; LLVM IR from zig-gamedev/zphysics :: libs/Jolt/Physics/Vehicle (VehicleConstraint)

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

%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.38 }
%union.anon.38 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::VehicleConstraint" = type <{ %"class.JPH::Constraint", %"class.JPH::PhysicsStepListener", i8, [7 x i8], %"class.JPH::Vec3", ptr, [8 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Array.33", %"class.JPH::Array.2", ptr, i8, [3 x i8], i32, i32, i32, float, float, %"class.JPH::Vec3", %"class.JPH::AngleConstraintPart", %"class.JPH::RefConst", %"class.std::function", %"class.std::function.36", %"class.std::function.36", %"class.std::function.36", [8 x i8] }>
%"class.JPH::Constraint" = type { ptr, %"class.JPH::RefTarget.32", i32, i32, i8, i8, i8, i64 }
%"class.JPH::RefTarget.32" = type { %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::PhysicsStepListener" = type { ptr }
%"class.JPH::Array.33" = type { i64, i64, ptr }
%"class.JPH::Array.2" = type { i64, i64, ptr }
%"class.JPH::AngleConstraintPart" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }
%"class.JPH::RefConst" = type { ptr }
%"class.std::function" = type { %"class.std::_Function_base", ptr }
%"class.std::_Function_base" = type { %"union.std::_Any_data", ptr }
%"union.std::_Any_data" = type { %"union.std::_Nocopy_types" }
%"union.std::_Nocopy_types" = type { { i64, i64 } }
%"class.std::function.36" = type { %"class.std::_Function_base", ptr }
%"class.JPH::Wheel" = type <{ ptr, %"class.JPH::RefConst.46", %"class.JPH::BodyID", %"class.JPH::SubShapeID", ptr, float, [12 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, float, float, float, %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", [12 x i8] }>
%"class.JPH::RefConst.46" = type { ptr }
%"class.JPH::AxisConstraintPart" = type { %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::SpringPart", float }
%"class.JPH::Float3" = type { float, float, float }
%"class.JPH::WheelSettings" = type <{ %"class.JPH::SerializableObject", %"class.JPH::RefTarget.6", [4 x i8], %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", %"class.JPH::Vec3", float, float, float, %"class.JPH::SpringSettings", float, float, i8, [15 x i8] }>
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget.6" = type { %"struct.std::atomic" }
%"class.JPH::SpringSettings" = type { i8, %union.anon.7, float }
%union.anon.7 = type { float }
%"class.JPH::VehicleAntiRollBar" = type { i32, i32, float }

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK3JPH17VehicleConstraint18GetWheelLocalBasisEPKNS_5WheelERNS_4Vec3ES5_S5_(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraint6OnStepEfRNS_13PhysicsSystemE(ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1, ptr noundef nonnull align 16 dereferenceable(1140) %2) unnamed_addr #4 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca float, align 4
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca %"class.JPH::Vec3", align 16
  %9 = alloca %"class.JPH::Vec3", align 16
  %10 = alloca %"class.JPH::Vec3", align 16
  %11 = alloca %"class.JPH::Vec3", align 16
  %12 = alloca %"class.JPH::Vec3", align 16
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca %"class.JPH::Vec3", align 16
  %15 = alloca %"class.JPH::Vec3", align 16
  %16 = alloca i32, align 4
  %17 = alloca %"class.JPH::Mat44", align 16
  %18 = alloca i32, align 4
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca %"class.JPH::Vec3", align 16
  %22 = alloca %"class.JPH::Vec3", align 16
  %23 = alloca %"class.JPH::Vec3", align 16
  %24 = alloca %"class.JPH::Vec3", align 16
  %25 = alloca %"class.JPH::BodyID", align 4
  %26 = alloca %"class.JPH::SubShapeID", align 4
  %27 = alloca %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::Vec3", align 16
  %29 = alloca %"class.JPH::BodyID", align 4
  %30 = alloca %"class.JPH::SubShapeID", align 4
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"class.JPH::Vec3", align 16
  %33 = alloca %"class.JPH::Vec3", align 16
  %34 = alloca %"class.JPH::Vec3", align 16
  %35 = alloca %"class.JPH::Vec3", align 16
  %36 = alloca %"class.JPH::Vec3", align 16
  %37 = alloca %"class.JPH::Vec3", align 16
  %38 = alloca %"class.JPH::Vec3", align 16
  %39 = alloca %"class.JPH::Vec3", align 16
  %40 = alloca %"class.JPH::Vec3", align 16
  %41 = alloca %"class.JPH::Vec3", align 16
  %42 = alloca %"class.JPH::Vec3", align 16
  %43 = alloca %"class.JPH::Vec3", align 16
  %44 = alloca %"class.JPH::Vec3", align 16
  %45 = alloca %"class.JPH::Vec3", align 16
  %46 = alloca %"class.JPH::Vec3", align 16
  %47 = alloca %"class.JPH::Vec3", align 16
  %48 = alloca %"class.JPH::Vec3", align 16
  %49 = alloca %"class.JPH::Vec3", align 16
  %50 = alloca %"class.JPH::Vec3", align 16
  %51 = alloca %"class.JPH::Vec3", align 16
  %52 = alloca %"class.JPH::Vec3", align 16
  %53 = alloca %"class.JPH::Vec3", align 16
  %54 = alloca %"class.JPH::Vec3", align 16
  %55 = alloca ptr, align 8
  %56 = alloca ptr, align 8
  %57 = alloca ptr, align 8
  %58 = alloca ptr, align 8
  %59 = alloca ptr, align 8
  %60 = alloca ptr, align 8
  %61 = alloca float, align 4
  %62 = alloca float, align 4
  %63 = alloca i8, align 1
  %64 = alloca ptr, align 8
  %65 = alloca ptr, align 8
  %66 = alloca ptr, align 8
  %67 = alloca i32, align 4
  %68 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store float %1, ptr %5, align 4, !tbaa !9
  store ptr %2, ptr %6, align 8, !tbaa !5
  %69 = load ptr, ptr %4, align 8
  %70 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 24
  %71 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %70, ptr null) #11
  br i1 %71, label %72, label %76

72:                                               ; preds = %3
  %73 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 24
  %74 = load float, ptr %5, align 4, !tbaa !9
  %75 = load ptr, ptr %6, align 8, !tbaa !5
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEclES2_fS4_(ptr noundef nonnull align 8 dereferenceable(32) %73, ptr noundef nonnull align 16 dereferenceable(408) %69, float noundef %74, ptr noundef nonnull align 16 dereferenceable(1140) %75)
  br label %76

76:                                               ; preds = %72, %3
  %77 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 2
  %78 = load i8, ptr %77, align 8, !tbaa !11, !range !30, !noundef !31
  %79 = trunc i8 %78 to i1
  br i1 %79, label %80, label %127

80:                                               ; preds = %76
  %81 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %82 = load ptr, ptr %81, align 16, !tbaa !32
  %83 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %82)
  br i1 %83, label %84, label %105

84:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #11
  %85 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %86 = load ptr, ptr %85, align 16, !tbaa !32
  %87 = call noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122) %86)
  store ptr %87, ptr %7, align 8, !tbaa !5
  %88 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN3JPH16MotionProperties16SetGravityFactorEf(ptr noundef nonnull align 16 dereferenceable(182) %88, float noundef 0.000000e+00)
  %89 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %90 = load ptr, ptr %89, align 16, !tbaa !32
  %91 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 4
  %92 = load ptr, ptr %7, align 8, !tbaa !5
  %93 = call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %92)
  %94 = call { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16) %91, float noundef %93)
  %95 = getelementptr inbounds %"class.JPH::Vec3", ptr %8, i32 0, i32 0
  %96 = getelementptr inbounds %union.anon, ptr %95, i32 0, i32 0
  %97 = getelementptr inbounds { double, double }, ptr %96, i32 0, i32 0
  %98 = extractvalue { double, double } %94, 0
  store double %98, ptr %97, align 16
  %99 = getelementptr inbounds { double, double }, ptr %96, i32 0, i32 1
  %100 = extractvalue { double, double } %94, 1
  store double %100, ptr %99, align 8
  %101 = getelementptr inbounds { double, double }, ptr %8, i32 0, i32 0
  %102 = load double, ptr %101, align 16
  %103 = getelementptr inbounds { double, double }, ptr %8, i32 0, i32 1
  %104 = load double, ptr %103, align 8
  call void @_ZN3JPH4Body8AddForceENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %90, double %102, double %104)
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #11
  br label %105

105:                                              ; preds = %84, %80
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %10) #11
  %106 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 4
  %107 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %106)
  %108 = getelementptr inbounds %"class.JPH::Vec3", ptr %10, i32 0, i32 0
  %109 = getelementptr inbounds %union.anon, ptr %108, i32 0, i32 0
  %110 = getelementptr inbounds { double, double }, ptr %109, i32 0, i32 0
  %111 = extractvalue { double, double } %107, 0
  store double %111, ptr %110, align 16
  %112 = getelementptr inbounds { double, double }, ptr %109, i32 0, i32 1
  %113 = extractvalue { double, double } %107, 1
  store double %113, ptr %112, align 8
  %114 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %11, ptr align 16 %114, i64 16, i1 false), !tbaa.struct !33
  %115 = getelementptr inbounds { double, double }, ptr %11, i32 0, i32 0
  %116 = load double, ptr %115, align 16
  %117 = getelementptr inbounds { double, double }, ptr %11, i32 0, i32 1
  %118 = load double, ptr %117, align 8
  %119 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %10, double %116, double %118)
  %120 = getelementptr inbounds %"class.JPH::Vec3", ptr %9, i32 0, i32 0
  %121 = getelementptr inbounds %union.anon, ptr %120, i32 0, i32 0
  %122 = getelementptr inbounds { double, double }, ptr %121, i32 0, i32 0
  %123 = extractvalue { double, double } %119, 0
  store double %123, ptr %122, align 16
  %124 = getelementptr inbounds { double, double }, ptr %121, i32 0, i32 1
  %125 = extractvalue { double, double } %119, 1
  store double %125, ptr %124, align 8
  %126 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %126, ptr align 16 %9, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #11
  br label %156

127:                                              ; preds = %76
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %13) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #11
  %128 = load ptr, ptr %6, align 8, !tbaa !5
  %129 = call { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1140) %128)
  %130 = getelementptr inbounds %"class.JPH::Vec3", ptr %14, i32 0, i32 0
  %131 = getelementptr inbounds %union.anon, ptr %130, i32 0, i32 0
  %132 = getelementptr inbounds { double, double }, ptr %131, i32 0, i32 0
  %133 = extractvalue { double, double } %129, 0
  store double %133, ptr %132, align 16
  %134 = getelementptr inbounds { double, double }, ptr %131, i32 0, i32 1
  %135 = extractvalue { double, double } %129, 1
  store double %135, ptr %134, align 8
  %136 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %14)
  %137 = getelementptr inbounds %"class.JPH::Vec3", ptr %13, i32 0, i32 0
  %138 = getelementptr inbounds %union.anon, ptr %137, i32 0, i32 0
  %139 = getelementptr inbounds { double, double }, ptr %138, i32 0, i32 0
  %140 = extractvalue { double, double } %136, 0
  store double %140, ptr %139, align 16
  %141 = getelementptr inbounds { double, double }, ptr %138, i32 0, i32 1
  %142 = extractvalue { double, double } %136, 1
  store double %142, ptr %141, align 8
  %143 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %15, ptr align 16 %143, i64 16, i1 false), !tbaa.struct !33
  %144 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 0
  %145 = load double, ptr %144, align 16
  %146 = getelementptr inbounds { double, double }, ptr %15, i32 0, i32 1
  %147 = load double, ptr %146, align 8
  %148 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %145, double %147)
  %149 = getelementptr inbounds %"class.JPH::Vec3", ptr %12, i32 0, i32 0
  %150 = getelementptr inbounds %union.anon, ptr %149, i32 0, i32 0
  %151 = getelementptr inbounds { double, double }, ptr %150, i32 0, i32 0
  %152 = extractvalue { double, double } %148, 0
  store double %152, ptr %151, align 16
  %153 = getelementptr inbounds { double, double }, ptr %150, i32 0, i32 1
  %154 = extractvalue { double, double } %148, 1
  store double %154, ptr %153, align 8
  %155 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %155, ptr align 16 %12, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #11
  br label %156

156:                                              ; preds = %127, %105
  %157 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 12
  %158 = load ptr, ptr %157, align 16, !tbaa !35
  %159 = load float, ptr %5, align 4, !tbaa !9
  %160 = load ptr, ptr %6, align 8, !tbaa !5
  %161 = load ptr, ptr %158, align 8, !tbaa !36
  %162 = getelementptr inbounds ptr, ptr %161, i64 4
  %163 = load ptr, ptr %162, align 8
  call void %163(ptr noundef nonnull align 8 dereferenceable(24) %158, float noundef %159, ptr noundef nonnull align 16 dereferenceable(1140) %160)
  %164 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %165 = load ptr, ptr %164, align 16, !tbaa !32
  %166 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %165)
  %167 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 13
  %168 = zext i1 %166 to i8
  store i8 %168, ptr %167, align 8, !tbaa !38
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #11
  %169 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 13
  %170 = load i8, ptr %169, align 8, !tbaa !38, !range !30, !noundef !31
  %171 = trunc i8 %170 to i1
  br i1 %171, label %172, label %175

172:                                              ; preds = %156
  %173 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 15
  %174 = load i32, ptr %173, align 4, !tbaa !39
  br label %178

175:                                              ; preds = %156
  %176 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 16
  %177 = load i32, ptr %176, align 16, !tbaa !40
  br label %178

178:                                              ; preds = %175, %172
  %179 = phi i32 [ %174, %172 ], [ %177, %175 ]
  store i32 %179, ptr %16, align 4, !tbaa !41
  call void @llvm.lifetime.start.p0(i64 64, ptr %17) #11
  %180 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %181 = load ptr, ptr %180, align 16, !tbaa !32
  call void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %17, ptr noundef nonnull align 16 dereferenceable(122) %181)
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #11
  store i32 0, ptr %18, align 4, !tbaa !41
  br label %182

182:                                              ; preds = %518, %178
  %183 = load i32, ptr %18, align 4, !tbaa !41
  %184 = zext i32 %183 to i64
  %185 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 10
  %186 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %185)
  %187 = icmp ult i64 %184, %186
  br i1 %187, label %189, label %188

188:                                              ; preds = %182
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #11
  br label %521

189:                                              ; preds = %182
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #11
  %190 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 10
  %191 = load i32, ptr %18, align 4, !tbaa !41
  %192 = zext i32 %191 to i64
  %193 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %190, i64 noundef %192)
  %194 = load ptr, ptr %193, align 8, !tbaa !5
  store ptr %194, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #11
  %195 = load ptr, ptr %19, align 8, !tbaa !5
  %196 = getelementptr inbounds %"class.JPH::Wheel", ptr %195, i32 0, i32 1
  %197 = call noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %196)
  store ptr %197, ptr %20, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #11
  %198 = load ptr, ptr %20, align 8, !tbaa !5
  %199 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %198, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %22, ptr align 16 %199, i64 16, i1 false), !tbaa.struct !33
  %200 = getelementptr inbounds { double, double }, ptr %22, i32 0, i32 0
  %201 = load double, ptr %200, align 16
  %202 = getelementptr inbounds { double, double }, ptr %22, i32 0, i32 1
  %203 = load double, ptr %202, align 8
  %204 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %17, double %201, double %203)
  %205 = getelementptr inbounds %"class.JPH::Vec3", ptr %21, i32 0, i32 0
  %206 = getelementptr inbounds %union.anon, ptr %205, i32 0, i32 0
  %207 = getelementptr inbounds { double, double }, ptr %206, i32 0, i32 0
  %208 = extractvalue { double, double } %204, 0
  store double %208, ptr %207, align 16
  %209 = getelementptr inbounds { double, double }, ptr %206, i32 0, i32 1
  %210 = extractvalue { double, double } %204, 1
  store double %210, ptr %209, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #11
  %211 = load ptr, ptr %20, align 8, !tbaa !5
  %212 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %211, i32 0, i32 5
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %24, ptr align 16 %212, i64 16, i1 false), !tbaa.struct !33
  %213 = getelementptr inbounds { double, double }, ptr %24, i32 0, i32 0
  %214 = load double, ptr %213, align 16
  %215 = getelementptr inbounds { double, double }, ptr %24, i32 0, i32 1
  %216 = load double, ptr %215, align 8
  %217 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %17, double %214, double %216)
  %218 = getelementptr inbounds %"class.JPH::Vec3", ptr %23, i32 0, i32 0
  %219 = getelementptr inbounds %union.anon, ptr %218, i32 0, i32 0
  %220 = getelementptr inbounds { double, double }, ptr %219, i32 0, i32 0
  %221 = extractvalue { double, double } %217, 0
  store double %221, ptr %220, align 16
  %222 = getelementptr inbounds { double, double }, ptr %219, i32 0, i32 1
  %223 = extractvalue { double, double } %217, 1
  store double %223, ptr %222, align 8
  %224 = load i32, ptr %16, align 4, !tbaa !41
  %225 = icmp eq i32 %224, 0
  br i1 %225, label %234, label %226

226:                                              ; preds = %189
  %227 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 17
  %228 = load i32, ptr %227, align 4, !tbaa !42
  %229 = load i32, ptr %18, align 4, !tbaa !41
  %230 = add i32 %228, %229
  %231 = load i32, ptr %16, align 4, !tbaa !41
  %232 = urem i32 %230, %231
  %233 = icmp ne i32 %232, 0
  br i1 %233, label %234, label %291

234:                                              ; preds = %226, %189
  %235 = load ptr, ptr %19, align 8, !tbaa !5
  %236 = getelementptr inbounds %"class.JPH::Wheel", ptr %235, i32 0, i32 2
  %237 = call noundef zeroext i1 @_ZNK3JPH6BodyID9IsInvalidEv(ptr noundef nonnull align 4 dereferenceable(4) %236)
  br i1 %237, label %290, label %238

238:                                              ; preds = %234
  %239 = load ptr, ptr %6, align 8, !tbaa !5
  %240 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNK3JPH13PhysicsSystem26GetBodyLockInterfaceNoLockEv(ptr noundef nonnull align 16 dereferenceable(1140) %239)
  %241 = load ptr, ptr %19, align 8, !tbaa !5
  %242 = getelementptr inbounds %"class.JPH::Wheel", ptr %241, i32 0, i32 2
  %243 = call noundef ptr @_ZNK3JPH17BodyLockInterface10TryGetBodyERKNS_6BodyIDE(ptr noundef nonnull align 8 dereferenceable(16) %240, ptr noundef nonnull align 4 dereferenceable(4) %242)
  %244 = load ptr, ptr %19, align 8, !tbaa !5
  %245 = getelementptr inbounds %"class.JPH::Wheel", ptr %244, i32 0, i32 4
  store ptr %243, ptr %245, align 8, !tbaa !43
  %246 = load ptr, ptr %19, align 8, !tbaa !5
  %247 = getelementptr inbounds %"class.JPH::Wheel", ptr %246, i32 0, i32 4
  %248 = load ptr, ptr %247, align 8, !tbaa !43
  %249 = icmp eq ptr %248, null
  br i1 %249, label %250, label %260

250:                                              ; preds = %238
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #11
  call void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %25)
  %251 = load ptr, ptr %19, align 8, !tbaa !5
  %252 = getelementptr inbounds %"class.JPH::Wheel", ptr %251, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %252, ptr align 4 %25, i64 4, i1 false), !tbaa.struct !50
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #11
  call void @llvm.memset.p0.i64(ptr align 4 %26, i8 0, i64 4, i1 false)
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %26) #11
  %253 = load ptr, ptr %19, align 8, !tbaa !5
  %254 = getelementptr inbounds %"class.JPH::Wheel", ptr %253, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %254, ptr align 4 %26, i64 4, i1 false), !tbaa.struct !50
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #11
  %255 = load ptr, ptr %20, align 8, !tbaa !5
  %256 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %255, i32 0, i32 10
  %257 = load float, ptr %256, align 4, !tbaa !51
  %258 = load ptr, ptr %19, align 8, !tbaa !5
  %259 = getelementptr inbounds %"class.JPH::Wheel", ptr %258, i32 0, i32 5
  store float %257, ptr %259, align 16, !tbaa !57
  br label %289

260:                                              ; preds = %238
  %261 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 22
  %262 = call noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %261)
  %263 = load ptr, ptr %6, align 8, !tbaa !5
  %264 = load i32, ptr %18, align 4, !tbaa !41
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %27, ptr align 16 %21, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %28, ptr align 16 %23, i64 16, i1 false), !tbaa.struct !33
  %265 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %266 = load ptr, ptr %265, align 16, !tbaa !32
  %267 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %266)
  %268 = load ptr, ptr %19, align 8, !tbaa !5
  %269 = getelementptr inbounds %"class.JPH::Wheel", ptr %268, i32 0, i32 4
  %270 = load ptr, ptr %19, align 8, !tbaa !5
  %271 = getelementptr inbounds %"class.JPH::Wheel", ptr %270, i32 0, i32 3
  %272 = load ptr, ptr %19, align 8, !tbaa !5
  %273 = getelementptr inbounds %"class.JPH::Wheel", ptr %272, i32 0, i32 7
  %274 = load ptr, ptr %19, align 8, !tbaa !5
  %275 = getelementptr inbounds %"class.JPH::Wheel", ptr %274, i32 0, i32 9
  %276 = load ptr, ptr %19, align 8, !tbaa !5
  %277 = getelementptr inbounds %"class.JPH::Wheel", ptr %276, i32 0, i32 5
  %278 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 0
  %279 = load double, ptr %278, align 16
  %280 = getelementptr inbounds { double, double }, ptr %27, i32 0, i32 1
  %281 = load double, ptr %280, align 8
  %282 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 0
  %283 = load double, ptr %282, align 16
  %284 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 1
  %285 = load double, ptr %284, align 8
  %286 = load ptr, ptr %262, align 8, !tbaa !36
  %287 = getelementptr inbounds ptr, ptr %286, i64 3
  %288 = load ptr, ptr %287, align 8
  call void %288(ptr noundef nonnull align 8 dereferenceable(42) %262, ptr noundef nonnull align 16 dereferenceable(1140) %263, ptr noundef nonnull align 16 dereferenceable(408) %69, i32 noundef %264, double %279, double %281, double %283, double %285, ptr noundef nonnull align 4 dereferenceable(4) %267, ptr noundef nonnull align 8 dereferenceable(8) %269, ptr noundef nonnull align 4 dereferenceable(4) %271, ptr noundef nonnull align 16 dereferenceable(16) %273, ptr noundef nonnull align 16 dereferenceable(16) %275, ptr noundef nonnull align 4 dereferenceable(4) %277)
  br label %289

289:                                              ; preds = %260, %250
  br label %290

290:                                              ; preds = %289, %234
  br label %340

291:                                              ; preds = %226
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #11
  call void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %29)
  %292 = load ptr, ptr %19, align 8, !tbaa !5
  %293 = getelementptr inbounds %"class.JPH::Wheel", ptr %292, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %293, ptr align 4 %29, i64 4, i1 false), !tbaa.struct !50
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #11
  %294 = load ptr, ptr %19, align 8, !tbaa !5
  %295 = getelementptr inbounds %"class.JPH::Wheel", ptr %294, i32 0, i32 4
  store ptr null, ptr %295, align 8, !tbaa !43
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #11
  call void @llvm.memset.p0.i64(ptr align 4 %30, i8 0, i64 4, i1 false)
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %30) #11
  %296 = load ptr, ptr %19, align 8, !tbaa !5
  %297 = getelementptr inbounds %"class.JPH::Wheel", ptr %296, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %297, ptr align 4 %30, i64 4, i1 false), !tbaa.struct !50
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #11
  %298 = load ptr, ptr %20, align 8, !tbaa !5
  %299 = getelementptr inbounds %"class.JPH::WheelSettings", ptr %298, i32 0, i32 10
  %300 = load float, ptr %299, align 4, !tbaa !51
  %301 = load ptr, ptr %19, align 8, !tbaa !5
  %302 = getelementptr inbounds %"class.JPH::Wheel", ptr %301, i32 0, i32 5
  store float %300, ptr %302, align 16, !tbaa !57
  %303 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 22
  %304 = call noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %303)
  %305 = load ptr, ptr %6, align 8, !tbaa !5
  %306 = load i32, ptr %18, align 4, !tbaa !41
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %31, ptr align 16 %21, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %32, ptr align 16 %23, i64 16, i1 false), !tbaa.struct !33
  %307 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %308 = load ptr, ptr %307, align 16, !tbaa !32
  %309 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %308)
  %310 = load ptr, ptr %19, align 8, !tbaa !5
  %311 = getelementptr inbounds %"class.JPH::Wheel", ptr %310, i32 0, i32 4
  %312 = load ptr, ptr %19, align 8, !tbaa !5
  %313 = getelementptr inbounds %"class.JPH::Wheel", ptr %312, i32 0, i32 3
  %314 = load ptr, ptr %19, align 8, !tbaa !5
  %315 = getelementptr inbounds %"class.JPH::Wheel", ptr %314, i32 0, i32 7
  %316 = load ptr, ptr %19, align 8, !tbaa !5
  %317 = getelementptr inbounds %"class.JPH::Wheel", ptr %316, i32 0, i32 9
  %318 = load ptr, ptr %19, align 8, !tbaa !5
  %319 = getelementptr inbounds %"class.JPH::Wheel", ptr %318, i32 0, i32 5
  %320 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %321 = load double, ptr %320, align 16
  %322 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %323 = load double, ptr %322, align 8
  %324 = getelementptr inbounds { double, double }, ptr %32, i32 0, i32 0
  %325 = load double, ptr %324, align 16
  %326 = getelementptr inbounds { double, double }, ptr %32, i32 0, i32 1
  %327 = load double, ptr %326, align 8
  %328 = load ptr, ptr %304, align 8, !tbaa !36
  %329 = getelementptr inbounds ptr, ptr %328, i64 2
  %330 = load ptr, ptr %329, align 8
  %331 = call noundef zeroext i1 %330(ptr noundef nonnull align 8 dereferenceable(42) %304, ptr noundef nonnull align 16 dereferenceable(1140) %305, ptr noundef nonnull align 16 dereferenceable(408) %69, i32 noundef %306, double %321, double %323, double %325, double %327, ptr noundef nonnull align 4 dereferenceable(4) %309, ptr noundef nonnull align 8 dereferenceable(8) %311, ptr noundef nonnull align 4 dereferenceable(4) %313, ptr noundef nonnull align 16 dereferenceable(16) %315, ptr noundef nonnull align 16 dereferenceable(16) %317, ptr noundef nonnull align 4 dereferenceable(4) %319)
  br i1 %331, label %332, label %339

332:                                              ; preds = %291
  %333 = load ptr, ptr %19, align 8, !tbaa !5
  %334 = getelementptr inbounds %"class.JPH::Wheel", ptr %333, i32 0, i32 4
  %335 = load ptr, ptr %334, align 8, !tbaa !43
  %336 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %335)
  %337 = load ptr, ptr %19, align 8, !tbaa !5
  %338 = getelementptr inbounds %"class.JPH::Wheel", ptr %337, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %338, ptr align 4 %336, i64 4, i1 false), !tbaa.struct !50
  br label %339

339:                                              ; preds = %332, %291
  br label %340

340:                                              ; preds = %339, %290
  %341 = load ptr, ptr %19, align 8, !tbaa !5
  %342 = getelementptr inbounds %"class.JPH::Wheel", ptr %341, i32 0, i32 4
  %343 = load ptr, ptr %342, align 8, !tbaa !43
  %344 = icmp ne ptr %343, null
  br i1 %344, label %345, label %517

345:                                              ; preds = %340
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #11
  %346 = load ptr, ptr %19, align 8, !tbaa !5
  %347 = getelementptr inbounds %"class.JPH::Wheel", ptr %346, i32 0, i32 4
  %348 = load ptr, ptr %347, align 8, !tbaa !43
  %349 = load ptr, ptr %19, align 8, !tbaa !5
  %350 = getelementptr inbounds %"class.JPH::Wheel", ptr %349, i32 0, i32 7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %34, ptr align 16 %350, i64 16, i1 false), !tbaa.struct !33
  %351 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 0
  %352 = load double, ptr %351, align 16
  %353 = getelementptr inbounds { double, double }, ptr %34, i32 0, i32 1
  %354 = load double, ptr %353, align 8
  %355 = call { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %348, double %352, double %354)
  %356 = getelementptr inbounds %"class.JPH::Vec3", ptr %33, i32 0, i32 0
  %357 = getelementptr inbounds %union.anon, ptr %356, i32 0, i32 0
  %358 = getelementptr inbounds { double, double }, ptr %357, i32 0, i32 0
  %359 = extractvalue { double, double } %355, 0
  store double %359, ptr %358, align 16
  %360 = getelementptr inbounds { double, double }, ptr %357, i32 0, i32 1
  %361 = extractvalue { double, double } %355, 1
  store double %361, ptr %360, align 8
  %362 = load ptr, ptr %19, align 8, !tbaa !5
  %363 = getelementptr inbounds %"class.JPH::Wheel", ptr %362, i32 0, i32 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %363, ptr align 16 %33, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #11
  %364 = load ptr, ptr %19, align 8, !tbaa !5
  %365 = getelementptr inbounds %"class.JPH::Wheel", ptr %364, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %35, ptr align 16 %365, i64 16, i1 false), !tbaa.struct !33
  %366 = load ptr, ptr %19, align 8, !tbaa !5
  %367 = getelementptr inbounds %"class.JPH::Wheel", ptr %366, i32 0, i32 5
  %368 = load float, ptr %367, align 16, !tbaa !57
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %38, ptr align 16 %23, i64 16, i1 false), !tbaa.struct !33
  %369 = getelementptr inbounds { double, double }, ptr %38, i32 0, i32 0
  %370 = load double, ptr %369, align 16
  %371 = getelementptr inbounds { double, double }, ptr %38, i32 0, i32 1
  %372 = load double, ptr %371, align 8
  %373 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %368, double %370, double %372)
  %374 = getelementptr inbounds %"class.JPH::Vec3", ptr %37, i32 0, i32 0
  %375 = getelementptr inbounds %union.anon, ptr %374, i32 0, i32 0
  %376 = getelementptr inbounds { double, double }, ptr %375, i32 0, i32 0
  %377 = extractvalue { double, double } %373, 0
  store double %377, ptr %376, align 16
  %378 = getelementptr inbounds { double, double }, ptr %375, i32 0, i32 1
  %379 = extractvalue { double, double } %373, 1
  store double %379, ptr %378, align 8
  %380 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 0
  %381 = load double, ptr %380, align 16
  %382 = getelementptr inbounds { double, double }, ptr %37, i32 0, i32 1
  %383 = load double, ptr %382, align 8
  %384 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %21, double %381, double %383)
  %385 = getelementptr inbounds %"class.JPH::Vec3", ptr %36, i32 0, i32 0
  %386 = getelementptr inbounds %union.anon, ptr %385, i32 0, i32 0
  %387 = getelementptr inbounds { double, double }, ptr %386, i32 0, i32 0
  %388 = extractvalue { double, double } %384, 0
  store double %388, ptr %387, align 16
  %389 = getelementptr inbounds { double, double }, ptr %386, i32 0, i32 1
  %390 = extractvalue { double, double } %384, 1
  store double %390, ptr %389, align 8
  %391 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 0
  %392 = load double, ptr %391, align 16
  %393 = getelementptr inbounds { double, double }, ptr %36, i32 0, i32 1
  %394 = load double, ptr %393, align 8
  %395 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %35, double %392, double %394)
  %396 = load ptr, ptr %19, align 8, !tbaa !5
  %397 = getelementptr inbounds %"class.JPH::Wheel", ptr %396, i32 0, i32 12
  store float %395, ptr %397, align 16, !tbaa !58
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #11
  %398 = load ptr, ptr %19, align 8, !tbaa !5
  %399 = getelementptr inbounds %"class.JPH::Wheel", ptr %398, i32 0, i32 4
  %400 = load ptr, ptr %399, align 8, !tbaa !43
  %401 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %400)
  %402 = zext i1 %401 to i32
  %403 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 13
  %404 = load i8, ptr %403, align 8, !tbaa !38, !range !30, !noundef !31
  %405 = trunc i8 %404 to i1
  %406 = zext i1 %405 to i32
  %407 = or i32 %406, %402
  %408 = icmp ne i32 %407, 0
  %409 = zext i1 %408 to i8
  store i8 %409, ptr %403, align 8, !tbaa !38
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %40) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %41) #11
  %410 = load ptr, ptr %19, align 8, !tbaa !5
  call void @_ZNK3JPH17VehicleConstraint18GetWheelLocalBasisEPKNS_5WheelERNS_4Vec3ES5_S5_(ptr noundef nonnull align 16 dereferenceable(408) %69, ptr noundef %410, ptr noundef nonnull align 16 dereferenceable(16) %39, ptr noundef nonnull align 16 dereferenceable(16) %40, ptr noundef nonnull align 16 dereferenceable(16) %41)
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %43, ptr align 16 %39, i64 16, i1 false), !tbaa.struct !33
  %411 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 0
  %412 = load double, ptr %411, align 16
  %413 = getelementptr inbounds { double, double }, ptr %43, i32 0, i32 1
  %414 = load double, ptr %413, align 8
  %415 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %17, double %412, double %414)
  %416 = getelementptr inbounds %"class.JPH::Vec3", ptr %42, i32 0, i32 0
  %417 = getelementptr inbounds %union.anon, ptr %416, i32 0, i32 0
  %418 = getelementptr inbounds { double, double }, ptr %417, i32 0, i32 0
  %419 = extractvalue { double, double } %415, 0
  store double %419, ptr %418, align 16
  %420 = getelementptr inbounds { double, double }, ptr %417, i32 0, i32 1
  %421 = extractvalue { double, double } %415, 1
  store double %421, ptr %420, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %39, ptr align 16 %42, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %44) #11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %45, ptr align 16 %41, i64 16, i1 false), !tbaa.struct !33
  %422 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 0
  %423 = load double, ptr %422, align 16
  %424 = getelementptr inbounds { double, double }, ptr %45, i32 0, i32 1
  %425 = load double, ptr %424, align 8
  %426 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %17, double %423, double %425)
  %427 = getelementptr inbounds %"class.JPH::Vec3", ptr %44, i32 0, i32 0
  %428 = getelementptr inbounds %union.anon, ptr %427, i32 0, i32 0
  %429 = getelementptr inbounds { double, double }, ptr %428, i32 0, i32 0
  %430 = extractvalue { double, double } %426, 0
  store double %430, ptr %429, align 16
  %431 = getelementptr inbounds { double, double }, ptr %428, i32 0, i32 1
  %432 = extractvalue { double, double } %426, 1
  store double %432, ptr %431, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %41, ptr align 16 %44, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %44) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %46) #11
  %433 = load ptr, ptr %19, align 8, !tbaa !5
  %434 = getelementptr inbounds %"class.JPH::Wheel", ptr %433, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %47, ptr align 16 %41, i64 16, i1 false), !tbaa.struct !33
  %435 = getelementptr inbounds { double, double }, ptr %47, i32 0, i32 0
  %436 = load double, ptr %435, align 16
  %437 = getelementptr inbounds { double, double }, ptr %47, i32 0, i32 1
  %438 = load double, ptr %437, align 8
  %439 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %434, double %436, double %438)
  %440 = getelementptr inbounds %"class.JPH::Vec3", ptr %46, i32 0, i32 0
  %441 = getelementptr inbounds %union.anon, ptr %440, i32 0, i32 0
  %442 = getelementptr inbounds { double, double }, ptr %441, i32 0, i32 0
  %443 = extractvalue { double, double } %439, 0
  store double %443, ptr %442, align 16
  %444 = getelementptr inbounds { double, double }, ptr %441, i32 0, i32 1
  %445 = extractvalue { double, double } %439, 1
  store double %445, ptr %444, align 8
  %446 = load ptr, ptr %19, align 8, !tbaa !5
  %447 = getelementptr inbounds %"class.JPH::Wheel", ptr %446, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %447, ptr align 16 %46, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %46) #11
  %448 = load ptr, ptr %19, align 8, !tbaa !5
  %449 = getelementptr inbounds %"class.JPH::Wheel", ptr %448, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %48, ptr align 16 %39, i64 16, i1 false), !tbaa.struct !33
  %450 = getelementptr inbounds { double, double }, ptr %48, i32 0, i32 0
  %451 = load double, ptr %450, align 16
  %452 = getelementptr inbounds { double, double }, ptr %48, i32 0, i32 1
  %453 = load double, ptr %452, align 8
  %454 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %449, double %451, double %453)
  %455 = fcmp olt float %454, 0.000000e+00
  br i1 %455, label %456, label %468

456:                                              ; preds = %345
  call void @llvm.lifetime.start.p0(i64 16, ptr %49) #11
  %457 = load ptr, ptr %19, align 8, !tbaa !5
  %458 = getelementptr inbounds %"class.JPH::Wheel", ptr %457, i32 0, i32 10
  %459 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %458)
  %460 = getelementptr inbounds %"class.JPH::Vec3", ptr %49, i32 0, i32 0
  %461 = getelementptr inbounds %union.anon, ptr %460, i32 0, i32 0
  %462 = getelementptr inbounds { double, double }, ptr %461, i32 0, i32 0
  %463 = extractvalue { double, double } %459, 0
  store double %463, ptr %462, align 16
  %464 = getelementptr inbounds { double, double }, ptr %461, i32 0, i32 1
  %465 = extractvalue { double, double } %459, 1
  store double %465, ptr %464, align 8
  %466 = load ptr, ptr %19, align 8, !tbaa !5
  %467 = getelementptr inbounds %"class.JPH::Wheel", ptr %466, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %467, ptr align 16 %49, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %49) #11
  br label %468

468:                                              ; preds = %456, %345
  call void @llvm.lifetime.start.p0(i64 16, ptr %50) #11
  %469 = load ptr, ptr %19, align 8, !tbaa !5
  %470 = getelementptr inbounds %"class.JPH::Wheel", ptr %469, i32 0, i32 10
  %471 = load ptr, ptr %19, align 8, !tbaa !5
  %472 = getelementptr inbounds %"class.JPH::Wheel", ptr %471, i32 0, i32 9
  %473 = call { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16) %472)
  %474 = getelementptr inbounds %"class.JPH::Vec3", ptr %51, i32 0, i32 0
  %475 = getelementptr inbounds %union.anon, ptr %474, i32 0, i32 0
  %476 = getelementptr inbounds { double, double }, ptr %475, i32 0, i32 0
  %477 = extractvalue { double, double } %473, 0
  store double %477, ptr %476, align 16
  %478 = getelementptr inbounds { double, double }, ptr %475, i32 0, i32 1
  %479 = extractvalue { double, double } %473, 1
  store double %479, ptr %478, align 8
  %480 = getelementptr inbounds { double, double }, ptr %51, i32 0, i32 0
  %481 = load double, ptr %480, align 16
  %482 = getelementptr inbounds { double, double }, ptr %51, i32 0, i32 1
  %483 = load double, ptr %482, align 8
  %484 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %470, double %481, double %483)
  %485 = getelementptr inbounds %"class.JPH::Vec3", ptr %50, i32 0, i32 0
  %486 = getelementptr inbounds %union.anon, ptr %485, i32 0, i32 0
  %487 = getelementptr inbounds { double, double }, ptr %486, i32 0, i32 0
  %488 = extractvalue { double, double } %484, 0
  store double %488, ptr %487, align 16
  %489 = getelementptr inbounds { double, double }, ptr %486, i32 0, i32 1
  %490 = extractvalue { double, double } %484, 1
  store double %490, ptr %489, align 8
  %491 = load ptr, ptr %19, align 8, !tbaa !5
  %492 = getelementptr inbounds %"class.JPH::Wheel", ptr %491, i32 0, i32 10
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %492, ptr align 16 %50, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %50) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %53) #11
  %493 = load ptr, ptr %19, align 8, !tbaa !5
  %494 = getelementptr inbounds %"class.JPH::Wheel", ptr %493, i32 0, i32 10
  %495 = load ptr, ptr %19, align 8, !tbaa !5
  %496 = getelementptr inbounds %"class.JPH::Wheel", ptr %495, i32 0, i32 9
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %54, ptr align 16 %496, i64 16, i1 false), !tbaa.struct !33
  %497 = getelementptr inbounds { double, double }, ptr %54, i32 0, i32 0
  %498 = load double, ptr %497, align 16
  %499 = getelementptr inbounds { double, double }, ptr %54, i32 0, i32 1
  %500 = load double, ptr %499, align 8
  %501 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %494, double %498, double %500)
  %502 = getelementptr inbounds %"class.JPH::Vec3", ptr %53, i32 0, i32 0
  %503 = getelementptr inbounds %union.anon, ptr %502, i32 0, i32 0
  %504 = getelementptr inbounds { double, double }, ptr %503, i32 0, i32 0
  %505 = extractvalue { double, double } %501, 0
  store double %505, ptr %504, align 16
  %506 = getelementptr inbounds { double, double }, ptr %503, i32 0, i32 1
  %507 = extractvalue { double, double } %501, 1
  store double %507, ptr %506, align 8
  %508 = call { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %53)
  %509 = getelementptr inbounds %"class.JPH::Vec3", ptr %52, i32 0, i32 0
  %510 = getelementptr inbounds %union.anon, ptr %509, i32 0, i32 0
  %511 = getelementptr inbounds { double, double }, ptr %510, i32 0, i32 0
  %512 = extractvalue { double, double } %508, 0
  store double %512, ptr %511, align 16
  %513 = getelementptr inbounds { double, double }, ptr %510, i32 0, i32 1
  %514 = extractvalue { double, double } %508, 1
  store double %514, ptr %513, align 8
  %515 = load ptr, ptr %19, align 8, !tbaa !5
  %516 = getelementptr inbounds %"class.JPH::Wheel", ptr %515, i32 0, i32 11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %516, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !33
  call void @llvm.lifetime.end.p0(i64 16, ptr %53) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %41) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %40) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #11
  br label %517

517:                                              ; preds = %468, %340
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #11
  br label %518

518:                                              ; preds = %517
  %519 = load i32, ptr %18, align 4, !tbaa !41
  %520 = add i32 %519, 1
  store i32 %520, ptr %18, align 4, !tbaa !41
  br label %182, !llvm.loop !59

521:                                              ; preds = %188
  %522 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 25
  %523 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %522, ptr null) #11
  br i1 %523, label %524, label %528

524:                                              ; preds = %521
  %525 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 25
  %526 = load float, ptr %5, align 4, !tbaa !9
  %527 = load ptr, ptr %6, align 8, !tbaa !5
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEclES2_fS4_(ptr noundef nonnull align 8 dereferenceable(32) %525, ptr noundef nonnull align 16 dereferenceable(408) %69, float noundef %526, ptr noundef nonnull align 16 dereferenceable(1140) %527)
  br label %528

528:                                              ; preds = %524, %521
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #11
  %529 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 11
  store ptr %529, ptr %55, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #11
  %530 = load ptr, ptr %55, align 8, !tbaa !5
  %531 = call noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %530)
  store ptr %531, ptr %56, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #11
  %532 = load ptr, ptr %55, align 8, !tbaa !5
  %533 = call noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %532)
  store ptr %533, ptr %57, align 8, !tbaa !5
  br label %534

534:                                              ; preds = %592, %528
  %535 = load ptr, ptr %56, align 8, !tbaa !5
  %536 = load ptr, ptr %57, align 8, !tbaa !5
  %537 = icmp ne ptr %535, %536
  br i1 %537, label %539, label %538

538:                                              ; preds = %534
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #11
  br label %595

539:                                              ; preds = %534
  call void @llvm.lifetime.start.p0(i64 8, ptr %58) #11
  %540 = load ptr, ptr %56, align 8, !tbaa !5
  store ptr %540, ptr %58, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %59) #11
  %541 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 10
  %542 = load ptr, ptr %58, align 8, !tbaa !5
  %543 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %542, i32 0, i32 0
  %544 = load i32, ptr %543, align 4, !tbaa !61
  %545 = sext i32 %544 to i64
  %546 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %541, i64 noundef %545)
  %547 = load ptr, ptr %546, align 8, !tbaa !5
  store ptr %547, ptr %59, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %60) #11
  %548 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 10
  %549 = load ptr, ptr %58, align 8, !tbaa !5
  %550 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %549, i32 0, i32 1
  %551 = load i32, ptr %550, align 4, !tbaa !63
  %552 = sext i32 %551 to i64
  %553 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %548, i64 noundef %552)
  %554 = load ptr, ptr %553, align 8, !tbaa !5
  store ptr %554, ptr %60, align 8, !tbaa !5
  %555 = load ptr, ptr %59, align 8, !tbaa !5
  %556 = getelementptr inbounds %"class.JPH::Wheel", ptr %555, i32 0, i32 4
  %557 = load ptr, ptr %556, align 8, !tbaa !43
  %558 = icmp ne ptr %557, null
  br i1 %558, label %559, label %586

559:                                              ; preds = %539
  %560 = load ptr, ptr %60, align 8, !tbaa !5
  %561 = getelementptr inbounds %"class.JPH::Wheel", ptr %560, i32 0, i32 4
  %562 = load ptr, ptr %561, align 8, !tbaa !43
  %563 = icmp ne ptr %562, null
  br i1 %563, label %564, label %586

564:                                              ; preds = %559
  call void @llvm.lifetime.start.p0(i64 4, ptr %61) #11
  %565 = load ptr, ptr %60, align 8, !tbaa !5
  %566 = getelementptr inbounds %"class.JPH::Wheel", ptr %565, i32 0, i32 5
  %567 = load float, ptr %566, align 16, !tbaa !57
  %568 = load ptr, ptr %59, align 8, !tbaa !5
  %569 = getelementptr inbounds %"class.JPH::Wheel", ptr %568, i32 0, i32 5
  %570 = load float, ptr %569, align 16, !tbaa !57
  %571 = fsub float %567, %570
  store float %571, ptr %61, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %62) #11
  %572 = load float, ptr %61, align 4, !tbaa !9
  %573 = load ptr, ptr %58, align 8, !tbaa !5
  %574 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %573, i32 0, i32 2
  %575 = load float, ptr %574, align 4, !tbaa !64
  %576 = fmul float %572, %575
  %577 = load float, ptr %5, align 4, !tbaa !9
  %578 = fmul float %576, %577
  store float %578, ptr %62, align 4, !tbaa !9
  %579 = load float, ptr %62, align 4, !tbaa !9
  %580 = fneg float %579
  %581 = load ptr, ptr %59, align 8, !tbaa !5
  %582 = getelementptr inbounds %"class.JPH::Wheel", ptr %581, i32 0, i32 13
  store float %580, ptr %582, align 4, !tbaa !65
  %583 = load float, ptr %62, align 4, !tbaa !9
  %584 = load ptr, ptr %60, align 8, !tbaa !5
  %585 = getelementptr inbounds %"class.JPH::Wheel", ptr %584, i32 0, i32 13
  store float %583, ptr %585, align 4, !tbaa !65
  call void @llvm.lifetime.end.p0(i64 4, ptr %62) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %61) #11
  br label %591

586:                                              ; preds = %559, %539
  %587 = load ptr, ptr %60, align 8, !tbaa !5
  %588 = getelementptr inbounds %"class.JPH::Wheel", ptr %587, i32 0, i32 13
  store float 0.000000e+00, ptr %588, align 4, !tbaa !65
  %589 = load ptr, ptr %59, align 8, !tbaa !5
  %590 = getelementptr inbounds %"class.JPH::Wheel", ptr %589, i32 0, i32 13
  store float 0.000000e+00, ptr %590, align 4, !tbaa !65
  br label %591

591:                                              ; preds = %586, %564
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #11
  br label %592

592:                                              ; preds = %591
  %593 = load ptr, ptr %56, align 8, !tbaa !5
  %594 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %593, i32 1
  store ptr %594, ptr %56, align 8, !tbaa !5
  br label %534

595:                                              ; preds = %538
  %596 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 12
  %597 = load ptr, ptr %596, align 16, !tbaa !35
  %598 = load float, ptr %5, align 4, !tbaa !9
  %599 = load ptr, ptr %6, align 8, !tbaa !5
  %600 = load ptr, ptr %597, align 8, !tbaa !36
  %601 = getelementptr inbounds ptr, ptr %600, i64 5
  %602 = load ptr, ptr %601, align 8
  call void %602(ptr noundef nonnull align 8 dereferenceable(24) %597, float noundef %598, ptr noundef nonnull align 16 dereferenceable(1140) %599)
  %603 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 26
  %604 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %603, ptr null) #11
  br i1 %604, label %605, label %609

605:                                              ; preds = %595
  %606 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 26
  %607 = load float, ptr %5, align 4, !tbaa !9
  %608 = load ptr, ptr %6, align 8, !tbaa !5
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEclES2_fS4_(ptr noundef nonnull align 8 dereferenceable(32) %606, ptr noundef nonnull align 16 dereferenceable(408) %69, float noundef %607, ptr noundef nonnull align 16 dereferenceable(1140) %608)
  br label %609

609:                                              ; preds = %605, %595
  call void @llvm.lifetime.start.p0(i64 1, ptr %63) #11
  %610 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 12
  %611 = load ptr, ptr %610, align 16, !tbaa !35
  %612 = load ptr, ptr %611, align 8, !tbaa !36
  %613 = getelementptr inbounds ptr, ptr %612, i64 3
  %614 = load ptr, ptr %613, align 8
  %615 = call noundef zeroext i1 %614(ptr noundef nonnull align 8 dereferenceable(24) %611)
  %616 = zext i1 %615 to i8
  store i8 %616, ptr %63, align 1, !tbaa !66
  %617 = load i8, ptr %63, align 1, !tbaa !66, !range !30, !noundef !31
  %618 = trunc i8 %617 to i1
  br i1 %618, label %619, label %649

619:                                              ; preds = %609
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #11
  %620 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 10
  store ptr %620, ptr %64, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %65) #11
  %621 = load ptr, ptr %64, align 8, !tbaa !5
  %622 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %621)
  store ptr %622, ptr %65, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #11
  %623 = load ptr, ptr %64, align 8, !tbaa !5
  %624 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %623)
  store ptr %624, ptr %66, align 8, !tbaa !5
  br label %625

625:                                              ; preds = %644, %619
  %626 = load ptr, ptr %65, align 8, !tbaa !5
  %627 = load ptr, ptr %66, align 8, !tbaa !5
  %628 = icmp ne ptr %626, %627
  br i1 %628, label %630, label %629

629:                                              ; preds = %625
  store i32 7, ptr %67, align 4
  br label %647

630:                                              ; preds = %625
  call void @llvm.lifetime.start.p0(i64 8, ptr %68) #11
  %631 = load ptr, ptr %65, align 8, !tbaa !5
  %632 = load ptr, ptr %631, align 8, !tbaa !5
  store ptr %632, ptr %68, align 8, !tbaa !5
  %633 = load ptr, ptr %68, align 8, !tbaa !5
  %634 = getelementptr inbounds %"class.JPH::Wheel", ptr %633, i32 0, i32 15
  %635 = load float, ptr %634, align 4, !tbaa !67
  %636 = call noundef float @_ZSt3absf(float noundef %635)
  %637 = call noundef float @_ZN3JPH16DegreesToRadiansEf(float noundef 1.000000e+01)
  %638 = fcmp ogt float %636, %637
  br i1 %638, label %639, label %640

639:                                              ; preds = %630
  store i8 0, ptr %63, align 1, !tbaa !66
  store i32 7, ptr %67, align 4
  br label %641

640:                                              ; preds = %630
  store i32 0, ptr %67, align 4
  br label %641

641:                                              ; preds = %640, %639
  call void @llvm.lifetime.end.p0(i64 8, ptr %68) #11
  %642 = load i32, ptr %67, align 4
  switch i32 %642, label %647 [
    i32 0, label %643
  ]

643:                                              ; preds = %641
  br label %644

644:                                              ; preds = %643
  %645 = load ptr, ptr %65, align 8, !tbaa !5
  %646 = getelementptr inbounds ptr, ptr %645, i32 1
  store ptr %646, ptr %65, align 8, !tbaa !5
  br label %625

647:                                              ; preds = %641, %629
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #11
  br label %648

648:                                              ; preds = %647
  br label %649

649:                                              ; preds = %648, %609
  %650 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %651 = load ptr, ptr %650, align 16, !tbaa !32
  %652 = call noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122) %651)
  %653 = zext i1 %652 to i32
  %654 = load i8, ptr %63, align 1, !tbaa !66, !range !30, !noundef !31
  %655 = trunc i8 %654 to i1
  %656 = zext i1 %655 to i32
  %657 = icmp ne i32 %653, %656
  br i1 %657, label %658, label %663

658:                                              ; preds = %649
  %659 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 5
  %660 = load ptr, ptr %659, align 16, !tbaa !32
  %661 = load i8, ptr %63, align 1, !tbaa !66, !range !30, !noundef !31
  %662 = trunc i8 %661 to i1
  call void @_ZN3JPH4Body16SetAllowSleepingEb(ptr noundef nonnull align 16 dereferenceable(122) %660, i1 noundef zeroext %662)
  br label %663

663:                                              ; preds = %658, %649
  %664 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %69, i32 0, i32 17
  %665 = load i32, ptr %664, align 4, !tbaa !42
  %666 = add i32 %665, 1
  store i32 %666, ptr %664, align 4, !tbaa !42
  call void @llvm.lifetime.end.p0(i64 1, ptr %63) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %17) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #11
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32), ptr) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEclES2_fS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 16 dereferenceable(408), float noundef, ptr noundef nonnull align 16 dereferenceable(1140)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH16MotionProperties16SetGravityFactorEf(ptr noundef nonnull align 16 dereferenceable(182), float noundef) #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH4Body8AddForceENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) #5 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1140)) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH6BodyID9IsInvalidEv(ptr noundef nonnull align 4 dereferenceable(4)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNK3JPH13PhysicsSystem26GetBodyLockInterfaceNoLockEv(ptr noundef nonnull align 16 dereferenceable(1140)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH17BodyLockInterface10TryGetBodyERKNS_6BodyIDE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #8

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) #3 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) #5

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) #1

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH16DegreesToRadiansEf(float noundef) #9

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122)) #7 align 2

declare void @_ZN3JPH4Body16SetAllowSleepingEb(ptr noundef nonnull align 16 dereferenceable(122), i1 noundef zeroext) #10

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #9 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #10 = { "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 #11 = { 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, !18, i64 40}
!12 = !{!"_ZTSN3JPH17VehicleConstraintE", !13, i64 0, !20, i64 32, !18, i64 40, !21, i64 48, !6, i64 64, !21, i64 80, !21, i64 96, !21, i64 112, !22, i64 128, !23, i64 152, !6, i64 176, !18, i64 184, !17, i64 188, !17, i64 192, !17, i64 196, !10, i64 200, !10, i64 204, !21, i64 208, !24, i64 224, !26, i64 272, !27, i64 280, !29, i64 312, !29, i64 344, !29, i64 376}
!13 = !{!"_ZTSN3JPH10ConstraintE", !14, i64 8, !17, i64 12, !17, i64 16, !7, i64 20, !7, i64 21, !18, i64 22, !19, i64 24}
!14 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !15, i64 0}
!15 = !{!"_ZTSSt6atomicIjE", !16, i64 0}
!16 = !{!"_ZTSSt13__atomic_baseIjE", !17, i64 0}
!17 = !{!"int", !7, i64 0}
!18 = !{!"bool", !7, i64 0}
!19 = !{!"long", !7, i64 0}
!20 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!21 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!22 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !19, i64 0, !19, i64 8, !6, i64 16}
!23 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !19, i64 0, !19, i64 8, !6, i64 16}
!24 = !{!"_ZTSN3JPH19AngleConstraintPartE", !21, i64 0, !21, i64 16, !10, i64 32, !25, i64 36, !10, i64 44}
!25 = !{!"_ZTSN3JPH10SpringPartE", !10, i64 0, !10, i64 4}
!26 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !6, i64 0}
!27 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !28, i64 0, !6, i64 24}
!28 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!29 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEE", !28, i64 0, !6, i64 24}
!30 = !{i8 0, i8 2}
!31 = !{}
!32 = !{!12, !6, i64 64}
!33 = !{i64 0, i64 16, !34}
!34 = !{!7, !7, i64 0}
!35 = !{!12, !6, i64 176}
!36 = !{!37, !37, i64 0}
!37 = !{!"vtable pointer", !8, i64 0}
!38 = !{!12, !18, i64 184}
!39 = !{!12, !17, i64 188}
!40 = !{!12, !17, i64 192}
!41 = !{!17, !17, i64 0}
!42 = !{!12, !17, i64 196}
!43 = !{!44, !6, i64 24}
!44 = !{!"_ZTSN3JPH5WheelE", !45, i64 8, !46, i64 16, !47, i64 20, !6, i64 24, !10, i64 32, !21, i64 48, !21, i64 64, !21, i64 80, !21, i64 96, !21, i64 112, !10, i64 128, !10, i64 132, !10, i64 136, !10, i64 140, !10, i64 144, !48, i64 148, !48, i64 212, !48, i64 276, !48, i64 340}
!45 = !{!"_ZTSN3JPH8RefConstINS_13WheelSettingsEEE", !6, i64 0}
!46 = !{!"_ZTSN3JPH6BodyIDE", !17, i64 0}
!47 = !{!"_ZTSN3JPH10SubShapeIDE", !17, i64 0}
!48 = !{!"_ZTSN3JPH18AxisConstraintPartE", !49, i64 0, !49, i64 12, !49, i64 24, !49, i64 36, !10, i64 48, !25, i64 52, !10, i64 60}
!49 = !{!"_ZTSN3JPH6Float3E", !10, i64 0, !10, i64 4, !10, i64 8}
!50 = !{i64 0, i64 4, !41}
!51 = !{!52, !10, i64 116}
!52 = !{!"_ZTSN3JPH13WheelSettingsE", !53, i64 0, !54, i64 8, !21, i64 16, !21, i64 32, !21, i64 48, !21, i64 64, !21, i64 80, !21, i64 96, !10, i64 112, !10, i64 116, !10, i64 120, !55, i64 124, !10, i64 136, !10, i64 140, !18, i64 144}
!53 = !{!"_ZTSN3JPH18SerializableObjectE"}
!54 = !{!"_ZTSN3JPH9RefTargetINS_13WheelSettingsEEE", !15, i64 0}
!55 = !{!"_ZTSN3JPH14SpringSettingsE", !56, i64 0, !7, i64 4, !10, i64 8}
!56 = !{!"_ZTSN3JPH11ESpringModeE", !7, i64 0}
!57 = !{!44, !10, i64 32}
!58 = !{!44, !10, i64 128}
!59 = distinct !{!59, !60}
!60 = !{!"llvm.loop.mustprogress"}
!61 = !{!62, !17, i64 0}
!62 = !{!"_ZTSN3JPH18VehicleAntiRollBarE", !17, i64 0, !17, i64 4, !10, i64 8}
!63 = !{!62, !17, i64 4}
!64 = !{!62, !10, i64 8}
!65 = !{!44, !10, i64 132}
!66 = !{!18, !18, i64 0}
!67 = !{!44, !10, i64 140}


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

%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::Vec4" = type { %union.anon.38 }
%union.anon.38 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::SubShapeID" = type { i32 }

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK3JPH17VehicleConstraint18GetWheelLocalBasisEPKNS_5WheelERNS_4Vec3ES5_S5_(ptr noundef nonnull align 16 dereferenceable(408), ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraint6OnStepEfRNS_13PhysicsSystemE(ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1, ptr noundef nonnull align 16 dereferenceable(1140) %2) unnamed_addr #4 align 2 {
  %4 = alloca %"class.JPH::Vec3", align 16
  %5 = alloca %"class.JPH::Vec3", align 16
  %6 = alloca %"class.JPH::Vec3", align 16
  %7 = alloca %"class.JPH::Mat44", align 16
  %8 = alloca %"class.JPH::Vec3", align 16
  %9 = alloca %"class.JPH::BodyID", align 4
  %10 = alloca %"class.JPH::SubShapeID", align 4
  %11 = alloca %"class.JPH::BodyID", align 4
  %12 = alloca %"class.JPH::SubShapeID", align 4
  %13 = alloca %"class.JPH::Vec3", align 16
  %14 = alloca %"class.JPH::Vec3", align 16
  %15 = alloca %"class.JPH::Vec3", align 16
  %16 = alloca %"class.JPH::Vec3", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = getelementptr inbounds i8, ptr %0, i64 312
  %19 = tail call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %18, ptr null) #10
  br i1 %19, label %20, label %21

20:                                               ; preds = %3
  tail call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEclES2_fS4_(ptr noundef nonnull align 8 dereferenceable(32) %18, ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1, ptr noundef nonnull align 16 dereferenceable(1140) %2)
  br label %21

21:                                               ; preds = %20, %3
  %22 = getelementptr inbounds i8, ptr %0, i64 40
  %23 = load i8, ptr %22, align 8, !tbaa !5, !range !28, !noundef !29
  %24 = trunc nuw i8 %23 to i1
  br i1 %24, label %25, label %48

25:                                               ; preds = %21
  %26 = getelementptr inbounds i8, ptr %0, i64 64
  %27 = load ptr, ptr %26, align 16, !tbaa !30
  %28 = tail call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %27)
  br i1 %28, label %29, label %38

29:                                               ; preds = %25
  %30 = load ptr, ptr %26, align 16, !tbaa !30
  %31 = tail call noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122) %30)
  tail call void @_ZN3JPH16MotionProperties16SetGravityFactorEf(ptr noundef nonnull align 16 dereferenceable(182) %31, float noundef 0.000000e+00)
  %32 = load ptr, ptr %26, align 16, !tbaa !30
  %33 = getelementptr inbounds i8, ptr %0, i64 48
  %34 = tail call noundef float @_ZNK3JPH16MotionProperties14GetInverseMassEv(ptr noundef nonnull align 16 dereferenceable(182) %31)
  %35 = tail call { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16) %33, float noundef %34)
  %36 = extractvalue { double, double } %35, 0
  %37 = extractvalue { double, double } %35, 1
  tail call void @_ZN3JPH4Body8AddForceENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %32, double %36, double %37)
  br label %38

38:                                               ; preds = %29, %25
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #10
  %39 = getelementptr inbounds i8, ptr %0, i64 48
  %40 = tail call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %39)
  %41 = extractvalue { double, double } %40, 0
  store double %41, ptr %4, align 16
  %42 = getelementptr inbounds i8, ptr %4, i64 8
  %43 = extractvalue { double, double } %40, 1
  store double %43, ptr %42, align 8
  %44 = getelementptr inbounds i8, ptr %0, i64 112
  %.sroa.0134.0.copyload = load double, ptr %44, align 16
  %.sroa.2135.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 120
  %.sroa.2135.0.copyload = load double, ptr %.sroa.2135.0..sroa_idx, align 8, !tbaa !31
  %45 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %4, double %.sroa.0134.0.copyload, double %.sroa.2135.0.copyload)
  %46 = extractvalue { double, double } %45, 0
  %47 = extractvalue { double, double } %45, 1
  store double %46, ptr %44, align 16
  store double %47, ptr %.sroa.2135.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #10
  br label %61

48:                                               ; preds = %21
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #10
  %49 = tail call { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1140) %2)
  %50 = extractvalue { double, double } %49, 0
  store double %50, ptr %6, align 16
  %51 = getelementptr inbounds i8, ptr %6, i64 8
  %52 = extractvalue { double, double } %49, 1
  store double %52, ptr %51, align 8
  %53 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %6)
  %54 = extractvalue { double, double } %53, 0
  store double %54, ptr %5, align 16
  %55 = getelementptr inbounds i8, ptr %5, i64 8
  %56 = extractvalue { double, double } %53, 1
  store double %56, ptr %55, align 8
  %57 = getelementptr inbounds i8, ptr %0, i64 112
  %.sroa.0130.0.copyload = load double, ptr %57, align 16
  %.sroa.2131.0..sroa_idx = getelementptr inbounds i8, ptr %0, i64 120
  %.sroa.2131.0.copyload = load double, ptr %.sroa.2131.0..sroa_idx, align 8, !tbaa !31
  %58 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %5, double %.sroa.0130.0.copyload, double %.sroa.2131.0.copyload)
  %59 = extractvalue { double, double } %58, 0
  %60 = extractvalue { double, double } %58, 1
  store double %59, ptr %57, align 16
  store double %60, ptr %.sroa.2131.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #10
  br label %61

61:                                               ; preds = %48, %38
  %62 = getelementptr inbounds i8, ptr %0, i64 176
  %63 = load ptr, ptr %62, align 16, !tbaa !32
  %64 = load ptr, ptr %63, align 8, !tbaa !33
  %65 = getelementptr inbounds i8, ptr %64, i64 32
  %66 = load ptr, ptr %65, align 8
  call void %66(ptr noundef nonnull align 8 dereferenceable(24) %63, float noundef %1, ptr noundef nonnull align 16 dereferenceable(1140) %2)
  %67 = getelementptr inbounds i8, ptr %0, i64 64
  %68 = load ptr, ptr %67, align 16, !tbaa !30
  %69 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %68)
  %70 = getelementptr inbounds i8, ptr %0, i64 184
  %71 = zext i1 %69 to i8
  store i8 %71, ptr %70, align 8, !tbaa !35
  %.in.v = select i1 %69, i64 188, i64 192
  %.in = getelementptr inbounds i8, ptr %0, i64 %.in.v
  %72 = load i32, ptr %.in, align 4, !tbaa !36
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %7) #10
  %73 = load ptr, ptr %67, align 16, !tbaa !30
  call void @_ZNK3JPH4Body17GetWorldTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %7, ptr noundef nonnull align 16 dereferenceable(122) %73)
  %74 = getelementptr inbounds i8, ptr %0, i64 128
  %75 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %74)
  %.not189 = icmp eq i64 %75, 0
  br i1 %.not189, label %._crit_edge174, label %.lr.ph

.lr.ph:                                           ; preds = %61
  %76 = getelementptr inbounds i8, ptr %8, i64 8
  %77 = icmp eq i32 %72, 0
  %78 = getelementptr inbounds i8, ptr %0, i64 196
  %79 = getelementptr inbounds i8, ptr %0, i64 272
  %.sroa.248.0..sroa_idx = getelementptr inbounds i8, ptr %14, i64 8
  %.sroa.244.0..sroa_idx = getelementptr inbounds i8, ptr %16, i64 8
  %80 = getelementptr inbounds i8, ptr %17, i64 8
  br label %83

._crit_edge174:                                   ; preds = %204, %61
  %81 = getelementptr inbounds i8, ptr %0, i64 344
  %82 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %81, ptr null) #10
  br i1 %82, label %209, label %210

83:                                               ; preds = %.lr.ph, %204
  %84 = phi i64 [ 0, %.lr.ph ], [ %206, %204 ]
  %.0172 = phi i32 [ 0, %.lr.ph ], [ %205, %204 ]
  %85 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %84)
  %86 = load ptr, ptr %85, align 8, !tbaa !37
  %87 = getelementptr inbounds i8, ptr %86, i64 8
  %88 = call noundef ptr @_ZNK3JPH8RefConstINS_13WheelSettingsEEcvPKS1_Ev(ptr noundef nonnull align 8 dereferenceable(8) %87)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #10
  %89 = getelementptr inbounds i8, ptr %88, i64 16
  %.sroa.072.0.copyload = load double, ptr %89, align 16
  %.sroa.273.0..sroa_idx = getelementptr inbounds i8, ptr %88, i64 24
  %.sroa.273.0.copyload = load double, ptr %.sroa.273.0..sroa_idx, align 8, !tbaa !31
  %90 = call { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %.sroa.072.0.copyload, double %.sroa.273.0.copyload)
  %91 = extractvalue { double, double } %90, 0
  store double %91, ptr %8, align 16
  %92 = extractvalue { double, double } %90, 1
  store double %92, ptr %76, align 8
  %93 = getelementptr inbounds i8, ptr %88, i64 48
  %.sroa.069.0.copyload = load double, ptr %93, align 16
  %.sroa.270.0..sroa_idx = getelementptr inbounds i8, ptr %88, i64 56
  %.sroa.270.0.copyload = load double, ptr %.sroa.270.0..sroa_idx, align 8, !tbaa !31
  %94 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %.sroa.069.0.copyload, double %.sroa.270.0.copyload)
  %95 = extractvalue { double, double } %94, 0
  %96 = extractvalue { double, double } %94, 1
  br i1 %77, label %101, label %97

97:                                               ; preds = %83
  %98 = load i32, ptr %78, align 4, !tbaa !38
  %99 = add i32 %98, %.0172
  %100 = urem i32 %99, %72
  %.not169 = icmp eq i32 %100, 0
  br i1 %.not169, label %127, label %101

101:                                              ; preds = %97, %83
  %102 = getelementptr inbounds i8, ptr %86, i64 16
  %103 = call noundef zeroext i1 @_ZNK3JPH6BodyID9IsInvalidEv(ptr noundef nonnull align 4 dereferenceable(4) %102)
  br i1 %103, label %149, label %104

104:                                              ; preds = %101
  %105 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNK3JPH13PhysicsSystem26GetBodyLockInterfaceNoLockEv(ptr noundef nonnull align 16 dereferenceable(1140) %2)
  %106 = call noundef ptr @_ZNK3JPH17BodyLockInterface10TryGetBodyERKNS_6BodyIDE(ptr noundef nonnull align 8 dereferenceable(16) %105, ptr noundef nonnull align 4 dereferenceable(4) %102)
  %107 = getelementptr inbounds i8, ptr %86, i64 24
  store ptr %106, ptr %107, align 8, !tbaa !39
  %108 = icmp eq ptr %106, null
  br i1 %108, label %109, label %116

109:                                              ; preds = %104
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #10
  call void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %9)
  %110 = load i32, ptr %9, align 4, !tbaa !36
  store i32 %110, ptr %102, align 16, !tbaa !36
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %10) #10
  store i32 0, ptr %10, align 4
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %10) #10
  %111 = getelementptr inbounds i8, ptr %86, i64 20
  %112 = load i32, ptr %10, align 4, !tbaa !36
  store i32 %112, ptr %111, align 4, !tbaa !36
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %10) #10
  %113 = getelementptr inbounds i8, ptr %88, i64 116
  %114 = load float, ptr %113, align 4, !tbaa !46
  %115 = getelementptr inbounds i8, ptr %86, i64 32
  store float %114, ptr %115, align 16, !tbaa !52
  br label %149

116:                                              ; preds = %104
  %117 = call noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %79)
  %.sroa.067.0.copyload = load double, ptr %8, align 16
  %.sroa.268.0.copyload = load double, ptr %76, align 8, !tbaa !31
  %118 = load ptr, ptr %67, align 16, !tbaa !30
  %119 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %118)
  %120 = getelementptr inbounds i8, ptr %86, i64 20
  %121 = getelementptr inbounds i8, ptr %86, i64 48
  %122 = getelementptr inbounds i8, ptr %86, i64 80
  %123 = getelementptr inbounds i8, ptr %86, i64 32
  %124 = load ptr, ptr %117, align 8, !tbaa !33
  %125 = getelementptr inbounds i8, ptr %124, i64 24
  %126 = load ptr, ptr %125, align 8
  call void %126(ptr noundef nonnull align 8 dereferenceable(42) %117, ptr noundef nonnull align 16 dereferenceable(1140) %2, ptr noundef nonnull align 16 dereferenceable(408) %0, i32 noundef %.0172, double %.sroa.067.0.copyload, double %.sroa.268.0.copyload, double %95, double %96, ptr noundef nonnull align 4 dereferenceable(4) %119, ptr noundef nonnull align 8 dereferenceable(8) %107, ptr noundef nonnull align 4 dereferenceable(4) %120, ptr noundef nonnull align 16 dereferenceable(16) %121, ptr noundef nonnull align 16 dereferenceable(16) %122, ptr noundef nonnull align 4 dereferenceable(4) %123)
  br label %149

127:                                              ; preds = %97
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %11) #10
  call void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %11)
  %128 = getelementptr inbounds i8, ptr %86, i64 16
  %129 = load i32, ptr %11, align 4, !tbaa !36
  store i32 %129, ptr %128, align 16, !tbaa !36
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #10
  %130 = getelementptr inbounds i8, ptr %86, i64 24
  store ptr null, ptr %130, align 8, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %12) #10
  store i32 0, ptr %12, align 4
  call void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4) %12) #10
  %131 = getelementptr inbounds i8, ptr %86, i64 20
  %132 = load i32, ptr %12, align 4, !tbaa !36
  store i32 %132, ptr %131, align 4, !tbaa !36
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #10
  %133 = getelementptr inbounds i8, ptr %88, i64 116
  %134 = load float, ptr %133, align 4, !tbaa !46
  %135 = getelementptr inbounds i8, ptr %86, i64 32
  store float %134, ptr %135, align 16, !tbaa !52
  %136 = call noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %79)
  %.sroa.063.0.copyload = load double, ptr %8, align 16
  %.sroa.264.0.copyload = load double, ptr %76, align 8, !tbaa !31
  %137 = load ptr, ptr %67, align 16, !tbaa !30
  %138 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %137)
  %139 = getelementptr inbounds i8, ptr %86, i64 48
  %140 = getelementptr inbounds i8, ptr %86, i64 80
  %141 = load ptr, ptr %136, align 8, !tbaa !33
  %142 = getelementptr inbounds i8, ptr %141, i64 16
  %143 = load ptr, ptr %142, align 8
  %144 = call noundef zeroext i1 %143(ptr noundef nonnull align 8 dereferenceable(42) %136, ptr noundef nonnull align 16 dereferenceable(1140) %2, ptr noundef nonnull align 16 dereferenceable(408) %0, i32 noundef %.0172, double %.sroa.063.0.copyload, double %.sroa.264.0.copyload, double %95, double %96, ptr noundef nonnull align 4 dereferenceable(4) %138, ptr noundef nonnull align 8 dereferenceable(8) %130, ptr noundef nonnull align 4 dereferenceable(4) %131, ptr noundef nonnull align 16 dereferenceable(16) %139, ptr noundef nonnull align 16 dereferenceable(16) %140, ptr noundef nonnull align 4 dereferenceable(4) %135)
  br i1 %144, label %145, label %149

145:                                              ; preds = %127
  %146 = load ptr, ptr %130, align 8, !tbaa !39
  %147 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %146)
  %148 = load i32, ptr %147, align 4, !tbaa !36
  store i32 %148, ptr %128, align 16, !tbaa !36
  br label %149

149:                                              ; preds = %127, %145, %101, %116, %109
  %150 = getelementptr inbounds i8, ptr %86, i64 24
  %151 = load ptr, ptr %150, align 8, !tbaa !39
  %.not170 = icmp eq ptr %151, null
  br i1 %.not170, label %204, label %152

152:                                              ; preds = %149
  %153 = getelementptr inbounds i8, ptr %86, i64 48
  %.sroa.057.0.copyload = load double, ptr %153, align 16
  %.sroa.258.0..sroa_idx = getelementptr inbounds i8, ptr %86, i64 56
  %.sroa.258.0.copyload = load double, ptr %.sroa.258.0..sroa_idx, align 8, !tbaa !31
  %154 = call { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122) %151, double %.sroa.057.0.copyload, double %.sroa.258.0.copyload)
  %155 = extractvalue { double, double } %154, 0
  %156 = extractvalue { double, double } %154, 1
  %157 = getelementptr inbounds i8, ptr %86, i64 64
  store double %155, ptr %157, align 16
  %.sroa.460.0..sroa_idx = getelementptr inbounds i8, ptr %86, i64 72
  store double %156, ptr %.sroa.460.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #10
  %158 = getelementptr inbounds i8, ptr %86, i64 80
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %13, ptr noundef nonnull align 16 dereferenceable(16) %158, i64 16, i1 false), !tbaa.struct !53
  %159 = getelementptr inbounds i8, ptr %86, i64 32
  %160 = load float, ptr %159, align 16, !tbaa !52
  %161 = call { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef %160, double %95, double %96)
  %162 = extractvalue { double, double } %161, 0
  %163 = extractvalue { double, double } %161, 1
  %164 = call { double, double } @_ZNK3JPH4Vec3plES0_(ptr noundef nonnull align 16 dereferenceable(16) %8, double %162, double %163)
  %165 = extractvalue { double, double } %164, 0
  %166 = extractvalue { double, double } %164, 1
  %167 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %165, double %166)
  %168 = getelementptr inbounds i8, ptr %86, i64 128
  store float %167, ptr %168, align 16, !tbaa !54
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #10
  %169 = load ptr, ptr %150, align 8, !tbaa !39
  %170 = call noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122) %169)
  %171 = load i8, ptr %70, align 8, !tbaa !35, !range !28, !noundef !29
  %172 = zext i1 %170 to i8
  %173 = or i8 %171, %172
  store i8 %173, ptr %70, align 8, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #10
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #10
  call void @_ZNK3JPH17VehicleConstraint18GetWheelLocalBasisEPKNS_5WheelERNS_4Vec3ES5_S5_(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull %86, ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 16 dereferenceable(16) %15, ptr noundef nonnull align 16 dereferenceable(16) %16)
  %.sroa.047.0.copyload = load double, ptr %14, align 16
  %.sroa.248.0.copyload = load double, ptr %.sroa.248.0..sroa_idx, align 8, !tbaa !31
  %174 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %.sroa.047.0.copyload, double %.sroa.248.0.copyload)
  %175 = extractvalue { double, double } %174, 0
  %176 = extractvalue { double, double } %174, 1
  store double %175, ptr %14, align 16
  store double %176, ptr %.sroa.248.0..sroa_idx, align 8, !tbaa !31
  %.sroa.043.0.copyload = load double, ptr %16, align 16
  %.sroa.244.0.copyload = load double, ptr %.sroa.244.0..sroa_idx, align 8, !tbaa !31
  %177 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %7, double %.sroa.043.0.copyload, double %.sroa.244.0.copyload)
  %178 = extractvalue { double, double } %177, 0
  %179 = extractvalue { double, double } %177, 1
  store double %178, ptr %16, align 16
  store double %179, ptr %.sroa.244.0..sroa_idx, align 8, !tbaa !31
  %180 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %158, double %178, double %179)
  %181 = extractvalue { double, double } %180, 0
  %182 = extractvalue { double, double } %180, 1
  %183 = getelementptr inbounds i8, ptr %86, i64 96
  store double %181, ptr %183, align 16
  %.sroa.442.0..sroa_idx = getelementptr inbounds i8, ptr %86, i64 104
  store double %182, ptr %.sroa.442.0..sroa_idx, align 8, !tbaa !31
  %.sroa.037.0.copyload = load double, ptr %14, align 16
  %.sroa.238.0.copyload = load double, ptr %.sroa.248.0..sroa_idx, align 8, !tbaa !31
  %184 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %183, double %.sroa.037.0.copyload, double %.sroa.238.0.copyload)
  %185 = fcmp olt float %184, 0.000000e+00
  br i1 %185, label %186, label %190

186:                                              ; preds = %152
  %187 = call { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %183)
  %188 = extractvalue { double, double } %187, 0
  %189 = extractvalue { double, double } %187, 1
  store double %188, ptr %183, align 16
  store double %189, ptr %.sroa.442.0..sroa_idx, align 8, !tbaa !31
  br label %190

190:                                              ; preds = %186, %152
  %191 = call { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16) %158)
  %192 = extractvalue { double, double } %191, 0
  %193 = extractvalue { double, double } %191, 1
  %194 = call { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16) %183, double %192, double %193)
  %195 = extractvalue { double, double } %194, 0
  %196 = extractvalue { double, double } %194, 1
  store double %195, ptr %183, align 16
  store double %196, ptr %.sroa.442.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #10
  %.sroa.0.0.copyload = load double, ptr %158, align 16
  %.sroa.2.0..sroa_idx = getelementptr inbounds i8, ptr %86, i64 88
  %.sroa.2.0.copyload = load double, ptr %.sroa.2.0..sroa_idx, align 8, !tbaa !31
  %197 = call { double, double } @_ZNK3JPH4Vec35CrossES0_(ptr noundef nonnull align 16 dereferenceable(16) %183, double %.sroa.0.0.copyload, double %.sroa.2.0.copyload)
  %198 = extractvalue { double, double } %197, 0
  store double %198, ptr %17, align 16
  %199 = extractvalue { double, double } %197, 1
  store double %199, ptr %80, align 8
  %200 = call { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %17)
  %201 = extractvalue { double, double } %200, 0
  %202 = extractvalue { double, double } %200, 1
  %203 = getelementptr inbounds i8, ptr %86, i64 112
  store double %201, ptr %203, align 16
  %.sroa.4.0..sroa_idx = getelementptr inbounds i8, ptr %86, i64 120
  store double %202, ptr %.sroa.4.0..sroa_idx, align 8, !tbaa !31
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #10
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #10
  br label %204

204:                                              ; preds = %190, %149
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #10
  %205 = add i32 %.0172, 1
  %206 = zext i32 %205 to i64
  %207 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %74)
  %208 = icmp ugt i64 %207, %206
  br i1 %208, label %83, label %._crit_edge174, !llvm.loop !55

209:                                              ; preds = %._crit_edge174
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEclES2_fS4_(ptr noundef nonnull align 8 dereferenceable(32) %81, ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1, ptr noundef nonnull align 16 dereferenceable(1140) %2)
  br label %210

210:                                              ; preds = %209, %._crit_edge174
  %211 = getelementptr inbounds i8, ptr %0, i64 152
  %212 = call noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %211)
  %213 = call noundef ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %211)
  %.not175 = icmp eq ptr %212, %213
  br i1 %.not175, label %._crit_edge179, label %.lr.ph178

._crit_edge179:                                   ; preds = %245, %210
  %214 = load ptr, ptr %62, align 16, !tbaa !32
  %215 = load ptr, ptr %214, align 8, !tbaa !33
  %216 = getelementptr inbounds i8, ptr %215, i64 40
  %217 = load ptr, ptr %216, align 8
  call void %217(ptr noundef nonnull align 8 dereferenceable(24) %214, float noundef %1, ptr noundef nonnull align 16 dereferenceable(1140) %2)
  %218 = getelementptr inbounds i8, ptr %0, i64 376
  %219 = call noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32) %218, ptr null) #10
  br i1 %219, label %249, label %250

.lr.ph178:                                        ; preds = %210, %245
  %.0159176 = phi ptr [ %248, %245 ], [ %212, %210 ]
  %220 = load i32, ptr %.0159176, align 4, !tbaa !57
  %221 = sext i32 %220 to i64
  %222 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %221)
  %223 = load ptr, ptr %222, align 8, !tbaa !37
  %224 = getelementptr inbounds i8, ptr %.0159176, i64 4
  %225 = load i32, ptr %224, align 4, !tbaa !59
  %226 = sext i32 %225 to i64
  %227 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %226)
  %228 = load ptr, ptr %227, align 8, !tbaa !37
  %229 = getelementptr inbounds i8, ptr %223, i64 24
  %230 = load ptr, ptr %229, align 8, !tbaa !39
  %.not167 = icmp eq ptr %230, null
  br i1 %.not167, label %245, label %231

231:                                              ; preds = %.lr.ph178
  %232 = getelementptr inbounds i8, ptr %228, i64 24
  %233 = load ptr, ptr %232, align 8, !tbaa !39
  %.not168 = icmp eq ptr %233, null
  br i1 %.not168, label %245, label %234

234:                                              ; preds = %231
  %235 = getelementptr inbounds i8, ptr %228, i64 32
  %236 = load float, ptr %235, align 16, !tbaa !52
  %237 = getelementptr inbounds i8, ptr %223, i64 32
  %238 = load float, ptr %237, align 16, !tbaa !52
  %239 = fsub float %236, %238
  %240 = getelementptr inbounds i8, ptr %.0159176, i64 8
  %241 = load float, ptr %240, align 4, !tbaa !60
  %242 = fmul float %239, %241
  %243 = fmul float %242, %1
  %244 = fneg float %243
  br label %245

245:                                              ; preds = %.lr.ph178, %231, %234
  %.sink194 = phi ptr [ %223, %234 ], [ %228, %231 ], [ %228, %.lr.ph178 ]
  %.sink192 = phi float [ %244, %234 ], [ 0.000000e+00, %231 ], [ 0.000000e+00, %.lr.ph178 ]
  %.sink191 = phi ptr [ %228, %234 ], [ %223, %231 ], [ %223, %.lr.ph178 ]
  %.sink = phi float [ %243, %234 ], [ 0.000000e+00, %231 ], [ 0.000000e+00, %.lr.ph178 ]
  %246 = getelementptr inbounds i8, ptr %.sink194, i64 132
  store float %.sink192, ptr %246, align 4, !tbaa !61
  %247 = getelementptr inbounds i8, ptr %.sink191, i64 132
  store float %.sink, ptr %247, align 4, !tbaa !61
  %248 = getelementptr inbounds i8, ptr %.0159176, i64 12
  %.not = icmp eq ptr %248, %213
  br i1 %.not, label %._crit_edge179, label %.lr.ph178

249:                                              ; preds = %._crit_edge179
  call void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEclES2_fS4_(ptr noundef nonnull align 8 dereferenceable(32) %218, ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %1, ptr noundef nonnull align 16 dereferenceable(1140) %2)
  br label %250

250:                                              ; preds = %249, %._crit_edge179
  %251 = load ptr, ptr %62, align 16, !tbaa !32
  %252 = load ptr, ptr %251, align 8, !tbaa !33
  %253 = getelementptr inbounds i8, ptr %252, i64 24
  %254 = load ptr, ptr %253, align 8
  %255 = call noundef zeroext i1 %254(ptr noundef nonnull align 8 dereferenceable(24) %251)
  br i1 %255, label %258, label %._crit_edge

._crit_edge:                                      ; preds = %250
  %256 = load ptr, ptr %67, align 16, !tbaa !30
  %257 = call noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122) %256)
  br i1 %257, label %273, label %275

258:                                              ; preds = %250
  %259 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %74)
  %260 = call noundef ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %74)
  %.not165180 = icmp eq ptr %259, %260
  br i1 %.not165180, label %._crit_edge185.thr_comm, label %.lr.ph184

261:                                              ; preds = %.lr.ph184
  %262 = getelementptr inbounds i8, ptr %.0160181, i64 8
  %.not165 = icmp eq ptr %262, %260
  br i1 %.not165, label %._crit_edge185.thr_comm, label %.lr.ph184

.lr.ph184:                                        ; preds = %258, %261
  %.0160181 = phi ptr [ %262, %261 ], [ %259, %258 ]
  %263 = load ptr, ptr %.0160181, align 8, !tbaa !37
  %264 = getelementptr inbounds i8, ptr %263, i64 140
  %265 = load float, ptr %264, align 4, !tbaa !62
  %266 = call noundef float @_ZSt3absf(float noundef %265)
  %267 = call noundef float @_ZN3JPH16DegreesToRadiansEf(float noundef 1.000000e+01)
  %268 = fcmp ule float %266, %267
  br i1 %268, label %261, label %._crit_edge185

._crit_edge185.thr_comm:                          ; preds = %261, %258
  %269 = load ptr, ptr %67, align 16, !tbaa !30
  %270 = call noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122) %269)
  br i1 %270, label %275, label %273

._crit_edge185:                                   ; preds = %.lr.ph184
  %271 = load ptr, ptr %67, align 16, !tbaa !30
  %272 = call noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122) %271)
  br i1 %272, label %273, label %275

273:                                              ; preds = %._crit_edge185.thr_comm, %._crit_edge, %._crit_edge185
  %.3171 = phi i1 [ false, %._crit_edge ], [ false, %._crit_edge185 ], [ true, %._crit_edge185.thr_comm ]
  %274 = load ptr, ptr %67, align 16, !tbaa !30
  call void @_ZN3JPH4Body16SetAllowSleepingEb(ptr noundef nonnull align 16 dereferenceable(122) %274, i1 noundef zeroext %.3171)
  br label %275

275:                                              ; preds = %._crit_edge185.thr_comm, %._crit_edge, %273, %._crit_edge185
  %276 = getelementptr inbounds i8, ptr %0, i64 196
  %277 = load i32, ptr %276, align 4, !tbaa !38
  %278 = add i32 %277, 1
  store i32 %278, ptr %276, align 4, !tbaa !38
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %7) #10
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZStneIvJRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEbRKSt8functionIFT_DpT0_EEDn(ptr noundef nonnull align 8 dereferenceable(32), ptr) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNKSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEclES2_fS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 16 dereferenceable(408), float noundef, ptr noundef nonnull align 16 dereferenceable(1140)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body8IsActiveEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH4Body19GetMotionPropertiesEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH16MotionProperties16SetGravityFactorEf(ptr noundef nonnull align 16 dereferenceable(182), float noundef) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH4Body8AddForceENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3dvEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #5 align 2

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

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec312NormalizedOrES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local { double, double } @_ZNK3JPH13PhysicsSystem10GetGravityEv(ptr noundef nonnull align 16 dereferenceable(1140)) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH6BodyID9IsInvalidEv(ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNK3JPH13PhysicsSystem26GetBodyLockInterfaceNoLockEv(ptr noundef nonnull align 16 dereferenceable(1140)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH17BodyLockInterface10TryGetBodyERKNS_6BodyIDE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH6BodyIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10SubShapeIDC2Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH8RefConstINS_22VehicleCollisionTesterEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body16GetPointVelocityENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(122), double, double) local_unnamed_addr #3 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #8 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPHmlEfNS_4Vec3E(float noundef, double, double) local_unnamed_addr #5

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec326GetNormalizedPerpendicularEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) local_unnamed_addr #1

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN3JPH16DegreesToRadiansEf(float noundef) local_unnamed_addr #8

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body16GetAllowSleepingEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #7 align 2

declare void @_ZN3JPH4Body16SetAllowSleepingEb(ptr noundef nonnull align 16 dereferenceable(122), i1 noundef zeroext) local_unnamed_addr #9

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="128" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { alwaysinline mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #10 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !14, i64 40}
!6 = !{!"_ZTSN3JPH17VehicleConstraintE", !7, i64 0, !16, i64 32, !14, i64 40, !17, i64 48, !18, i64 64, !17, i64 80, !17, i64 96, !17, i64 112, !19, i64 128, !20, i64 152, !18, i64 176, !14, i64 184, !11, i64 188, !11, i64 192, !11, i64 196, !21, i64 200, !21, i64 204, !17, i64 208, !22, i64 224, !24, i64 272, !25, i64 280, !27, i64 312, !27, i64 344, !27, i64 376}
!7 = !{!"_ZTSN3JPH10ConstraintE", !8, i64 8, !11, i64 12, !11, i64 16, !12, i64 20, !12, i64 21, !14, i64 22, !15, i64 24}
!8 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !9, i64 0}
!9 = !{!"_ZTSSt6atomicIjE", !10, i64 0}
!10 = !{!"_ZTSSt13__atomic_baseIjE", !11, i64 0}
!11 = !{!"int", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"bool", !12, i64 0}
!15 = !{!"long", !12, i64 0}
!16 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!17 = !{!"_ZTSN3JPH4Vec3E", !12, i64 0}
!18 = !{!"any pointer", !12, i64 0}
!19 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !15, i64 0, !15, i64 8, !18, i64 16}
!20 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !15, i64 0, !15, i64 8, !18, i64 16}
!21 = !{!"float", !12, i64 0}
!22 = !{!"_ZTSN3JPH19AngleConstraintPartE", !17, i64 0, !17, i64 16, !21, i64 32, !23, i64 36, !21, i64 44}
!23 = !{!"_ZTSN3JPH10SpringPartE", !21, i64 0, !21, i64 4}
!24 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !18, i64 0}
!25 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !26, i64 0, !18, i64 24}
!26 = !{!"_ZTSSt14_Function_base", !12, i64 0, !18, i64 16}
!27 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEE", !26, i64 0, !18, i64 24}
!28 = !{i8 0, i8 2}
!29 = !{}
!30 = !{!6, !18, i64 64}
!31 = !{!12, !12, i64 0}
!32 = !{!6, !18, i64 176}
!33 = !{!34, !34, i64 0}
!34 = !{!"vtable pointer", !13, i64 0}
!35 = !{!6, !14, i64 184}
!36 = !{!11, !11, i64 0}
!37 = !{!18, !18, i64 0}
!38 = !{!6, !11, i64 196}
!39 = !{!40, !18, i64 24}
!40 = !{!"_ZTSN3JPH5WheelE", !41, i64 8, !42, i64 16, !43, i64 20, !18, i64 24, !21, i64 32, !17, i64 48, !17, i64 64, !17, i64 80, !17, i64 96, !17, i64 112, !21, i64 128, !21, i64 132, !21, i64 136, !21, i64 140, !21, i64 144, !44, i64 148, !44, i64 212, !44, i64 276, !44, i64 340}
!41 = !{!"_ZTSN3JPH8RefConstINS_13WheelSettingsEEE", !18, i64 0}
!42 = !{!"_ZTSN3JPH6BodyIDE", !11, i64 0}
!43 = !{!"_ZTSN3JPH10SubShapeIDE", !11, i64 0}
!44 = !{!"_ZTSN3JPH18AxisConstraintPartE", !45, i64 0, !45, i64 12, !45, i64 24, !45, i64 36, !21, i64 48, !23, i64 52, !21, i64 60}
!45 = !{!"_ZTSN3JPH6Float3E", !21, i64 0, !21, i64 4, !21, i64 8}
!46 = !{!47, !21, i64 116}
!47 = !{!"_ZTSN3JPH13WheelSettingsE", !48, i64 0, !49, i64 8, !17, i64 16, !17, i64 32, !17, i64 48, !17, i64 64, !17, i64 80, !17, i64 96, !21, i64 112, !21, i64 116, !21, i64 120, !50, i64 124, !21, i64 136, !21, i64 140, !14, i64 144}
!48 = !{!"_ZTSN3JPH18SerializableObjectE"}
!49 = !{!"_ZTSN3JPH9RefTargetINS_13WheelSettingsEEE", !9, i64 0}
!50 = !{!"_ZTSN3JPH14SpringSettingsE", !51, i64 0, !12, i64 4, !21, i64 8}
!51 = !{!"_ZTSN3JPH11ESpringModeE", !12, i64 0}
!52 = !{!40, !21, i64 32}
!53 = !{i64 0, i64 16, !31}
!54 = !{!40, !21, i64 128}
!55 = distinct !{!55, !56}
!56 = !{!"llvm.loop.mustprogress"}
!57 = !{!58, !11, i64 0}
!58 = !{!"_ZTSN3JPH18VehicleAntiRollBarE", !11, i64 0, !11, i64 4, !21, i64 8}
!59 = !{!58, !11, i64 4}
!60 = !{!58, !21, i64 8}
!61 = !{!40, !21, i64 132}
!62 = !{!40, !21, i64 140}


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