ], [ %85, %84 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #10
  br label %89

89:                                               ; preds = %88, %82, %80
  %.pn.pn = phi { ptr, i32 } [ %.pn, %88 ], [ %83, %82 ], [ %81, %80 ]
  call void @llvm.lifetime.end.p0(i64 256, ptr nonnull %5) #10
  br label %169

90:                                               ; preds = %70
  %91 = landingpad { ptr, i32 }
          cleanup
  br label %94

92:                                               ; preds = %72
  %93 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN3JPH14CollisionGroupD2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #10
  br label %94

94:                                               ; preds = %92, %90
  %.pn55 = phi { ptr, i32 } [ %93, %92 ], [ %91, %90 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %7) #10
  br label %169

95:                                               ; preds = %77, %73
  %96 = landingpad { ptr, i32 }
          cleanup
  br label %169

97:                                               ; preds = %77, %76
  %.not57 = icmp eq ptr %.05188, null
  br i1 %.not57, label %167, label %98

98:                                               ; preds = %97
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #10
  %99 = invoke noundef ptr @_ZN3JPH28SwingTwistConstraintSettingsnwEm(i64 noundef 224)
          to label %100 unwind label %150

100:                                              ; preds = %98
  invoke void @_ZN3JPH28SwingTwistConstraintSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(224) %99)
          to label %101 unwind label %152

101:                                              ; preds = %100
  invoke void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull %99)
          to label %102 unwind label %150

102:                                              ; preds = %101
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %9, float noundef -1.500000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
          to label %103 unwind label %154

103:                                              ; preds = %102
  %104 = load double, ptr %9, align 16
  %105 = load double, ptr %34, align 8
  %106 = invoke { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %3, double %104, double %105)
          to label %107 unwind label %154

107:                                              ; preds = %103
  %108 = extractvalue { double, double } %106, 0
  %109 = extractvalue { double, double } %106, 1
  %110 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %111 = getelementptr inbounds i8, ptr %110, i64 96
  store double %108, ptr %111, align 16
  %.sroa.54.0..sroa_idx = getelementptr inbounds i8, ptr %110, i64 104
  store double %109, ptr %.sroa.54.0..sroa_idx, align 8, !tbaa !19
  %112 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %113 = getelementptr inbounds i8, ptr %112, i64 48
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %113, ptr noundef nonnull align 16 dereferenceable(16) %111, i64 16, i1 false), !tbaa.struct !20
  %114 = invoke { double, double } @_ZN3JPH4Vec36sAxisXEv()
          to label %115 unwind label %156

115:                                              ; preds = %107
  %116 = extractvalue { double, double } %114, 0
  %117 = extractvalue { double, double } %114, 1
  %118 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %119 = getelementptr inbounds i8, ptr %118, i64 112
  store double %116, ptr %119, align 16
  %.sroa.52.0..sroa_idx = getelementptr inbounds i8, ptr %118, i64 120
  store double %117, ptr %.sroa.52.0..sroa_idx, align 8, !tbaa !19
  %120 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %121 = getelementptr inbounds i8, ptr %120, i64 64
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %121, ptr noundef nonnull align 16 dereferenceable(16) %119, i64 16, i1 false), !tbaa.struct !20
  %122 = invoke { double, double } @_ZN3JPH4Vec36sAxisYEv()
          to label %123 unwind label %158

123:                                              ; preds = %115
  %124 = extractvalue { double, double } %122, 0
  %125 = extractvalue { double, double } %122, 1
  %126 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %127 = getelementptr inbounds i8, ptr %126, i64 128
  store double %124, ptr %127, align 16
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %126, i64 136
  store double %125, ptr %.sroa.5.0..sroa_idx, align 8, !tbaa !19
  %128 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %129 = getelementptr inbounds i8, ptr %128, i64 80
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %129, ptr noundef nonnull align 16 dereferenceable(16) %127, i64 16, i1 false), !tbaa.struct !20
  %130 = load float, ptr @_ZN24SwingTwistConstraintTest20sNormalHalfConeAngleE, align 4, !tbaa !21
  %131 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %132 = getelementptr inbounds i8, ptr %131, i64 148
  store float %130, ptr %132, align 4, !tbaa !22
  %133 = load float, ptr @_ZN24SwingTwistConstraintTest19sPlaneHalfConeAngleE, align 4, !tbaa !21
  %134 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %135 = getelementptr inbounds i8, ptr %134, i64 152
  store float %133, ptr %135, align 8, !tbaa !37
  %136 = load float, ptr @_ZN24SwingTwistConstraintTest14sTwistMinAngleE, align 4, !tbaa !21
  %137 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %138 = getelementptr inbounds i8, ptr %137, i64 156
  store float %136, ptr %138, align 4, !tbaa !38
  %139 = load float, ptr @_ZN24SwingTwistConstraintTest14sTwistMaxAngleE, align 4, !tbaa !21
  %140 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %141 = getelementptr inbounds i8, ptr %140, i64 160
  store float %139, ptr %141, align 16, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #10
  %142 = call noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %143 = invoke noundef ptr @_ZNK3JPH28SwingTwistConstraintSettings6CreateERNS_4BodyES2_(ptr noundef nonnull align 16 dereferenceable(224) %142, ptr noundef nonnull align 16 dereferenceable(122) %.05188, ptr noundef nonnull align 16 dereferenceable(122) %69)
          to label %144 unwind label %160

144:                                              ; preds = %123
  invoke void @_ZN3JPH3RefINS_20SwingTwistConstraintEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef %143)
          to label %145 unwind label %160

145:                                              ; preds = %144
  %146 = load ptr, ptr %35, align 8, !tbaa !40
  %147 = call noundef ptr @_ZNK3JPH3RefINS_20SwingTwistConstraintEEcvPS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %10)
  invoke void @_ZN3JPH13PhysicsSystem13AddConstraintEPNS_10ConstraintE(ptr noundef nonnull align 16 dereferenceable(1172) %146, ptr noundef %147)
          to label %148 unwind label %162

148:                                              ; preds = %145
  invoke void @_ZN3JPH5ArrayINS_3RefINS_20SwingTwistConstraintEEENS_12STLAllocatorIS3_EEE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %36, ptr noundef nonnull align 8 dereferenceable(8) %10)
          to label %149 unwind label %162

149:                                              ; preds = %148
  call void @_ZN3JPH3RefINS_20SwingTwistConstraintEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %10) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #10
  call void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %8) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #10
  br label %167

150:                                              ; preds = %101, %98
  %151 = landingpad { ptr, i32 }
          cleanup
  br label %166

152:                                              ; preds = %100
  %153 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN3JPH28SwingTwistConstraintSettingsdlEPv(ptr noundef %99) #10
  br label %166

154:                                              ; preds = %103, %102
  %155 = landingpad { ptr, i32 }
          cleanup
  br label %165

156:                                              ; preds = %107
  %157 = landingpad { ptr, i32 }
          cleanup
  br label %165

158:                                              ; preds = %115
  %159 = landingpad { ptr, i32 }
          cleanup
  br label %165

160:                                              ; preds = %144, %123
  %161 = landingpad { ptr, i32 }
          cleanup
  br label %164

162:                                              ; preds = %148, %145
  %163 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN3JPH3RefINS_20SwingTwistConstraintEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %10) #10
  br label %164

164:                                              ; preds = %162, %160
  %.pn58 = phi { ptr, i32 } [ %163, %162 ], [ %161, %160 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #10
  br label %165

165:                                              ; preds = %164, %158, %156, %154
  %.pn58.pn = phi { ptr, i32 } [ %.pn58, %164 ], [ %159, %158 ], [ %157, %156 ], [ %155, %154 ]
  call void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %8) #10
  br label %166

166:                                              ; preds = %165, %152, %150
  %.pn58.pn.pn = phi { ptr, i32 } [ %.pn58.pn, %165 ], [ %151, %150 ], [ %153, %152 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #10
  br label %169

167:                                              ; preds = %149, %97
  %168 = add nuw nsw i32 %.05287, 1
  %exitcond108.not = icmp eq i32 %168, 10
  br i1 %exitcond108.not, label %37, label %42, !llvm.loop !41

169:                                              ; preds = %78, %166, %95, %94, %89, %40
  %.pn58.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %41, %40 ], [ %79, %78 ], [ %.pn58.pn.pn, %166 ], [ %96, %95 ], [ %.pn55, %94 ], [ %.pn.pn, %89 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #10
  br label %170

170:                                              ; preds = %38, %169, %22
  %.pn66 = phi { ptr, i32 } [ %23, %22 ], [ %.pn58.pn.pn.pn.pn.pn, %169 ], [ %39, %38 ]
  call void @_ZN3JPH3RefINS_16GroupFilterTableEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %2) #10
  br label %171

171:                                              ; preds = %170, %17
  %.pn66.pn = phi { ptr, i32 } [ %.pn66, %170 ], [ %18, %17 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #10
  resume { ptr, i32 } %.pn66.pn
}

declare noundef nonnull align 16 dereferenceable(122) ptr @_ZN4Test11CreateFloorEf(ptr noundef nonnull align 8 dereferenceable(112), float noundef) local_unnamed_addr #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH16GroupFilterTablenwEm(i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH16GroupFilterTableC2Ej(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH16GroupFilterTabledlEPv(ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH3RefINS_16GroupFilterTableEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_16GroupFilterTableEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH16GroupFilterTable16DisableCollisionEjj(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Quat9sRotationENS_4Vec3Ef(double, double, float noundef) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec36sAxisZEv() local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16), float noundef, float noundef, float noundef) unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH4Vec3pLES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #8 align 2

declare noundef ptr @_ZN3JPH13BodyInterface10CreateBodyERKNS_20BodyCreationSettingsE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 16 dereferenceable(256)) local_unnamed_addr #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH12CapsuleShapenwEm(i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH12CapsuleShapeC2EffPKNS_15PhysicsMaterialE(ptr noundef nonnull align 8 dereferenceable(56), float noundef, float noundef, ptr noundef) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH12CapsuleShapedlEPv(ptr noundef) local_unnamed_addr #4 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) #9

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec36sAxisXEv() local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH20BodyCreationSettingsC2EPKNS_5ShapeENS_4Vec3ENS_4QuatENS_11EMotionTypeEt(ptr noundef nonnull align 16 dereferenceable(256), ptr noundef, double, double, double, double, i8 noundef zeroext, i16 noundef zeroext) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH20BodyCreationSettingsD2Ev(ptr noundef nonnull align 16 dereferenceable(256)) unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH4Body17SetCollisionGroupERKNS_14CollisionGroupE(ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_16GroupFilterTableEEcvPS1_Ev(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH14CollisionGroupC2EPKNS_11GroupFilterEjj(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef, i32 noundef, i32 noundef) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH14CollisionGroupD2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #6 align 2

declare void @_ZN3JPH13BodyInterface7AddBodyERKNS_6BodyIDENS_11EActivationE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #6 align 2

declare void @_ZN3JPH4Body16SetAllowSleepingEb(ptr noundef nonnull align 16 dereferenceable(122), i1 noundef zeroext) local_unnamed_addr #2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH28SwingTwistConstraintSettingsnwEm(i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH28SwingTwistConstraintSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(224)) unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH28SwingTwistConstraintSettingsdlEPv(ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #5 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 nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_28SwingTwistConstraintSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec36sAxisYEv() local_unnamed_addr #3 align 2

declare noundef ptr @_ZNK3JPH28SwingTwistConstraintSettings6CreateERNS_4BodyES2_(ptr noundef nonnull align 16 dereferenceable(224), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122)) unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH3RefINS_20SwingTwistConstraintEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH13PhysicsSystem13AddConstraintEPNS_10ConstraintE(ptr noundef nonnull align 16 dereferenceable(1172), ptr noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_20SwingTwistConstraintEEcvPS1_Ev(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayINS_3RefINS_20SwingTwistConstraintEEENS_12STLAllocatorIS3_EEE9push_backERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH3RefINS_20SwingTwistConstraintEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH3RefINS_28SwingTwistConstraintSettingsEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH3RefINS_16GroupFilterTableEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #6 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 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}
!7 = !{!8, !9, i64 24}
!8 = !{!"_ZTS4Test", !9, i64 8, !9, i64 16, !9, i64 24, !9, i64 32, !9, i64 40, !12, i64 48, !13, i64 56}
!9 = !{!"any pointer", !10, i64 0}
!10 = !{!"omnipotent char", !11, i64 0}
!11 = !{!"Simple C++ TBAA"}
!12 = !{!"bool", !10, i64 0}
!13 = !{!"_ZTSSt13unordered_mapIN3JPH6BodyIDENSt7__cxx1112basic_stringIcSt11char_traitsIcENS0_12STLAllocatorIcEEEESt4hashIS1_ESt8equal_toIS1_ESaISt4pairIKS1_S8_EEE", !14, i64 0}
!14 = !{!"_ZTSSt10_HashtableIN3JPH6BodyIDESt4pairIKS1_NSt7__cxx1112basic_stringIcSt11char_traitsIcENS0_12STLAllocatorIcEEEEESaISB_ENSt8__detail10_Select1stESt8equal_toIS1_ESt4hashIS1_ENSD_18_Mod_range_hashingENSD_20_Default_ranged_hashENSD_20_Prime_rehash_policyENSD_17_Hashtable_traitsILb1ELb0ELb1EEEE", !9, i64 0, !15, i64 8, !16, i64 16, !15, i64 24, !17, i64 32, !9, i64 48}
!15 = !{!"long", !10, i64 0}
!16 = !{!"_ZTSNSt8__detail15_Hash_node_baseE", !9, i64 0}
!17 = !{!"_ZTSNSt8__detail20_Prime_rehash_policyE", !18, i64 0, !15, i64 8}
!18 = !{!"float", !10, i64 0}
!19 = !{!10, !10, i64 0}
!20 = !{i64 0, i64 16, !19}
!21 = !{!18, !18, i64 0}
!22 = !{!23, !18, i64 148}
!23 = !{!"_ZTSN3JPH28SwingTwistConstraintSettingsE", !24, i64 0, !31, i64 40, !32, i64 48, !32, i64 64, !32, i64 80, !32, i64 96, !32, i64 112, !32, i64 128, !33, i64 144, !18, i64 148, !18, i64 152, !18, i64 156, !18, i64 160, !18, i64 164, !34, i64 168, !34, i64 196}
!24 = !{!"_ZTSN3JPH25TwoBodyConstraintSettingsE", !25, i64 0}
!25 = !{!"_ZTSN3JPH18ConstraintSettingsE", !26, i64 0, !27, i64 8, !12, i64 12, !30, i64 16, !30, i64 20, !30, i64 24, !18, i64 28, !15, i64 32}
!26 = !{!"_ZTSN3JPH18SerializableObjectE"}
!27 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !28, i64 0}
!28 = !{!"_ZTSSt6atomicIjE", !29, i64 0}
!29 = !{!"_ZTSSt13__atomic_baseIjE", !30, i64 0}
!30 = !{!"int", !10, i64 0}
!31 = !{!"_ZTSN3JPH16EConstraintSpaceE", !10, i64 0}
!32 = !{!"_ZTSN3JPH4Vec3E", !10, i64 0}
!33 = !{!"_ZTSN3JPH10ESwingTypeE", !10, i64 0}
!34 = !{!"_ZTSN3JPH13MotorSettingsE", !35, i64 0, !18, i64 12, !18, i64 16, !18, i64 20, !18, i64 24}
!35 = !{!"_ZTSN3JPH14SpringSettingsE", !36, i64 0, !10, i64 4, !18, i64 8}
!36 = !{!"_ZTSN3JPH11ESpringModeE", !10, i64 0}
!37 = !{!23, !18, i64 152}
!38 = !{!23, !18, i64 156}
!39 = !{!23, !18, i64 160}
!40 = !{!8, !9, i64 16}
!41 = distinct !{!41, !6}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass