; LLVM IR from Slingshot-Physics/slingshot-community :: common/geometry/src (sat)

; 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.geometry::types::satResult_t" = type { i8, %class.Vector3, i32, [4 x %class.Vector3], [4 x %class.Vector3] }
%class.Vector3 = type { [3 x float] }
%"struct.geometry::collisions::cubeCubeCollisionType_t" = type { i32, %class.Vector3, %class.Vector3, i32, i32 }
%"class.geometry::ShapeSupport" = type { %"struct.geometry::types::shapeCube_t", %class.Matrix33, %class.Vector3, %class.Matrix33 }
%"struct.geometry::types::shapeCube_t" = type { float, float, float }
%class.Matrix33 = type { [9 x float] }
%"struct.geometry::types::labeledVertex_t" = type { i32, %class.Vector3 }
%"struct.geometry::collisions::queryAxisMeta_t" = type { i8, float, float, float }
%"struct.geometry::types::segmentClosestPoints_t" = type { i32, [2 x %class.Vector3], [2 x %class.Vector3] }
%"struct.geometry::types::isometricTransform_t" = type { %class.Matrix33, %class.Vector3 }

; Function Attrs: mustprogress uwtable
declare dso_local { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #0

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZNK7Vector33dotERKS_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8geometry10collisions8cubeCubeERKNS_5types20isometricTransform_tES4_RKNS1_11shapeCube_tES7_(ptr dead_on_unwind noalias writable sret(%"struct.geometry::types::satResult_t") align 4 %0, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %3, ptr noundef nonnull align 4 dereferenceable(12) %4) #1 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca float, align 4
  %12 = alloca %class.Vector3, align 4
  %13 = alloca %"struct.geometry::collisions::cubeCubeCollisionType_t", align 4
  %14 = alloca %class.Vector3, align 4
  %15 = alloca %"class.geometry::ShapeSupport", align 4
  %16 = alloca %"class.geometry::ShapeSupport", align 4
  %17 = alloca %class.Matrix33, align 4
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca %class.Vector3, align 4
  %21 = alloca %class.Vector3, align 4
  %22 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %23 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %24 = alloca %"struct.geometry::collisions::queryAxisMeta_t", align 4
  %25 = alloca %class.Matrix33, align 4
  %26 = alloca i32, align 4
  %27 = alloca %class.Vector3, align 4
  %28 = alloca %class.Vector3, align 4
  %29 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %30 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %31 = alloca %"struct.geometry::collisions::queryAxisMeta_t", align 4
  %32 = alloca %class.Vector3, align 4
  %33 = alloca i32, align 4
  %34 = alloca %class.Vector3, align 4
  %35 = alloca %class.Vector3, align 4
  %36 = alloca i32, align 4
  %37 = alloca %class.Vector3, align 4
  %38 = alloca %class.Vector3, align 4
  %39 = alloca %class.Vector3, align 4
  %40 = alloca %class.Vector3, align 4
  %41 = alloca %class.Vector3, align 4
  %42 = alloca %class.Vector3, align 4
  %43 = alloca %class.Vector3, align 4
  %44 = alloca %class.Vector3, align 4
  %45 = alloca %class.Vector3, align 4
  %46 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %47 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %48 = alloca %"struct.geometry::collisions::queryAxisMeta_t", align 4
  %49 = alloca float, align 4
  %50 = alloca %class.Matrix33, align 4
  %51 = alloca %class.Matrix33, align 4
  %52 = alloca %class.Vector3, align 4
  %53 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %54 = alloca %class.Vector3, align 4
  %55 = alloca %class.Vector3, align 4
  %56 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %57 = alloca %class.Vector3, align 4
  %58 = alloca %class.Matrix33, align 4
  %59 = alloca float, align 4
  %60 = alloca %class.Vector3, align 4
  %61 = alloca %class.Vector3, align 4
  %62 = alloca %class.Vector3, align 4
  %63 = alloca %class.Vector3, align 4
  %64 = alloca %class.Vector3, align 4
  %65 = alloca %class.Vector3, align 4
  %66 = alloca %class.Vector3, align 4
  %67 = alloca %class.Vector3, align 4
  %68 = alloca %"struct.geometry::types::segmentClosestPoints_t", align 4
  store ptr %0, ptr %6, align 8
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  store ptr %4, ptr %10, align 8, !tbaa !5
  call void @_ZN8geometry5types11satResult_tC2Ev(ptr noundef nonnull align 4 dereferenceable(116) %0)
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  store float 0x47EFFFFFE0000000, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %12) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %12)
  call void @llvm.lifetime.start.p0(i64 36, ptr %13) #6
  call void @_ZN8geometry10collisions23cubeCubeCollisionType_tC2Ev(ptr noundef nonnull align 4 dereferenceable(36) %13)
  call void @llvm.lifetime.start.p0(i64 12, ptr %14) #6
  %69 = load ptr, ptr %8, align 8, !tbaa !5
  %70 = getelementptr inbounds %"struct.geometry::types::isometricTransform_t", ptr %69, i32 0, i32 1
  %71 = load ptr, ptr %7, align 8, !tbaa !5
  %72 = getelementptr inbounds %"struct.geometry::types::isometricTransform_t", ptr %71, i32 0, i32 1
  call void @_ZNK7Vector3miERKS_(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %14, ptr noundef nonnull align 4 dereferenceable(12) %70, ptr noundef nonnull align 4 dereferenceable(12) %72)
  call void @llvm.lifetime.start.p0(i64 96, ptr %15) #6
  %73 = load ptr, ptr %7, align 8, !tbaa !5
  %74 = load ptr, ptr %9, align 8, !tbaa !5
  call void @_ZN8geometry12ShapeSupportINS_5types11shapeCube_tEEC2ERKNS1_20isometricTransform_tERKS2_(ptr noundef nonnull align 4 dereferenceable(96) %15, ptr noundef nonnull align 4 dereferenceable(48) %73, ptr noundef nonnull align 4 dereferenceable(12) %74)
  call void @llvm.lifetime.start.p0(i64 96, ptr %16) #6
  %75 = load ptr, ptr %8, align 8, !tbaa !5
  %76 = load ptr, ptr %10, align 8, !tbaa !5
  call void @_ZN8geometry12ShapeSupportINS_5types11shapeCube_tEEC2ERKNS1_20isometricTransform_tERKS2_(ptr noundef nonnull align 4 dereferenceable(96) %16, ptr noundef nonnull align 4 dereferenceable(48) %75, ptr noundef nonnull align 4 dereferenceable(12) %76)
  call void @llvm.lifetime.start.p0(i64 36, ptr %17) #6
  %77 = load ptr, ptr %7, align 8, !tbaa !5
  %78 = getelementptr inbounds %"struct.geometry::types::isometricTransform_t", ptr %77, i32 0, i32 0
  call void @_ZN8Matrix33C2ERKS_(ptr noundef nonnull align 4 dereferenceable(36) %17, ptr noundef nonnull align 4 dereferenceable(36) %78)
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #6
  store i32 0, ptr %18, align 4, !tbaa !11
  br label %79

79:                                               ; preds = %113, %5
  %80 = load i32, ptr %18, align 4, !tbaa !11
  %81 = icmp ult i32 %80, 3
  br i1 %81, label %83, label %82

82:                                               ; preds = %79
  store i32 2, ptr %19, align 4
  br label %116

83:                                               ; preds = %79
  call void @llvm.lifetime.start.p0(i64 12, ptr %20) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %20)
  %84 = load i32, ptr %18, align 4, !tbaa !11
  %85 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %20, i32 noundef %84)
  store float 1.000000e+00, ptr %85, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %21) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %21, ptr noundef nonnull align 4 dereferenceable(36) %17, ptr noundef nonnull align 4 dereferenceable(12) %20)
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %22, ptr noundef nonnull align 4 dereferenceable(96) %15, ptr noundef nonnull align 4 dereferenceable(12) %20)
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %23, ptr noundef nonnull align 4 dereferenceable(96) %16, ptr noundef nonnull align 4 dereferenceable(12) %21)
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #6
  %86 = getelementptr inbounds %"struct.geometry::types::labeledVertex_t", ptr %22, i32 0, i32 1
  %87 = getelementptr inbounds %"struct.geometry::types::labeledVertex_t", ptr %23, i32 0, i32 1
  %88 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %86, ptr noundef nonnull align 4 dereferenceable(12) %87, ptr noundef nonnull align 4 dereferenceable(12) %14, ptr noundef nonnull align 4 dereferenceable(12) %21)
  %89 = getelementptr inbounds { i64, <2 x float> }, ptr %24, i32 0, i32 0
  %90 = extractvalue { i64, <2 x float> } %88, 0
  store i64 %90, ptr %89, align 4
  %91 = getelementptr inbounds { i64, <2 x float> }, ptr %24, i32 0, i32 1
  %92 = extractvalue { i64, <2 x float> } %88, 1
  store <2 x float> %92, ptr %91, align 4
  %93 = getelementptr inbounds %"struct.geometry::collisions::queryAxisMeta_t", ptr %24, i32 0, i32 0
  %94 = load i8, ptr %93, align 4, !tbaa !13, !range !16, !noundef !17
  %95 = trunc i8 %94 to i1
  br i1 %95, label %96, label %98

96:                                               ; preds = %83
  %97 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 0
  store i8 0, ptr %97, align 4, !tbaa !18
  store i32 1, ptr %19, align 4
  br label %110

98:                                               ; preds = %83
  %99 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 0
  store i8 1, ptr %99, align 4, !tbaa !18
  %100 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %24)
  %101 = load float, ptr %11, align 4, !tbaa !9
  %102 = fcmp olt float %100, %101
  br i1 %102, label %103, label %109

103:                                              ; preds = %98
  %104 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 0
  store i32 0, ptr %104, align 4, !tbaa !21
  %105 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 1
  %106 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %105, ptr noundef nonnull align 4 dereferenceable(12) %21)
  %107 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %24)
  store float %107, ptr %11, align 4, !tbaa !9
  %108 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %12, ptr noundef nonnull align 4 dereferenceable(12) %21)
  br label %109

109:                                              ; preds = %103, %98
  store i32 0, ptr %19, align 4
  br label %110

110:                                              ; preds = %109, %96
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %20) #6
  %111 = load i32, ptr %19, align 4
  switch i32 %111, label %116 [
    i32 0, label %112
  ]

112:                                              ; preds = %110
  br label %113

113:                                              ; preds = %112
  %114 = load i32, ptr %18, align 4, !tbaa !11
  %115 = add i32 %114, 1
  store i32 %115, ptr %18, align 4, !tbaa !11
  br label %79, !llvm.loop !24

116:                                              ; preds = %110, %82
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #6
  %117 = load i32, ptr %19, align 4
  switch i32 %117, label %293 [
    i32 2, label %118
  ]

118:                                              ; preds = %116
  call void @llvm.lifetime.start.p0(i64 36, ptr %25) #6
  %119 = load ptr, ptr %8, align 8, !tbaa !5
  %120 = getelementptr inbounds %"struct.geometry::types::isometricTransform_t", ptr %119, i32 0, i32 0
  call void @_ZN8Matrix33C2ERKS_(ptr noundef nonnull align 4 dereferenceable(36) %25, ptr noundef nonnull align 4 dereferenceable(36) %120)
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #6
  store i32 0, ptr %26, align 4, !tbaa !11
  br label %121

121:                                              ; preds = %155, %118
  %122 = load i32, ptr %26, align 4, !tbaa !11
  %123 = icmp ult i32 %122, 3
  br i1 %123, label %125, label %124

124:                                              ; preds = %121
  store i32 5, ptr %19, align 4
  br label %158

125:                                              ; preds = %121
  call void @llvm.lifetime.start.p0(i64 12, ptr %27) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %27)
  %126 = load i32, ptr %26, align 4, !tbaa !11
  %127 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %27, i32 noundef %126)
  store float 1.000000e+00, ptr %127, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %28) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %28, ptr noundef nonnull align 4 dereferenceable(36) %25, ptr noundef nonnull align 4 dereferenceable(12) %27)
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %29, ptr noundef nonnull align 4 dereferenceable(96) %15, ptr noundef nonnull align 4 dereferenceable(12) %28)
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %30, ptr noundef nonnull align 4 dereferenceable(96) %16, ptr noundef nonnull align 4 dereferenceable(12) %27)
  call void @llvm.lifetime.start.p0(i64 16, ptr %31) #6
  %128 = getelementptr inbounds %"struct.geometry::types::labeledVertex_t", ptr %29, i32 0, i32 1
  %129 = getelementptr inbounds %"struct.geometry::types::labeledVertex_t", ptr %30, i32 0, i32 1
  %130 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %128, ptr noundef nonnull align 4 dereferenceable(12) %129, ptr noundef nonnull align 4 dereferenceable(12) %14, ptr noundef nonnull align 4 dereferenceable(12) %28)
  %131 = getelementptr inbounds { i64, <2 x float> }, ptr %31, i32 0, i32 0
  %132 = extractvalue { i64, <2 x float> } %130, 0
  store i64 %132, ptr %131, align 4
  %133 = getelementptr inbounds { i64, <2 x float> }, ptr %31, i32 0, i32 1
  %134 = extractvalue { i64, <2 x float> } %130, 1
  store <2 x float> %134, ptr %133, align 4
  %135 = getelementptr inbounds %"struct.geometry::collisions::queryAxisMeta_t", ptr %31, i32 0, i32 0
  %136 = load i8, ptr %135, align 4, !tbaa !13, !range !16, !noundef !17
  %137 = trunc i8 %136 to i1
  br i1 %137, label %138, label %140

138:                                              ; preds = %125
  %139 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 0
  store i8 0, ptr %139, align 4, !tbaa !18
  store i32 1, ptr %19, align 4
  br label %152

140:                                              ; preds = %125
  %141 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 0
  store i8 1, ptr %141, align 4, !tbaa !18
  %142 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %31)
  %143 = load float, ptr %11, align 4, !tbaa !9
  %144 = fcmp olt float %142, %143
  br i1 %144, label %145, label %151

145:                                              ; preds = %140
  %146 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 0
  store i32 1, ptr %146, align 4, !tbaa !21
  %147 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 2
  %148 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %147, ptr noundef nonnull align 4 dereferenceable(12) %28)
  %149 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %31)
  store float %149, ptr %11, align 4, !tbaa !9
  %150 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %12, ptr noundef nonnull align 4 dereferenceable(12) %28)
  br label %151

151:                                              ; preds = %145, %140
  store i32 0, ptr %19, align 4
  br label %152

152:                                              ; preds = %151, %138
  call void @llvm.lifetime.end.p0(i64 16, ptr %31) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %27) #6
  %153 = load i32, ptr %19, align 4
  switch i32 %153, label %158 [
    i32 0, label %154
  ]

154:                                              ; preds = %152
  br label %155

155:                                              ; preds = %154
  %156 = load i32, ptr %26, align 4, !tbaa !11
  %157 = add i32 %156, 1
  store i32 %157, ptr %26, align 4, !tbaa !11
  br label %121, !llvm.loop !26

158:                                              ; preds = %152, %124
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #6
  %159 = load i32, ptr %19, align 4
  switch i32 %159, label %292 [
    i32 5, label %160
  ]

160:                                              ; preds = %158
  call void @llvm.lifetime.start.p0(i64 12, ptr %32) #6
  call void @_ZN7Vector3C2Efff(ptr noundef nonnull align 4 dereferenceable(12) %32, float noundef -1.000000e+00, float noundef -1.000000e+00, float noundef -1.000000e+00)
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #6
  store i32 0, ptr %33, align 4, !tbaa !11
  br label %161

161:                                              ; preds = %225, %160
  %162 = load i32, ptr %33, align 4, !tbaa !11
  %163 = icmp ult i32 %162, 3
  br i1 %163, label %165, label %164

164:                                              ; preds = %161
  store i32 8, ptr %19, align 4
  br label %228

165:                                              ; preds = %161
  call void @llvm.lifetime.start.p0(i64 12, ptr %34) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %34)
  %166 = load i32, ptr %33, align 4, !tbaa !11
  %167 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %34, i32 noundef %166)
  store float 1.000000e+00, ptr %167, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %35) #6
  %168 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN8geometry9transform14forwardUnboundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %35, ptr noundef nonnull align 4 dereferenceable(48) %168, ptr noundef nonnull align 4 dereferenceable(12) %34)
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #6
  store i32 0, ptr %36, align 4, !tbaa !11
  br label %169

169:                                              ; preds = %216, %165
  %170 = load i32, ptr %36, align 4, !tbaa !11
  %171 = icmp ult i32 %170, 3
  br i1 %171, label %173, label %172

172:                                              ; preds = %169
  store i32 11, ptr %19, align 4
  br label %219

173:                                              ; preds = %169
  call void @llvm.lifetime.start.p0(i64 12, ptr %37) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %37)
  %174 = load i32, ptr %36, align 4, !tbaa !11
  %175 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %37, i32 noundef %174)
  store float 1.000000e+00, ptr %175, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %38) #6
  %176 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN8geometry9transform14forwardUnboundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %38, ptr noundef nonnull align 4 dereferenceable(48) %176, ptr noundef nonnull align 4 dereferenceable(12) %37)
  call void @llvm.lifetime.start.p0(i64 12, ptr %39) #6
  call void @_ZN7Vector3C2Efff(ptr noundef nonnull align 4 dereferenceable(12) %39, float noundef -1.000000e+00, float noundef -1.000000e+00, float noundef -1.000000e+00)
  %177 = load i32, ptr %36, align 4, !tbaa !11
  %178 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %39, i32 noundef %177)
  store float 1.000000e+00, ptr %178, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %40) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %40, ptr noundef nonnull align 4 dereferenceable(12) %35, ptr noundef nonnull align 4 dereferenceable(12) %38)
  %179 = call noundef float @_ZNK7Vector39magnitudeEv(ptr noundef nonnull align 4 dereferenceable(12) %40)
  %180 = fcmp olt float %179, 0x3EB0C6F7A0000000
  br i1 %180, label %181, label %186

181:                                              ; preds = %173
  call void @llvm.lifetime.start.p0(i64 12, ptr %41) #6
  %182 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %41, ptr noundef nonnull align 4 dereferenceable(48) %182, ptr noundef nonnull align 4 dereferenceable(12) %32)
  call void @llvm.lifetime.start.p0(i64 12, ptr %42) #6
  %183 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %42, ptr noundef nonnull align 4 dereferenceable(48) %183, ptr noundef nonnull align 4 dereferenceable(12) %39)
  call void @llvm.lifetime.start.p0(i64 12, ptr %43) #6
  call void @_ZNK7Vector3miERKS_(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %43, ptr noundef nonnull align 4 dereferenceable(12) %42, ptr noundef nonnull align 4 dereferenceable(12) %41)
  %184 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %35, ptr noundef nonnull align 4 dereferenceable(12) %43)
  call void @llvm.lifetime.end.p0(i64 12, ptr %43) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr %44) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %44, ptr noundef nonnull align 4 dereferenceable(12) %35, ptr noundef nonnull align 4 dereferenceable(12) %38)
  call void @llvm.lifetime.start.p0(i64 12, ptr %45) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %45, ptr noundef nonnull align 4 dereferenceable(12) %44, ptr noundef nonnull align 4 dereferenceable(12) %38)
  %185 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %40, ptr noundef nonnull align 4 dereferenceable(12) %45)
  call void @llvm.lifetime.end.p0(i64 12, ptr %45) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %44) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %42) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %41) #6
  br label %186

186:                                              ; preds = %181, %173
  call void @llvm.lifetime.start.p0(i64 16, ptr %46) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %46, ptr noundef nonnull align 4 dereferenceable(96) %15, ptr noundef nonnull align 4 dereferenceable(12) %40)
  call void @llvm.lifetime.start.p0(i64 16, ptr %47) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %47, ptr noundef nonnull align 4 dereferenceable(96) %16, ptr noundef nonnull align 4 dereferenceable(12) %40)
  call void @llvm.lifetime.start.p0(i64 16, ptr %48) #6
  %187 = getelementptr inbounds %"struct.geometry::types::labeledVertex_t", ptr %46, i32 0, i32 1
  %188 = getelementptr inbounds %"struct.geometry::types::labeledVertex_t", ptr %47, i32 0, i32 1
  %189 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %187, ptr noundef nonnull align 4 dereferenceable(12) %188, ptr noundef nonnull align 4 dereferenceable(12) %14, ptr noundef nonnull align 4 dereferenceable(12) %40)
  %190 = getelementptr inbounds { i64, <2 x float> }, ptr %48, i32 0, i32 0
  %191 = extractvalue { i64, <2 x float> } %189, 0
  store i64 %191, ptr %190, align 4
  %192 = getelementptr inbounds { i64, <2 x float> }, ptr %48, i32 0, i32 1
  %193 = extractvalue { i64, <2 x float> } %189, 1
  store <2 x float> %193, ptr %192, align 4
  %194 = getelementptr inbounds %"struct.geometry::collisions::queryAxisMeta_t", ptr %48, i32 0, i32 0
  %195 = load i8, ptr %194, align 4, !tbaa !13, !range !16, !noundef !17
  %196 = trunc i8 %195 to i1
  br i1 %196, label %197, label %199

197:                                              ; preds = %186
  %198 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 0
  store i8 0, ptr %198, align 4, !tbaa !18
  store i32 1, ptr %19, align 4
  br label %213

199:                                              ; preds = %186
  %200 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 0
  store i8 1, ptr %200, align 4, !tbaa !18
  %201 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %48)
  %202 = load float, ptr %11, align 4, !tbaa !9
  %203 = fcmp olt float %201, %202
  br i1 %203, label %204, label %212

204:                                              ; preds = %199
  %205 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 0
  store i32 2, ptr %205, align 4, !tbaa !21
  %206 = load i32, ptr %33, align 4, !tbaa !11
  %207 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 3
  store i32 %206, ptr %207, align 4, !tbaa !27
  %208 = load i32, ptr %36, align 4, !tbaa !11
  %209 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 4
  store i32 %208, ptr %209, align 4, !tbaa !28
  %210 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %48)
  store float %210, ptr %11, align 4, !tbaa !9
  %211 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %12, ptr noundef nonnull align 4 dereferenceable(12) %40)
  br label %212

212:                                              ; preds = %204, %199
  store i32 0, ptr %19, align 4
  br label %213

213:                                              ; preds = %212, %197
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %46) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %40) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %39) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %38) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %37) #6
  %214 = load i32, ptr %19, align 4
  switch i32 %214, label %219 [
    i32 0, label %215
  ]

215:                                              ; preds = %213
  br label %216

216:                                              ; preds = %215
  %217 = load i32, ptr %36, align 4, !tbaa !11
  %218 = add i32 %217, 1
  store i32 %218, ptr %36, align 4, !tbaa !11
  br label %169, !llvm.loop !29

219:                                              ; preds = %213, %172
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #6
  %220 = load i32, ptr %19, align 4
  switch i32 %220, label %222 [
    i32 11, label %221
  ]

221:                                              ; preds = %219
  store i32 0, ptr %19, align 4
  br label %222

222:                                              ; preds = %221, %219
  call void @llvm.lifetime.end.p0(i64 12, ptr %35) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %34) #6
  %223 = load i32, ptr %19, align 4
  switch i32 %223, label %228 [
    i32 0, label %224
  ]

224:                                              ; preds = %222
  br label %225

225:                                              ; preds = %224
  %226 = load i32, ptr %33, align 4, !tbaa !11
  %227 = add i32 %226, 1
  store i32 %227, ptr %33, align 4, !tbaa !11
  br label %161, !llvm.loop !30

228:                                              ; preds = %222, %164
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #6
  %229 = load i32, ptr %19, align 4
  switch i32 %229, label %291 [
    i32 8, label %230
  ]

230:                                              ; preds = %228
  %231 = call noundef float @_ZNK7Vector33dotERKS_(ptr noundef nonnull align 4 dereferenceable(12) %12, ptr noundef nonnull align 4 dereferenceable(12) %14)
  %232 = fcmp olt float %231, 0.000000e+00
  br i1 %232, label %233, label %235

233:                                              ; preds = %230
  call void @llvm.lifetime.start.p0(i64 4, ptr %49) #6
  store float -1.000000e+00, ptr %49, align 4, !tbaa !9
  %234 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3mLERKf(ptr noundef nonnull align 4 dereferenceable(12) %12, ptr noundef nonnull align 4 dereferenceable(4) %49)
  call void @llvm.lifetime.end.p0(i64 4, ptr %49) #6
  br label %235

235:                                              ; preds = %233, %230
  %236 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector39NormalizeEv(ptr noundef nonnull align 4 dereferenceable(12) %12)
  call void @llvm.lifetime.start.p0(i64 36, ptr %50) #6
  %237 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN8geometry25supportDirectionTransformERKNS_5types20isometricTransform_tE(ptr dead_on_unwind writable sret(%class.Matrix33) align 4 %50, ptr noundef nonnull align 4 dereferenceable(48) %237)
  call void @llvm.lifetime.start.p0(i64 36, ptr %51) #6
  %238 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN8geometry25supportDirectionTransformERKNS_5types20isometricTransform_tE(ptr dead_on_unwind writable sret(%class.Matrix33) align 4 %51, ptr noundef nonnull align 4 dereferenceable(48) %238)
  call void @llvm.lifetime.start.p0(i64 12, ptr %52) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %53) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr %54) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %54, ptr noundef nonnull align 4 dereferenceable(36) %50, ptr noundef nonnull align 4 dereferenceable(12) %12)
  %239 = load ptr, ptr %9, align 8, !tbaa !5
  call void @_ZN8geometry14supportMappingERK7Vector3RKNS_5types11shapeCube_tE(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %53, ptr noundef nonnull align 4 dereferenceable(12) %54, ptr noundef nonnull align 4 dereferenceable(12) %239)
  %240 = getelementptr inbounds %"struct.geometry::types::labeledVertex_t", ptr %53, i32 0, i32 1
  call void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12) %52, ptr noundef nonnull align 4 dereferenceable(12) %240)
  call void @llvm.lifetime.end.p0(i64 12, ptr %54) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %53) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr %55) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %56) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr %57) #6
  call void @llvm.lifetime.start.p0(i64 36, ptr %58) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %59) #6
  store float -1.000000e+00, ptr %59, align 4, !tbaa !9
  call void @_ZmlRKfRK8Matrix33(ptr dead_on_unwind writable sret(%class.Matrix33) align 4 %58, ptr noundef nonnull align 4 dereferenceable(4) %59, ptr noundef nonnull align 4 dereferenceable(36) %51)
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %57, ptr noundef nonnull align 4 dereferenceable(36) %58, ptr noundef nonnull align 4 dereferenceable(12) %12)
  %241 = load ptr, ptr %10, align 8, !tbaa !5
  call void @_ZN8geometry14supportMappingERK7Vector3RKNS_5types11shapeCube_tE(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %56, ptr noundef nonnull align 4 dereferenceable(12) %57, ptr noundef nonnull align 4 dereferenceable(12) %241)
  %242 = getelementptr inbounds %"struct.geometry::types::labeledVertex_t", ptr %56, i32 0, i32 1
  call void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12) %55, ptr noundef nonnull align 4 dereferenceable(12) %242)
  call void @llvm.lifetime.end.p0(i64 4, ptr %59) #6
  call void @llvm.lifetime.end.p0(i64 36, ptr %58) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %57) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %56) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr %60) #6
  %243 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %60, ptr noundef nonnull align 4 dereferenceable(48) %243, ptr noundef nonnull align 4 dereferenceable(12) %52)
  call void @llvm.lifetime.start.p0(i64 12, ptr %61) #6
  %244 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %61, ptr noundef nonnull align 4 dereferenceable(48) %244, ptr noundef nonnull align 4 dereferenceable(12) %55)
  %245 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 2
  store i32 1, ptr %245, align 4, !tbaa !31
  %246 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 0
  %247 = load i32, ptr %246, align 4, !tbaa !21
  switch i32 %247, label %287 [
    i32 0, label %248
    i32 1, label %256
    i32 2, label %264
  ]

248:                                              ; preds = %235
  %249 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 4
  %250 = getelementptr inbounds [4 x %class.Vector3], ptr %249, i64 0, i64 0
  %251 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %250, ptr noundef nonnull align 4 dereferenceable(12) %61)
  call void @llvm.lifetime.start.p0(i64 12, ptr %62) #6
  %252 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 1
  call void @_ZN8geometry5plane19closestPointToPointERK7Vector3S3_S3_(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %62, ptr noundef nonnull align 4 dereferenceable(12) %252, ptr noundef nonnull align 4 dereferenceable(12) %60, ptr noundef nonnull align 4 dereferenceable(12) %61)
  %253 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 3
  %254 = getelementptr inbounds [4 x %class.Vector3], ptr %253, i64 0, i64 0
  %255 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %254, ptr noundef nonnull align 4 dereferenceable(12) %62)
  call void @llvm.lifetime.end.p0(i64 12, ptr %62) #6
  br label %287

256:                                              ; preds = %235
  %257 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 3
  %258 = getelementptr inbounds [4 x %class.Vector3], ptr %257, i64 0, i64 0
  %259 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %258, ptr noundef nonnull align 4 dereferenceable(12) %60)
  call void @llvm.lifetime.start.p0(i64 12, ptr %63) #6
  %260 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 2
  call void @_ZN8geometry5plane19closestPointToPointERK7Vector3S3_S3_(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %63, ptr noundef nonnull align 4 dereferenceable(12) %260, ptr noundef nonnull align 4 dereferenceable(12) %61, ptr noundef nonnull align 4 dereferenceable(12) %60)
  %261 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 4
  %262 = getelementptr inbounds [4 x %class.Vector3], ptr %261, i64 0, i64 0
  %263 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %262, ptr noundef nonnull align 4 dereferenceable(12) %63)
  call void @llvm.lifetime.end.p0(i64 12, ptr %63) #6
  br label %287

264:                                              ; preds = %235
  call void @llvm.lifetime.start.p0(i64 12, ptr %64) #6
  call void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12) %64, ptr noundef nonnull align 4 dereferenceable(12) %52)
  %265 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 3
  %266 = load i32, ptr %265, align 4, !tbaa !27
  %267 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %64, i32 noundef %266)
  %268 = load float, ptr %267, align 4, !tbaa !9
  %269 = fmul float %268, -1.000000e+00
  store float %269, ptr %267, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %65) #6
  %270 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %65, ptr noundef nonnull align 4 dereferenceable(48) %270, ptr noundef nonnull align 4 dereferenceable(12) %64)
  call void @llvm.lifetime.start.p0(i64 12, ptr %66) #6
  call void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12) %66, ptr noundef nonnull align 4 dereferenceable(12) %55)
  %271 = getelementptr inbounds %"struct.geometry::collisions::cubeCubeCollisionType_t", ptr %13, i32 0, i32 4
  %272 = load i32, ptr %271, align 4, !tbaa !28
  %273 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %66, i32 noundef %272)
  %274 = load float, ptr %273, align 4, !tbaa !9
  %275 = fmul float %274, -1.000000e+00
  store float %275, ptr %273, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %67) #6
  %276 = load ptr, ptr %8, align 8, !tbaa !5
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4 %67, ptr noundef nonnull align 4 dereferenceable(48) %276, ptr noundef nonnull align 4 dereferenceable(12) %66)
  call void @llvm.lifetime.start.p0(i64 52, ptr %68) #6
  call void @_ZN8geometry7segment22closestPointsToSegmentERK7Vector3S3_S3_S3_f(ptr dead_on_unwind writable sret(%"struct.geometry::types::segmentClosestPoints_t") align 4 %68, ptr noundef nonnull align 4 dereferenceable(12) %60, ptr noundef nonnull align 4 dereferenceable(12) %65, ptr noundef nonnull align 4 dereferenceable(12) %61, ptr noundef nonnull align 4 dereferenceable(12) %67, float noundef 0x3EE4F8B580000000)
  %277 = getelementptr inbounds %"struct.geometry::types::segmentClosestPoints_t", ptr %68, i32 0, i32 1
  %278 = getelementptr inbounds [2 x %class.Vector3], ptr %277, i64 0, i64 0
  %279 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 3
  %280 = getelementptr inbounds [4 x %class.Vector3], ptr %279, i64 0, i64 0
  %281 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %280, ptr noundef nonnull align 4 dereferenceable(12) %278)
  %282 = getelementptr inbounds %"struct.geometry::types::segmentClosestPoints_t", ptr %68, i32 0, i32 2
  %283 = getelementptr inbounds [2 x %class.Vector3], ptr %282, i64 0, i64 0
  %284 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 4
  %285 = getelementptr inbounds [4 x %class.Vector3], ptr %284, i64 0, i64 0
  %286 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %285, ptr noundef nonnull align 4 dereferenceable(12) %283)
  store i32 14, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 52, ptr %68) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %67) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %66) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %65) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %64) #6
  br label %287

287:                                              ; preds = %264, %256, %248, %235
  %288 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 0
  store i8 1, ptr %288, align 4, !tbaa !18
  %289 = getelementptr inbounds %"struct.geometry::types::satResult_t", ptr %0, i32 0, i32 1
  %290 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %289, ptr noundef nonnull align 4 dereferenceable(12) %12)
  store i32 1, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 12, ptr %61) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %60) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %55) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %52) #6
  call void @llvm.lifetime.end.p0(i64 36, ptr %51) #6
  call void @llvm.lifetime.end.p0(i64 36, ptr %50) #6
  br label %291

291:                                              ; preds = %287, %228
  call void @llvm.lifetime.end.p0(i64 12, ptr %32) #6
  br label %292

292:                                              ; preds = %291, %158
  call void @llvm.lifetime.end.p0(i64 36, ptr %25) #6
  br label %293

293:                                              ; preds = %292, %116
  call void @llvm.lifetime.end.p0(i64 36, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 36, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN8geometry5types11satResult_tC2Ev(ptr noundef nonnull align 4 dereferenceable(116)) unnamed_addr #2 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN8geometry10collisions23cubeCubeCollisionType_tC2Ev(ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK7Vector3miERKS_(ptr dead_on_unwind noalias writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8geometry12ShapeSupportINS_5types11shapeCube_tEEC2ERKNS1_20isometricTransform_tERKS2_(ptr noundef nonnull align 4 dereferenceable(96), ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8Matrix33C2ERKS_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12), i32 noundef) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind noalias writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind noalias writable sret(%"struct.geometry::types::labeledVertex_t") align 4, ptr noundef nonnull align 4 dereferenceable(96), ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind noalias writable sret(%"struct.geometry::types::labeledVertex_t") align 4, ptr noundef nonnull align 4 dereferenceable(96), ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7Vector3C2Efff(ptr noundef nonnull align 4 dereferenceable(12), float noundef, float noundef, float noundef) unnamed_addr #0 align 2

declare void @_ZN8geometry9transform14forwardUnboundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(12)) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind noalias writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZNK7Vector39magnitudeEv(ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

declare void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(12)) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3mLERKf(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(4)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector39NormalizeEv(ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

declare void @_ZN8geometry25supportDirectionTransformERKNS_5types20isometricTransform_tE(ptr dead_on_unwind writable sret(%class.Matrix33) align 4, ptr noundef nonnull align 4 dereferenceable(48)) #5

declare void @_ZN8geometry14supportMappingERK7Vector3RKNS_5types11shapeCube_tE(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #0 align 2

declare void @_ZmlRKfRK8Matrix33(ptr dead_on_unwind writable sret(%class.Matrix33) align 4, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(36)) #5

declare void @_ZN8geometry5plane19closestPointToPointERK7Vector3S3_S3_(ptr dead_on_unwind writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #5

declare void @_ZN8geometry7segment22closestPointsToSegmentERK7Vector3S3_S3_S3_f(ptr dead_on_unwind writable sret(%"struct.geometry::types::segmentClosestPoints_t") align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), float noundef) #5

attributes #0 = { 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 #1 = { mustprogress uwtable "min-legal-vector-width"="64" "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 = { 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 #3 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 = { "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 = { 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 = !{!14, !15, i64 0}
!14 = !{!"_ZTSN8geometry10collisions15queryAxisMeta_tE", !15, i64 0, !10, i64 4, !10, i64 8, !10, i64 12}
!15 = !{!"bool", !7, i64 0}
!16 = !{i8 0, i8 2}
!17 = !{}
!18 = !{!19, !15, i64 0}
!19 = !{!"_ZTSN8geometry5types11satResult_tE", !15, i64 0, !20, i64 4, !12, i64 16, !7, i64 20, !7, i64 68}
!20 = !{!"_ZTS7Vector3", !7, i64 0}
!21 = !{!22, !23, i64 0}
!22 = !{!"_ZTSN8geometry10collisions23cubeCubeCollisionType_tE", !23, i64 0, !20, i64 4, !20, i64 16, !12, i64 28, !12, i64 32}
!23 = !{!"_ZTSN8geometry10collisions23cubeCubeCollisionType_tUt_E", !7, i64 0}
!24 = distinct !{!24, !25}
!25 = !{!"llvm.loop.mustprogress"}
!26 = distinct !{!26, !25}
!27 = !{!22, !12, i64 28}
!28 = !{!22, !12, i64 32}
!29 = distinct !{!29, !25}
!30 = distinct !{!30, !25}
!31 = !{!19, !12, i64 16}


; 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"

%"struct.geometry::types::satResult_t" = type { i8, %class.Vector3, i32, [4 x %class.Vector3], [4 x %class.Vector3] }
%class.Vector3 = type { [3 x float] }
%"struct.geometry::collisions::cubeCubeCollisionType_t" = type { i32, %class.Vector3, %class.Vector3, i32, i32 }
%"class.geometry::ShapeSupport" = type { %"struct.geometry::types::shapeCube_t", %class.Matrix33, %class.Vector3, %class.Matrix33 }
%"struct.geometry::types::shapeCube_t" = type { float, float, float }
%class.Matrix33 = type { [9 x float] }
%"struct.geometry::types::labeledVertex_t" = type { i32, %class.Vector3 }
%"struct.geometry::collisions::queryAxisMeta_t" = type { i8, float, float, float }
%"struct.geometry::types::segmentClosestPoints_t" = type { i32, [2 x %class.Vector3], [2 x %class.Vector3] }

; Function Attrs: mustprogress uwtable
declare dso_local { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZNK7Vector33dotERKS_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8geometry10collisions8cubeCubeERKNS_5types20isometricTransform_tES4_RKNS1_11shapeCube_tES7_(ptr dead_on_unwind noalias nonnull writable sret(%"struct.geometry::types::satResult_t") align 4 %0, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %3, ptr noundef nonnull align 4 dereferenceable(12) %4) local_unnamed_addr #1 {
  %6 = alloca %class.Vector3, align 4
  %7 = alloca %"struct.geometry::collisions::cubeCubeCollisionType_t", align 4
  %8 = alloca %class.Vector3, align 4
  %9 = alloca %"class.geometry::ShapeSupport", align 4
  %10 = alloca %"class.geometry::ShapeSupport", align 4
  %11 = alloca %class.Matrix33, align 4
  %12 = alloca %class.Vector3, align 4
  %13 = alloca %class.Vector3, align 4
  %14 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %15 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %16 = alloca %"struct.geometry::collisions::queryAxisMeta_t", align 8
  %17 = alloca %class.Matrix33, align 4
  %18 = alloca %class.Vector3, align 4
  %19 = alloca %class.Vector3, align 4
  %20 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %21 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %22 = alloca %"struct.geometry::collisions::queryAxisMeta_t", align 8
  %23 = alloca %class.Vector3, align 4
  %24 = alloca %class.Vector3, align 4
  %25 = alloca %class.Vector3, align 4
  %26 = alloca %class.Vector3, align 4
  %27 = alloca %class.Vector3, align 4
  %28 = alloca %class.Vector3, align 4
  %29 = alloca %class.Vector3, align 4
  %30 = alloca %class.Vector3, align 4
  %31 = alloca %class.Vector3, align 4
  %32 = alloca %class.Vector3, align 4
  %33 = alloca %class.Vector3, align 4
  %34 = alloca %class.Vector3, align 4
  %35 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %36 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %37 = alloca %"struct.geometry::collisions::queryAxisMeta_t", align 8
  %38 = alloca float, align 4
  %39 = alloca %class.Matrix33, align 4
  %40 = alloca %class.Matrix33, align 4
  %41 = alloca %class.Vector3, align 4
  %42 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %43 = alloca %class.Vector3, align 4
  %44 = alloca %class.Vector3, align 4
  %45 = alloca %"struct.geometry::types::labeledVertex_t", align 4
  %46 = alloca %class.Vector3, align 4
  %47 = alloca %class.Matrix33, align 4
  %48 = alloca float, align 4
  %49 = alloca %class.Vector3, align 4
  %50 = alloca %class.Vector3, align 4
  %51 = alloca %class.Vector3, align 4
  %52 = alloca %class.Vector3, align 4
  %53 = alloca %class.Vector3, align 4
  %54 = alloca %class.Vector3, align 4
  %55 = alloca %class.Vector3, align 4
  %56 = alloca %class.Vector3, align 4
  %57 = alloca %"struct.geometry::types::segmentClosestPoints_t", align 4
  tail call void @_ZN8geometry5types11satResult_tC2Ev(ptr noundef nonnull align 4 dereferenceable(116) %0)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %6) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %6)
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %7) #6
  call void @_ZN8geometry10collisions23cubeCubeCollisionType_tC2Ev(ptr noundef nonnull align 4 dereferenceable(36) %7)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %8) #6
  %58 = getelementptr inbounds i8, ptr %2, i64 36
  %59 = getelementptr inbounds i8, ptr %1, i64 36
  call void @_ZNK7Vector3miERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %8, ptr noundef nonnull align 4 dereferenceable(12) %58, ptr noundef nonnull align 4 dereferenceable(12) %59)
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %9) #6
  call void @_ZN8geometry12ShapeSupportINS_5types11shapeCube_tEEC2ERKNS1_20isometricTransform_tERKS2_(ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(12) %3)
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %10) #6
  call void @_ZN8geometry12ShapeSupportINS_5types11shapeCube_tEEC2ERKNS1_20isometricTransform_tERKS2_(ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %4)
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %11) #6
  call void @_ZN8Matrix33C2ERKS_(ptr noundef nonnull align 4 dereferenceable(36) %11, ptr noundef nonnull align 4 dereferenceable(36) %1)
  %60 = getelementptr inbounds i8, ptr %14, i64 4
  %61 = getelementptr inbounds i8, ptr %15, i64 4
  %62 = getelementptr inbounds i8, ptr %16, i64 8
  %63 = getelementptr inbounds i8, ptr %7, i64 4
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %12) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %12)
  %64 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %12, i32 noundef 0)
  store float 1.000000e+00, ptr %64, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %13) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %13, ptr noundef nonnull align 4 dereferenceable(36) %11, ptr noundef nonnull align 4 dereferenceable(12) %12)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %14, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %12)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %15, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %13)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #6
  %65 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %60, ptr noundef nonnull align 4 dereferenceable(12) %61, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %13)
  %66 = extractvalue { i64, <2 x float> } %65, 0
  store i64 %66, ptr %16, align 8
  %67 = extractvalue { i64, <2 x float> } %65, 1
  store <2 x float> %67, ptr %62, align 8
  %68 = trunc i64 %66 to i1
  br i1 %68, label %112, label %69

69:                                               ; preds = %5
  store i8 1, ptr %0, align 4, !tbaa !9
  %70 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %16)
  %71 = fcmp olt float %70, 0x47EFFFFFE0000000
  br i1 %71, label %72, label %76

72:                                               ; preds = %69
  store i32 0, ptr %7, align 4, !tbaa !14
  %73 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %63, ptr noundef nonnull align 4 dereferenceable(12) %13)
  %74 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %16)
  %75 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %13)
  br label %76

76:                                               ; preds = %69, %72
  %.258.ph = phi float [ 0x47EFFFFFE0000000, %69 ], [ %74, %72 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %12) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %12)
  %77 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %12, i32 noundef 1)
  store float 1.000000e+00, ptr %77, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %13) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %13, ptr noundef nonnull align 4 dereferenceable(36) %11, ptr noundef nonnull align 4 dereferenceable(12) %12)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %14, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %12)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %15, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %13)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #6
  %78 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %60, ptr noundef nonnull align 4 dereferenceable(12) %61, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %13)
  %79 = extractvalue { i64, <2 x float> } %78, 0
  store i64 %79, ptr %16, align 8
  %80 = extractvalue { i64, <2 x float> } %78, 1
  store <2 x float> %80, ptr %62, align 8
  %81 = trunc i64 %79 to i1
  br i1 %81, label %112, label %82

82:                                               ; preds = %76
  store i8 1, ptr %0, align 4, !tbaa !9
  %83 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %16)
  %84 = fcmp olt float %83, %.258.ph
  br i1 %84, label %85, label %89

85:                                               ; preds = %82
  store i32 0, ptr %7, align 4, !tbaa !14
  %86 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %63, ptr noundef nonnull align 4 dereferenceable(12) %13)
  %87 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %16)
  %88 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %13)
  br label %89

89:                                               ; preds = %85, %82
  %.258.ph.1 = phi float [ %.258.ph, %82 ], [ %87, %85 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %12) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %12)
  %90 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %12, i32 noundef 2)
  store float 1.000000e+00, ptr %90, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %13) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %13, ptr noundef nonnull align 4 dereferenceable(36) %11, ptr noundef nonnull align 4 dereferenceable(12) %12)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %14, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %12)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %15, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %13)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #6
  %91 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %60, ptr noundef nonnull align 4 dereferenceable(12) %61, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %13)
  %92 = extractvalue { i64, <2 x float> } %91, 0
  store i64 %92, ptr %16, align 8
  %93 = extractvalue { i64, <2 x float> } %91, 1
  store <2 x float> %93, ptr %62, align 8
  %94 = trunc i64 %92 to i1
  br i1 %94, label %112, label %95

95:                                               ; preds = %89
  store i8 1, ptr %0, align 4, !tbaa !9
  %96 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %16)
  %97 = fcmp olt float %96, %.258.ph.1
  br i1 %97, label %98, label %102

98:                                               ; preds = %95
  store i32 0, ptr %7, align 4, !tbaa !14
  %99 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %63, ptr noundef nonnull align 4 dereferenceable(12) %13)
  %100 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %16)
  %101 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %13)
  br label %102

102:                                              ; preds = %98, %95
  %.258.ph.2 = phi float [ %.258.ph.1, %95 ], [ %100, %98 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %17) #6
  call void @_ZN8Matrix33C2ERKS_(ptr noundef nonnull align 4 dereferenceable(36) %17, ptr noundef nonnull align 4 dereferenceable(36) %2)
  %103 = getelementptr inbounds i8, ptr %20, i64 4
  %104 = getelementptr inbounds i8, ptr %21, i64 4
  %105 = getelementptr inbounds i8, ptr %22, i64 8
  %106 = getelementptr inbounds i8, ptr %7, i64 16
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %18) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %18)
  %107 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %18, i32 noundef 0)
  store float 1.000000e+00, ptr %107, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %19) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %19, ptr noundef nonnull align 4 dereferenceable(36) %17, ptr noundef nonnull align 4 dereferenceable(12) %18)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %20, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %19)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %21, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %18)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #6
  %108 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %103, ptr noundef nonnull align 4 dereferenceable(12) %104, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %19)
  %109 = extractvalue { i64, <2 x float> } %108, 0
  store i64 %109, ptr %22, align 8
  %110 = extractvalue { i64, <2 x float> } %108, 1
  store <2 x float> %110, ptr %105, align 8
  %111 = trunc i64 %109 to i1
  br i1 %111, label %152, label %113

112:                                              ; preds = %89, %76, %5
  store i8 0, ptr %0, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %12) #6
  br label %254

113:                                              ; preds = %102
  store i8 1, ptr %0, align 4, !tbaa !9
  %114 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %22)
  %115 = fcmp olt float %114, %.258.ph.2
  br i1 %115, label %116, label %120

116:                                              ; preds = %113
  store i32 1, ptr %7, align 4, !tbaa !14
  %117 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %106, ptr noundef nonnull align 4 dereferenceable(12) %19)
  %118 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %22)
  %119 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %19)
  br label %120

120:                                              ; preds = %113, %116
  %.662.ph = phi float [ %.258.ph.2, %113 ], [ %118, %116 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %18) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %18)
  %121 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %18, i32 noundef 1)
  store float 1.000000e+00, ptr %121, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %19) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %19, ptr noundef nonnull align 4 dereferenceable(36) %17, ptr noundef nonnull align 4 dereferenceable(12) %18)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %20, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %19)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %21, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %18)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #6
  %122 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %103, ptr noundef nonnull align 4 dereferenceable(12) %104, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %19)
  %123 = extractvalue { i64, <2 x float> } %122, 0
  store i64 %123, ptr %22, align 8
  %124 = extractvalue { i64, <2 x float> } %122, 1
  store <2 x float> %124, ptr %105, align 8
  %125 = trunc i64 %123 to i1
  br i1 %125, label %152, label %126

126:                                              ; preds = %120
  store i8 1, ptr %0, align 4, !tbaa !9
  %127 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %22)
  %128 = fcmp olt float %127, %.662.ph
  br i1 %128, label %129, label %133

129:                                              ; preds = %126
  store i32 1, ptr %7, align 4, !tbaa !14
  %130 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %106, ptr noundef nonnull align 4 dereferenceable(12) %19)
  %131 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %22)
  %132 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %19)
  br label %133

133:                                              ; preds = %129, %126
  %.662.ph.1 = phi float [ %.662.ph, %126 ], [ %131, %129 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %18) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %18)
  %134 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %18, i32 noundef 2)
  store float 1.000000e+00, ptr %134, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %19) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %19, ptr noundef nonnull align 4 dereferenceable(36) %17, ptr noundef nonnull align 4 dereferenceable(12) %18)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %20, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %19)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %21, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %18)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #6
  %135 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %103, ptr noundef nonnull align 4 dereferenceable(12) %104, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %19)
  %136 = extractvalue { i64, <2 x float> } %135, 0
  store i64 %136, ptr %22, align 8
  %137 = extractvalue { i64, <2 x float> } %135, 1
  store <2 x float> %137, ptr %105, align 8
  %138 = trunc i64 %136 to i1
  br i1 %138, label %152, label %139

139:                                              ; preds = %133
  store i8 1, ptr %0, align 4, !tbaa !9
  %140 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %22)
  %141 = fcmp olt float %140, %.662.ph.1
  br i1 %141, label %142, label %146

142:                                              ; preds = %139
  store i32 1, ptr %7, align 4, !tbaa !14
  %143 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %106, ptr noundef nonnull align 4 dereferenceable(12) %19)
  %144 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %22)
  %145 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %19)
  br label %146

146:                                              ; preds = %142, %139
  %.662.ph.2 = phi float [ %.662.ph.1, %139 ], [ %144, %142 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %23) #6
  call void @_ZN7Vector3C2Efff(ptr noundef nonnull align 4 dereferenceable(12) %23, float noundef -1.000000e+00, float noundef -1.000000e+00, float noundef -1.000000e+00)
  %147 = getelementptr inbounds i8, ptr %35, i64 4
  %148 = getelementptr inbounds i8, ptr %36, i64 4
  %149 = getelementptr inbounds i8, ptr %37, i64 8
  %150 = getelementptr inbounds i8, ptr %7, i64 28
  %151 = getelementptr inbounds i8, ptr %7, i64 32
  br label %153

152:                                              ; preds = %133, %120, %102
  store i8 0, ptr %0, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %19) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %18) #6
  br label %253

153:                                              ; preds = %146, %211
  %.05292 = phi i32 [ 0, %146 ], [ %212, %211 ]
  %.891 = phi float [ %.662.ph.2, %146 ], [ %.11.ph.2, %211 ]
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %24) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %24)
  %154 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %24, i32 noundef %.05292)
  store float 1.000000e+00, ptr %154, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %25) #6
  call void @_ZN8geometry9transform14forwardUnboundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %25, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(12) %24)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %26) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %26)
  %155 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %26, i32 noundef 0)
  store float 1.000000e+00, ptr %155, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %27) #6
  call void @_ZN8geometry9transform14forwardUnboundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %27, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %26)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %28) #6
  call void @_ZN7Vector3C2Efff(ptr noundef nonnull align 4 dereferenceable(12) %28, float noundef -1.000000e+00, float noundef -1.000000e+00, float noundef -1.000000e+00)
  %156 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %28, i32 noundef 0)
  store float 1.000000e+00, ptr %156, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %29) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %29, ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %27)
  %157 = call noundef float @_ZNK7Vector39magnitudeEv(ptr noundef nonnull align 4 dereferenceable(12) %29)
  %158 = fcmp olt float %157, 0x3EB0C6F7A0000000
  br i1 %158, label %159, label %162

159:                                              ; preds = %153
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %30) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %30, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(12) %23)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %31) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %31, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %28)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %32) #6
  call void @_ZNK7Vector3miERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %32, ptr noundef nonnull align 4 dereferenceable(12) %31, ptr noundef nonnull align 4 dereferenceable(12) %30)
  %160 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %32)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %32) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %33) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %33, ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %27)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %34) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %34, ptr noundef nonnull align 4 dereferenceable(12) %33, ptr noundef nonnull align 4 dereferenceable(12) %27)
  %161 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %29, ptr noundef nonnull align 4 dereferenceable(12) %34)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %33) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %31) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %30) #6
  br label %162

162:                                              ; preds = %159, %153
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %35) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %35, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %29)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %36) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %36, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %29)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %37) #6
  %163 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %147, ptr noundef nonnull align 4 dereferenceable(12) %148, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %29)
  %164 = extractvalue { i64, <2 x float> } %163, 0
  store i64 %164, ptr %37, align 8
  %165 = extractvalue { i64, <2 x float> } %163, 1
  store <2 x float> %165, ptr %149, align 8
  %166 = trunc i64 %164 to i1
  br i1 %166, label %213, label %167

167:                                              ; preds = %162
  store i8 1, ptr %0, align 4, !tbaa !9
  %168 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %37)
  %169 = fcmp olt float %168, %.891
  br i1 %169, label %170, label %173

170:                                              ; preds = %167
  store i32 2, ptr %7, align 4, !tbaa !14
  store i32 %.05292, ptr %150, align 4, !tbaa !17
  store i32 0, ptr %151, align 4, !tbaa !18
  %171 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %37)
  %172 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %29)
  br label %173

173:                                              ; preds = %167, %170
  %.11.ph = phi float [ %.891, %167 ], [ %171, %170 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %36) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %35) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %27) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %26) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %26) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %26)
  %174 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %26, i32 noundef 1)
  store float 1.000000e+00, ptr %174, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %27) #6
  call void @_ZN8geometry9transform14forwardUnboundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %27, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %26)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %28) #6
  call void @_ZN7Vector3C2Efff(ptr noundef nonnull align 4 dereferenceable(12) %28, float noundef -1.000000e+00, float noundef -1.000000e+00, float noundef -1.000000e+00)
  %175 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %28, i32 noundef 1)
  store float 1.000000e+00, ptr %175, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %29) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %29, ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %27)
  %176 = call noundef float @_ZNK7Vector39magnitudeEv(ptr noundef nonnull align 4 dereferenceable(12) %29)
  %177 = fcmp olt float %176, 0x3EB0C6F7A0000000
  br i1 %177, label %178, label %181

178:                                              ; preds = %173
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %30) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %30, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(12) %23)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %31) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %31, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %28)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %32) #6
  call void @_ZNK7Vector3miERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %32, ptr noundef nonnull align 4 dereferenceable(12) %31, ptr noundef nonnull align 4 dereferenceable(12) %30)
  %179 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %32)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %32) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %33) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %33, ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %27)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %34) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %34, ptr noundef nonnull align 4 dereferenceable(12) %33, ptr noundef nonnull align 4 dereferenceable(12) %27)
  %180 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %29, ptr noundef nonnull align 4 dereferenceable(12) %34)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %33) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %31) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %30) #6
  br label %181

181:                                              ; preds = %178, %173
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %35) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %35, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %29)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %36) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %36, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %29)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %37) #6
  %182 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %147, ptr noundef nonnull align 4 dereferenceable(12) %148, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %29)
  %183 = extractvalue { i64, <2 x float> } %182, 0
  store i64 %183, ptr %37, align 8
  %184 = extractvalue { i64, <2 x float> } %182, 1
  store <2 x float> %184, ptr %149, align 8
  %185 = trunc i64 %183 to i1
  br i1 %185, label %213, label %186

186:                                              ; preds = %181
  store i8 1, ptr %0, align 4, !tbaa !9
  %187 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %37)
  %188 = fcmp olt float %187, %.11.ph
  br i1 %188, label %189, label %192

189:                                              ; preds = %186
  store i32 2, ptr %7, align 4, !tbaa !14
  store i32 %.05292, ptr %150, align 4, !tbaa !17
  store i32 1, ptr %151, align 4, !tbaa !18
  %190 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %37)
  %191 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %29)
  br label %192

192:                                              ; preds = %189, %186
  %.11.ph.1 = phi float [ %.11.ph, %186 ], [ %190, %189 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %36) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %35) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %27) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %26) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %26) #6
  call void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12) %26)
  %193 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %26, i32 noundef 2)
  store float 1.000000e+00, ptr %193, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %27) #6
  call void @_ZN8geometry9transform14forwardUnboundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %27, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %26)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %28) #6
  call void @_ZN7Vector3C2Efff(ptr noundef nonnull align 4 dereferenceable(12) %28, float noundef -1.000000e+00, float noundef -1.000000e+00, float noundef -1.000000e+00)
  %194 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %28, i32 noundef 2)
  store float 1.000000e+00, ptr %194, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %29) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %29, ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %27)
  %195 = call noundef float @_ZNK7Vector39magnitudeEv(ptr noundef nonnull align 4 dereferenceable(12) %29)
  %196 = fcmp olt float %195, 0x3EB0C6F7A0000000
  br i1 %196, label %197, label %200

197:                                              ; preds = %192
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %30) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %30, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(12) %23)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %31) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %31, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %28)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %32) #6
  call void @_ZNK7Vector3miERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %32, ptr noundef nonnull align 4 dereferenceable(12) %31, ptr noundef nonnull align 4 dereferenceable(12) %30)
  %198 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %32)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %32) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %33) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %33, ptr noundef nonnull align 4 dereferenceable(12) %25, ptr noundef nonnull align 4 dereferenceable(12) %27)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %34) #6
  call void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %34, ptr noundef nonnull align 4 dereferenceable(12) %33, ptr noundef nonnull align 4 dereferenceable(12) %27)
  %199 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %29, ptr noundef nonnull align 4 dereferenceable(12) %34)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %34) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %33) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %31) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %30) #6
  br label %200

200:                                              ; preds = %197, %192
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %35) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %35, ptr noundef nonnull align 4 dereferenceable(96) %9, ptr noundef nonnull align 4 dereferenceable(12) %29)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %36) #6
  call void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %36, ptr noundef nonnull align 4 dereferenceable(96) %10, ptr noundef nonnull align 4 dereferenceable(12) %29)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %37) #6
  %201 = call { i64, <2 x float> } @_ZN8geometry10collisions14separationAxisERK7Vector3S3_S3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %147, ptr noundef nonnull align 4 dereferenceable(12) %148, ptr noundef nonnull align 4 dereferenceable(12) %8, ptr noundef nonnull align 4 dereferenceable(12) %29)
  %202 = extractvalue { i64, <2 x float> } %201, 0
  store i64 %202, ptr %37, align 8
  %203 = extractvalue { i64, <2 x float> } %201, 1
  store <2 x float> %203, ptr %149, align 8
  %204 = trunc i64 %202 to i1
  br i1 %204, label %213, label %205

205:                                              ; preds = %200
  store i8 1, ptr %0, align 4, !tbaa !9
  %206 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %37)
  %207 = fcmp olt float %206, %.11.ph.1
  br i1 %207, label %208, label %211

208:                                              ; preds = %205
  store i32 2, ptr %7, align 4, !tbaa !14
  store i32 %.05292, ptr %150, align 4, !tbaa !17
  store i32 2, ptr %151, align 4, !tbaa !18
  %209 = call noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16) %37)
  %210 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %29)
  br label %211

211:                                              ; preds = %208, %205
  %.11.ph.2 = phi float [ %.11.ph.1, %205 ], [ %209, %208 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %36) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %35) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %27) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %26) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %25) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %24) #6
  %212 = add nuw nsw i32 %.05292, 1
  %exitcond = icmp eq i32 %212, 3
  br i1 %exitcond, label %.critedge, label %153, !llvm.loop !19

213:                                              ; preds = %200, %181, %162
  store i8 0, ptr %0, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %37) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %36) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %35) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %29) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %28) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %27) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %26) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %25) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %24) #6
  br label %252

.critedge:                                        ; preds = %211
  %214 = call noundef float @_ZNK7Vector33dotERKS_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %8)
  %215 = fcmp olt float %214, 0.000000e+00
  br i1 %215, label %216, label %218

216:                                              ; preds = %.critedge
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %38) #6
  store float -1.000000e+00, ptr %38, align 4, !tbaa !5
  %217 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3mLERKf(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(4) %38)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %38) #6
  br label %218

218:                                              ; preds = %216, %.critedge
  %219 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector39NormalizeEv(ptr noundef nonnull align 4 dereferenceable(12) %6)
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %39) #6
  call void @_ZN8geometry25supportDirectionTransformERKNS_5types20isometricTransform_tE(ptr dead_on_unwind nonnull writable sret(%class.Matrix33) align 4 %39, ptr noundef nonnull align 4 dereferenceable(48) %1)
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %40) #6
  call void @_ZN8geometry25supportDirectionTransformERKNS_5types20isometricTransform_tE(ptr dead_on_unwind nonnull writable sret(%class.Matrix33) align 4 %40, ptr noundef nonnull align 4 dereferenceable(48) %2)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %41) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %42) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %43) #6
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %43, ptr noundef nonnull align 4 dereferenceable(36) %39, ptr noundef nonnull align 4 dereferenceable(12) %6)
  call void @_ZN8geometry14supportMappingERK7Vector3RKNS_5types11shapeCube_tE(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %42, ptr noundef nonnull align 4 dereferenceable(12) %43, ptr noundef nonnull align 4 dereferenceable(12) %3)
  %220 = getelementptr inbounds i8, ptr %42, i64 4
  call void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12) %41, ptr noundef nonnull align 4 dereferenceable(12) %220)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %43) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %42) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %44) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %45) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %46) #6
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %47) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %48) #6
  store float -1.000000e+00, ptr %48, align 4, !tbaa !5
  call void @_ZmlRKfRK8Matrix33(ptr dead_on_unwind nonnull writable sret(%class.Matrix33) align 4 %47, ptr noundef nonnull align 4 dereferenceable(4) %48, ptr noundef nonnull align 4 dereferenceable(36) %40)
  call void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %46, ptr noundef nonnull align 4 dereferenceable(36) %47, ptr noundef nonnull align 4 dereferenceable(12) %6)
  call void @_ZN8geometry14supportMappingERK7Vector3RKNS_5types11shapeCube_tE(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::labeledVertex_t") align 4 %45, ptr noundef nonnull align 4 dereferenceable(12) %46, ptr noundef nonnull align 4 dereferenceable(12) %4)
  %221 = getelementptr inbounds i8, ptr %45, i64 4
  call void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12) %44, ptr noundef nonnull align 4 dereferenceable(12) %221)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %48) #6
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %47) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %46) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %45) #6
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %49) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %49, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(12) %41)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %50) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %50, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %44)
  %222 = getelementptr inbounds i8, ptr %0, i64 16
  store i32 1, ptr %222, align 4, !tbaa !21
  %223 = load i32, ptr %7, align 4, !tbaa !14
  switch i32 %223, label %249 [
    i32 0, label %224
    i32 1, label %229
    i32 2, label %234
  ]

224:                                              ; preds = %218
  %225 = getelementptr inbounds i8, ptr %0, i64 68
  %226 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %225, ptr noundef nonnull align 4 dereferenceable(12) %50)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %51) #6
  call void @_ZN8geometry5plane19closestPointToPointERK7Vector3S3_S3_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %51, ptr noundef nonnull align 4 dereferenceable(12) %63, ptr noundef nonnull align 4 dereferenceable(12) %49, ptr noundef nonnull align 4 dereferenceable(12) %50)
  %227 = getelementptr inbounds i8, ptr %0, i64 20
  %228 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %227, ptr noundef nonnull align 4 dereferenceable(12) %51)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %51) #6
  br label %249

229:                                              ; preds = %218
  %230 = getelementptr inbounds i8, ptr %0, i64 20
  %231 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %230, ptr noundef nonnull align 4 dereferenceable(12) %49)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %52) #6
  call void @_ZN8geometry5plane19closestPointToPointERK7Vector3S3_S3_(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %52, ptr noundef nonnull align 4 dereferenceable(12) %106, ptr noundef nonnull align 4 dereferenceable(12) %50, ptr noundef nonnull align 4 dereferenceable(12) %49)
  %232 = getelementptr inbounds i8, ptr %0, i64 68
  %233 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %232, ptr noundef nonnull align 4 dereferenceable(12) %52)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %52) #6
  br label %249

234:                                              ; preds = %218
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %53) #6
  call void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12) %53, ptr noundef nonnull align 4 dereferenceable(12) %41)
  %235 = load i32, ptr %150, align 4, !tbaa !17
  %236 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %53, i32 noundef %235)
  %237 = load float, ptr %236, align 4, !tbaa !5
  %238 = fneg float %237
  store float %238, ptr %236, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %54) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %54, ptr noundef nonnull align 4 dereferenceable(48) %1, ptr noundef nonnull align 4 dereferenceable(12) %53)
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %55) #6
  call void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12) %55, ptr noundef nonnull align 4 dereferenceable(12) %44)
  %239 = load i32, ptr %151, align 4, !tbaa !18
  %240 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12) %55, i32 noundef %239)
  %241 = load float, ptr %240, align 4, !tbaa !5
  %242 = fneg float %241
  store float %242, ptr %240, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %56) #6
  call void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind nonnull writable sret(%class.Vector3) align 4 %56, ptr noundef nonnull align 4 dereferenceable(48) %2, ptr noundef nonnull align 4 dereferenceable(12) %55)
  call void @llvm.lifetime.start.p0(i64 52, ptr nonnull %57) #6
  call void @_ZN8geometry7segment22closestPointsToSegmentERK7Vector3S3_S3_S3_f(ptr dead_on_unwind nonnull writable sret(%"struct.geometry::types::segmentClosestPoints_t") align 4 %57, ptr noundef nonnull align 4 dereferenceable(12) %49, ptr noundef nonnull align 4 dereferenceable(12) %54, ptr noundef nonnull align 4 dereferenceable(12) %50, ptr noundef nonnull align 4 dereferenceable(12) %56, float noundef 0x3EE4F8B580000000)
  %243 = getelementptr inbounds i8, ptr %57, i64 4
  %244 = getelementptr inbounds i8, ptr %0, i64 20
  %245 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %244, ptr noundef nonnull align 4 dereferenceable(12) %243)
  %246 = getelementptr inbounds i8, ptr %57, i64 28
  %247 = getelementptr inbounds i8, ptr %0, i64 68
  %248 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %247, ptr noundef nonnull align 4 dereferenceable(12) %246)
  call void @llvm.lifetime.end.p0(i64 52, ptr nonnull %57) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %56) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %55) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %54) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %53) #6
  br label %249

249:                                              ; preds = %234, %229, %224, %218
  store i8 1, ptr %0, align 4, !tbaa !9
  %250 = getelementptr inbounds i8, ptr %0, i64 4
  %251 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12) %250, ptr noundef nonnull align 4 dereferenceable(12) %6)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %50) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %49) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %44) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %41) #6
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %40) #6
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %39) #6
  br label %252

252:                                              ; preds = %213, %249
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %23) #6
  br label %253

253:                                              ; preds = %152, %252
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %17) #6
  br label %254

254:                                              ; preds = %112, %253
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %11) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %8) #6
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %6) #6
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN8geometry5types11satResult_tC2Ev(ptr noundef nonnull align 4 dereferenceable(116)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7Vector3C2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN8geometry10collisions23cubeCubeCollisionType_tC2Ev(ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK7Vector3miERKS_(ptr dead_on_unwind noalias writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN8geometry12ShapeSupportINS_5types11shapeCube_tEEC2ERKNS1_20isometricTransform_tERKS2_(ptr noundef nonnull align 4 dereferenceable(96), ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN8Matrix33C2ERKS_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(36)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN7Vector3ixEj(ptr noundef nonnull align 4 dereferenceable(12), i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK8Matrix33mlERK7Vector3(ptr dead_on_unwind noalias writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE21unboundSupportBodyDirERK7Vector3(ptr dead_on_unwind noalias writable sret(%"struct.geometry::types::labeledVertex_t") align 4, ptr noundef nonnull align 4 dereferenceable(96), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK8geometry12ShapeSupportINS_5types11shapeCube_tEE22unboundSupportWorldDirERK7Vector3(ptr dead_on_unwind noalias writable sret(%"struct.geometry::types::labeledVertex_t") align 4, ptr noundef nonnull align 4 dereferenceable(96), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN8geometry10collisions15queryAxisMeta_t18normalizedDistanceEv(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3aSERKS_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7Vector3C2Efff(ptr noundef nonnull align 4 dereferenceable(12), float noundef, float noundef, float noundef) unnamed_addr #0 align 2

declare void @_ZN8geometry9transform14forwardUnboundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK7Vector312crossProductERKS_(ptr dead_on_unwind noalias writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZNK7Vector39magnitudeEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

declare void @_ZN8geometry9transform12forwardBoundERKNS_5types20isometricTransform_tERK7Vector3(ptr dead_on_unwind writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector3mLERKf(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN7Vector39NormalizeEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

declare void @_ZN8geometry25supportDirectionTransformERKNS_5types20isometricTransform_tE(ptr dead_on_unwind writable sret(%class.Matrix33) align 4, ptr noundef nonnull align 4 dereferenceable(48)) local_unnamed_addr #5

declare void @_ZN8geometry14supportMappingERK7Vector3RKNS_5types11shapeCube_tE(ptr dead_on_unwind writable sret(%"struct.geometry::types::labeledVertex_t") align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7Vector3C2ERKS_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #0 align 2

declare void @_ZmlRKfRK8Matrix33(ptr dead_on_unwind writable sret(%class.Matrix33) align 4, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(36)) local_unnamed_addr #5

declare void @_ZN8geometry5plane19closestPointToPointERK7Vector3S3_S3_(ptr dead_on_unwind writable sret(%class.Vector3) align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5

declare void @_ZN8geometry7segment22closestPointsToSegmentERK7Vector3S3_S3_S3_f(ptr dead_on_unwind writable sret(%"struct.geometry::types::segmentClosestPoints_t") align 4, ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), float noundef) local_unnamed_addr #5

attributes #0 = { 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 #1 = { mustprogress uwtable "min-legal-vector-width"="64" "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 = { 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 #3 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { 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 = { "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 = { 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 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !11, i64 0}
!10 = !{!"_ZTSN8geometry5types11satResult_tE", !11, i64 0, !12, i64 4, !13, i64 16, !7, i64 20, !7, i64 68}
!11 = !{!"bool", !7, i64 0}
!12 = !{!"_ZTS7Vector3", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!15, !16, i64 0}
!15 = !{!"_ZTSN8geometry10collisions23cubeCubeCollisionType_tE", !16, i64 0, !12, i64 4, !12, i64 16, !13, i64 28, !13, i64 32}
!16 = !{!"_ZTSN8geometry10collisions23cubeCubeCollisionType_tUt_E", !7, i64 0}
!17 = !{!15, !13, i64 28}
!18 = !{!15, !13, i64 32}
!19 = distinct !{!19, !20}
!20 = !{!"llvm.loop.mustprogress"}
!21 = !{!10, !13, i64 16}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass,TailCallElimPass