; 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.anon.43 = type { i8 }
%"struct.JPH::AssertLastParam" = type { i8 }
%"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::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"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::VehicleConstraintSettings" = type { %"class.JPH::ConstraintSettings", %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::Array", %"class.JPH::Array.2", %"class.JPH::Ref" }
%"class.JPH::ConstraintSettings" = type { %"class.JPH::SerializableObject", %"class.JPH::RefTarget", i8, i32, i32, i32, float, i64 }
%"class.JPH::SerializableObject" = type { ptr }
%"class.JPH::RefTarget" = type { %"struct.std::atomic" }
%"class.JPH::Array" = type { i64, i64, ptr }
%"class.JPH::Ref" = type { ptr }
%"class.JPH::VehicleAntiRollBar" = type { i32, i32, float }

@_ZTVN3JPH17VehicleConstraintE = external dso_local unnamed_addr constant { [19 x ptr], [5 x ptr] }, align 8
@.str.1 = external hidden unnamed_addr constant [30 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [102 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [35 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [28 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [21 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_25VehicleControllerSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraintC2ERNS_4BodyERKNS_25VehicleConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(144) %2) unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca %class.anon.43, align 1
  %10 = alloca %"struct.JPH::AssertLastParam", align 1
  %11 = alloca %"struct.JPH::AssertLastParam", align 1
  %12 = alloca %"struct.JPH::AssertLastParam", align 1
  %13 = alloca i32, align 4
  %14 = alloca ptr, align 8
  %15 = alloca %"struct.JPH::AssertLastParam", align 1
  %16 = alloca i32, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  %17 = load ptr, ptr %4, align 8
  %18 = load ptr, ptr %6, align 8, !tbaa !5
  call void @_ZN3JPH10ConstraintC2ERKNS_18ConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(32) %17, ptr noundef nonnull align 8 dereferenceable(40) %18)
  %19 = getelementptr inbounds i8, ptr %17, i64 32
  call void @_ZN3JPH19PhysicsStepListenerC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %19) #8
  store ptr getelementptr inbounds inrange(-16, 136) ({ [19 x ptr], [5 x ptr] }, ptr @_ZTVN3JPH17VehicleConstraintE, i32 0, i32 0, i32 2), ptr %17, align 16, !tbaa !9
  %20 = getelementptr inbounds i8, ptr %17, i64 32
  store ptr getelementptr inbounds inrange(-16, 24) ({ [19 x ptr], [5 x ptr] }, ptr @_ZTVN3JPH17VehicleConstraintE, i32 0, i32 1, i32 2), ptr %20, align 16, !tbaa !9
  %21 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 2
  store i8 0, ptr %21, align 8, !tbaa !11
  %22 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 4
  %23 = invoke { double, double } @_ZN3JPH4Vec35sZeroEv()
          to label %24 unwind label %66

24:                                               ; preds = %3
  %25 = getelementptr inbounds %"class.JPH::Vec3", ptr %22, i32 0, i32 0
  %26 = getelementptr inbounds %union.anon, ptr %25, i32 0, i32 0
  %27 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 0
  %28 = extractvalue { double, double } %23, 0
  store double %28, ptr %27, align 16
  %29 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 1
  %30 = extractvalue { double, double } %23, 1
  store double %30, ptr %29, align 8
  %31 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 5
  %32 = load ptr, ptr %5, align 8, !tbaa !5
  store ptr %32, ptr %31, align 16, !tbaa !31
  %33 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 7
  %34 = load ptr, ptr %6, align 8, !tbaa !5
  %35 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %34, i32 0, i32 2
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %33, ptr align 16 %35, i64 16, i1 false), !tbaa.struct !32
  %36 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 8
  %37 = load ptr, ptr %6, align 8, !tbaa !5
  %38 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %37, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %36, ptr align 16 %38, i64 16, i1 false), !tbaa.struct !32
  %39 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 9
  %40 = load ptr, ptr %6, align 8, !tbaa !5
  %41 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %40, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %39, ptr align 16 %41, i64 16, i1 false), !tbaa.struct !32
  %42 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 10
  call void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %42) #8
  %43 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 11
  call void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %43) #8
  %44 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 13
  store i8 0, ptr %44, align 8, !tbaa !34
  %45 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 15
  store i32 1, ptr %45, align 4, !tbaa !35
  %46 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 16
  store i32 1, ptr %46, align 16, !tbaa !36
  %47 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 17
  store i32 0, ptr %47, align 4, !tbaa !37
  %48 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 20
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %48, float noundef 0.000000e+00, float noundef 1.000000e+00, float noundef 0.000000e+00)
          to label %49 unwind label %70

49:                                               ; preds = %24
  %50 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 21
  call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %50) #8
  %51 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 22
  invoke void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %51)
          to label %52 unwind label %70

52:                                               ; preds = %49
  %53 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 23
  call void @llvm.lifetime.start.p0(i64 1, ptr %9) #8
  call void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2INS1_17VehicleConstraint16mCombineFrictionMUljS0_S0_S4_S7_E_EvEEOT_(ptr noundef nonnull align 8 dereferenceable(32) %53, ptr noundef nonnull align 1 dereferenceable(1) %9) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %9) #8
  %54 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 24
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %54) #8
  %55 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 25
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %55) #8
  %56 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 26
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %56) #8
  br label %57

57:                                               ; preds = %52
  %58 = load ptr, ptr %6, align 8, !tbaa !5
  %59 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %58, i32 0, i32 1
  %60 = invoke noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16) %59, float noundef 0x3EB0C6F7A0000000)
          to label %61 unwind label %74

61:                                               ; preds = %57
  br i1 %60, label %78, label %62

62:                                               ; preds = %61
  %63 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.1, ptr noundef @.str.2, i32 noundef 86)
          to label %64 unwind label %74

64:                                               ; preds = %62
  br i1 %63, label %65, label %78

65:                                               ; preds = %64
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !38
  br label %78

66:                                               ; preds = %3
  %67 = landingpad { ptr, i32 }
          cleanup
  %68 = extractvalue { ptr, i32 } %67, 0
  store ptr %68, ptr %7, align 8
  %69 = extractvalue { ptr, i32 } %67, 1
  store i32 %69, ptr %8, align 4
  br label %226

70:                                               ; preds = %49, %24
  %71 = landingpad { ptr, i32 }
          cleanup
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %7, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %8, align 4
  br label %225

74:                                               ; preds = %218, %216, %213, %175, %169, %164, %160, %113, %108, %104, %98, %93, %86, %81, %62, %57
  %75 = landingpad { ptr, i32 }
          cleanup
  %76 = extractvalue { ptr, i32 } %75, 0
  store ptr %76, ptr %7, align 8
  %77 = extractvalue { ptr, i32 } %75, 1
  store i32 %77, ptr %8, align 4
  br label %224

78:                                               ; preds = %65, %64, %61
  br label %79

79:                                               ; preds = %78
  br label %80

80:                                               ; preds = %79
  br label %81

81:                                               ; preds = %80
  %82 = load ptr, ptr %6, align 8, !tbaa !5
  %83 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %82, i32 0, i32 2
  %84 = invoke noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16) %83, float noundef 0x3EB0C6F7A0000000)
          to label %85 unwind label %74

85:                                               ; preds = %81
  br i1 %84, label %90, label %86

86:                                               ; preds = %85
  %87 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.3, ptr noundef @.str.2, i32 noundef 87)
          to label %88 unwind label %74

88:                                               ; preds = %86
  br i1 %87, label %89, label %90

89:                                               ; preds = %88
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !39
  br label %90

90:                                               ; preds = %89, %88, %85
  br label %91

91:                                               ; preds = %90
  br label %92

92:                                               ; preds = %91
  br label %93

93:                                               ; preds = %92
  %94 = load ptr, ptr %6, align 8, !tbaa !5
  %95 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %94, i32 0, i32 4
  %96 = invoke noundef zeroext i1 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(24) %95)
          to label %97 unwind label %74

97:                                               ; preds = %93
  br i1 %96, label %98, label %102

98:                                               ; preds = %97
  %99 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.4, ptr noundef @.str.2, i32 noundef 88)
          to label %100 unwind label %74

100:                                              ; preds = %98
  br i1 %99, label %101, label %102

101:                                              ; preds = %100
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !40
  br label %102

102:                                              ; preds = %101, %100, %97
  br label %103

103:                                              ; preds = %102
  br label %104

104:                                              ; preds = %103
  %105 = load ptr, ptr %6, align 8, !tbaa !5
  %106 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %105, i32 0, i32 3
  %107 = load float, ptr %106, align 16, !tbaa !41
  invoke void @_ZN3JPH17VehicleConstraint20SetMaxPitchRollAngleEf(ptr noundef nonnull align 16 dereferenceable(408) %17, float noundef %107)
          to label %108 unwind label %74

108:                                              ; preds = %104
  %109 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 11
  %110 = load ptr, ptr %6, align 8, !tbaa !5
  %111 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %110, i32 0, i32 5
  %112 = invoke noundef i64 @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %111)
          to label %113 unwind label %74

113:                                              ; preds = %108
  invoke void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %109, i64 noundef %112)
          to label %114 unwind label %74

114:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #8
  store i32 0, ptr %13, align 4, !tbaa !48
  br label %115

115:                                              ; preds = %156, %114
  %116 = load i32, ptr %13, align 4, !tbaa !48
  %117 = zext i32 %116 to i64
  %118 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 11
  %119 = invoke noundef i64 @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %118)
          to label %120 unwind label %123

120:                                              ; preds = %115
  %121 = icmp ult i64 %117, %119
  br i1 %121, label %127, label %122

122:                                              ; preds = %120
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  br label %160

123:                                              ; preds = %115
  %124 = landingpad { ptr, i32 }
          cleanup
  %125 = extractvalue { ptr, i32 } %124, 0
  store ptr %125, ptr %7, align 8
  %126 = extractvalue { ptr, i32 } %124, 1
  store i32 %126, ptr %8, align 4
  br label %159

127:                                              ; preds = %120
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #8
  %128 = load ptr, ptr %6, align 8, !tbaa !5
  %129 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %128, i32 0, i32 5
  %130 = load i32, ptr %13, align 4, !tbaa !48
  %131 = zext i32 %130 to i64
  %132 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %131)
          to label %133 unwind label %149

133:                                              ; preds = %127
  store ptr %132, ptr %14, align 8, !tbaa !5
  %134 = load ptr, ptr %14, align 8, !tbaa !5
  %135 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 11
  %136 = load i32, ptr %13, align 4, !tbaa !48
  %137 = zext i32 %136 to i64
  %138 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %135, i64 noundef %137)
          to label %139 unwind label %149

139:                                              ; preds = %133
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %138, ptr align 4 %134, i64 12, i1 false), !tbaa.struct !49
  br label %140

140:                                              ; preds = %139
  %141 = load ptr, ptr %14, align 8, !tbaa !5
  %142 = getelementptr inbounds %"class.JPH::VehicleAntiRollBar", ptr %141, i32 0, i32 2
  %143 = load float, ptr %142, align 4, !tbaa !51
  %144 = fcmp oge float %143, 0.000000e+00
  br i1 %144, label %153, label %145

145:                                              ; preds = %140
  %146 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.5, ptr noundef @.str.2, i32 noundef 99)
          to label %147 unwind label %149

147:                                              ; preds = %145
  br i1 %146, label %148, label %153

148:                                              ; preds = %147
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !53
  br label %153

149:                                              ; preds = %145, %133, %127
  %150 = landingpad { ptr, i32 }
          cleanup
  %151 = extractvalue { ptr, i32 } %150, 0
  store ptr %151, ptr %7, align 8
  %152 = extractvalue { ptr, i32 } %150, 1
  store i32 %152, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #8
  br label %159

153:                                              ; preds = %148, %147, %140
  br label %154

154:                                              ; preds = %153
  br label %155

155:                                              ; preds = %154
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #8
  br label %156

156:                                              ; preds = %155
  %157 = load i32, ptr %13, align 4, !tbaa !48
  %158 = add i32 %157, 1
  store i32 %158, ptr %13, align 4, !tbaa !48
  br label %115, !llvm.loop !54

159:                                              ; preds = %149, %123
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  br label %224

160:                                              ; preds = %122
  %161 = load ptr, ptr %6, align 8, !tbaa !5
  %162 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %161, i32 0, i32 6
  %163 = invoke noundef ptr @_ZNK3JPH3RefINS_25VehicleControllerSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %162)
          to label %164 unwind label %74

164:                                              ; preds = %160
  %165 = load ptr, ptr %163, align 8, !tbaa !9
  %166 = getelementptr inbounds ptr, ptr %165, i64 6
  %167 = load ptr, ptr %166, align 8
  %168 = invoke noundef ptr %167(ptr noundef nonnull align 8 dereferenceable(12) %163, ptr noundef nonnull align 16 dereferenceable(408) %17)
          to label %169 unwind label %74

169:                                              ; preds = %164
  %170 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 12
  store ptr %168, ptr %170, align 16, !tbaa !56
  %171 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 10
  %172 = load ptr, ptr %6, align 8, !tbaa !5
  %173 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %172, i32 0, i32 4
  %174 = invoke noundef i64 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %173)
          to label %175 unwind label %74

175:                                              ; preds = %169
  invoke void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %171, i64 noundef %174)
          to label %176 unwind label %74

176:                                              ; preds = %175
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #8
  store i32 0, ptr %16, align 4, !tbaa !48
  br label %177

177:                                              ; preds = %210, %176
  %178 = load i32, ptr %16, align 4, !tbaa !48
  %179 = zext i32 %178 to i64
  %180 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 10
  %181 = invoke noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %180)
          to label %182 unwind label %185

182:                                              ; preds = %177
  %183 = icmp ult i64 %179, %181
  br i1 %183, label %189, label %184

184:                                              ; preds = %182
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #8
  br label %213

185:                                              ; preds = %204, %199, %197, %189, %177
  %186 = landingpad { ptr, i32 }
          cleanup
  %187 = extractvalue { ptr, i32 } %186, 0
  store ptr %187, ptr %7, align 8
  %188 = extractvalue { ptr, i32 } %186, 1
  store i32 %188, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #8
  br label %224

189:                                              ; preds = %182
  %190 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 12
  %191 = load ptr, ptr %190, align 16, !tbaa !56
  %192 = load ptr, ptr %6, align 8, !tbaa !5
  %193 = getelementptr inbounds %"class.JPH::VehicleConstraintSettings", ptr %192, i32 0, i32 4
  %194 = load i32, ptr %16, align 4, !tbaa !48
  %195 = zext i32 %194 to i64
  %196 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %193, i64 noundef %195)
          to label %197 unwind label %185

197:                                              ; preds = %189
  %198 = invoke noundef nonnull align 16 dereferenceable(145) ptr @_ZNK3JPH3RefINS_13WheelSettingsEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %196)
          to label %199 unwind label %185

199:                                              ; preds = %197
  %200 = load ptr, ptr %191, align 8, !tbaa !9
  %201 = getelementptr inbounds ptr, ptr %200, i64 2
  %202 = load ptr, ptr %201, align 8
  %203 = invoke noundef ptr %202(ptr noundef nonnull align 8 dereferenceable(24) %191, ptr noundef nonnull align 16 dereferenceable(145) %198)
          to label %204 unwind label %185

204:                                              ; preds = %199
  %205 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 10
  %206 = load i32, ptr %16, align 4, !tbaa !48
  %207 = zext i32 %206 to i64
  %208 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %205, i64 noundef %207)
          to label %209 unwind label %185

209:                                              ; preds = %204
  store ptr %203, ptr %208, align 8, !tbaa !5
  br label %210

210:                                              ; preds = %209
  %211 = load i32, ptr %16, align 4, !tbaa !48
  %212 = add i32 %211, 1
  store i32 %212, ptr %16, align 4, !tbaa !48
  br label %177, !llvm.loop !57

213:                                              ; preds = %184
  %214 = load ptr, ptr %5, align 8, !tbaa !5
  %215 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %214)
          to label %216 unwind label %74

216:                                              ; preds = %213
  %217 = invoke noundef i32 @_ZNK3JPH6BodyID8GetIndexEv(ptr noundef nonnull align 4 dereferenceable(4) %215)
          to label %218 unwind label %74

218:                                              ; preds = %216
  %219 = zext i32 %217 to i64
  %220 = invoke noundef i64 @_ZN3JPH6Hash64Em(i64 noundef %219)
          to label %221 unwind label %74

221:                                              ; preds = %218
  %222 = trunc i64 %220 to i32
  %223 = getelementptr inbounds %"class.JPH::VehicleConstraint", ptr %17, i32 0, i32 17
  store i32 %222, ptr %223, align 4, !tbaa !37
  ret void

224:                                              ; preds = %185, %159, %74
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %56) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %55) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %54) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %53) #8
  call void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %51) #8
  br label %225

225:                                              ; preds = %224, %70
  call void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %43) #8
  call void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %42) #8
  br label %226

226:                                              ; preds = %225, %66
  %227 = getelementptr inbounds i8, ptr %17, i64 32
  call void @_ZN3JPH19PhysicsStepListenerD2Ev(ptr noundef nonnull align 8 dereferenceable(8) %227) #8
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #8
  br label %228

228:                                              ; preds = %226
  %229 = load ptr, ptr %7, align 8
  %230 = load i32, ptr %8, align 4
  %231 = insertvalue { ptr, i32 } poison, ptr %229, 0
  %232 = insertvalue { ptr, i32 } %231, i32 %230, 1
  resume { ptr, i32 } %232
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH10ConstraintC2ERKNS_18ConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19PhysicsStepListenerC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec35sZeroEv() #4 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16), float noundef, float noundef, float noundef) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2INS1_17VehicleConstraint16mCombineFrictionMUljS0_S0_S4_S7_E_EvEEOT_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17VehicleConstraint20SetMaxPitchRollAngleEf(ptr noundef nonnull align 16 dereferenceable(408), float noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 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 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(145) ptr @_ZNK3JPH3RefINS_13WheelSettingsEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #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) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZN3JPH6Hash64Em(i64 noundef) #1

; 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 i32 @_ZNK3JPH6BodyID8GetIndexEv(ptr noundef nonnull align 4 dereferenceable(4)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19PhysicsStepListenerD2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #6 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}
!11 = !{!12, !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, !24, i64 200, !24, i64 204, !21, i64 208, !25, i64 224, !27, i64 272, !28, i64 280, !30, i64 312, !30, i64 344, !30, 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 = !{!"float", !7, i64 0}
!25 = !{!"_ZTSN3JPH19AngleConstraintPartE", !21, i64 0, !21, i64 16, !24, i64 32, !26, i64 36, !24, i64 44}
!26 = !{!"_ZTSN3JPH10SpringPartE", !24, i64 0, !24, i64 4}
!27 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !6, i64 0}
!28 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !29, i64 0, !6, i64 24}
!29 = !{!"_ZTSSt14_Function_base", !7, i64 0, !6, i64 16}
!30 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEE", !29, i64 0, !6, i64 24}
!31 = !{!12, !6, i64 64}
!32 = !{i64 0, i64 16, !33}
!33 = !{!7, !7, i64 0}
!34 = !{!12, !18, i64 184}
!35 = !{!12, !17, i64 188}
!36 = !{!12, !17, i64 192}
!37 = !{!12, !17, i64 196}
!38 = !{i64 2159240503}
!39 = !{i64 2159240880}
!40 = !{i64 2159241243}
!41 = !{!42, !24, i64 80}
!42 = !{!"_ZTSN3JPH25VehicleConstraintSettingsE", !43, i64 0, !21, i64 48, !21, i64 64, !24, i64 80, !46, i64 88, !23, i64 112, !47, i64 136}
!43 = !{!"_ZTSN3JPH18ConstraintSettingsE", !44, i64 0, !45, i64 8, !18, i64 12, !17, i64 16, !17, i64 20, !17, i64 24, !24, i64 28, !19, i64 32}
!44 = !{!"_ZTSN3JPH18SerializableObjectE"}
!45 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !15, i64 0}
!46 = !{!"_ZTSN3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEE", !19, i64 0, !19, i64 8, !6, i64 16}
!47 = !{!"_ZTSN3JPH3RefINS_25VehicleControllerSettingsEEE", !6, i64 0}
!48 = !{!17, !17, i64 0}
!49 = !{i64 0, i64 4, !48, i64 4, i64 4, !48, i64 8, i64 4, !50}
!50 = !{!24, !24, i64 0}
!51 = !{!52, !24, i64 8}
!52 = !{!"_ZTSN3JPH18VehicleAntiRollBarE", !17, i64 0, !17, i64 4, !24, i64 8}
!53 = !{i64 2159241592}
!54 = distinct !{!54, !55}
!55 = !{!"llvm.loop.mustprogress"}
!56 = !{!12, !6, i64 176}
!57 = distinct !{!57, !55}


; 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.anon.43 = type { i8 }

@_ZTVN3JPH17VehicleConstraintE = external dso_local unnamed_addr constant { [19 x ptr], [5 x ptr] }, align 8
@.str.1 = external hidden unnamed_addr constant [30 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [102 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [35 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [28 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [21 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK3JPH3RefINS_25VehicleControllerSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH17VehicleConstraintC2ERNS_4BodyERKNS_25VehicleConstraintSettingsE(ptr noundef nonnull align 16 dereferenceable(408) %0, ptr noundef nonnull align 16 dereferenceable(122) %1, ptr noundef nonnull align 16 dereferenceable(144) %2) unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca %class.anon.43, align 1
  tail call void @_ZN3JPH10ConstraintC2ERKNS_18ConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(32) %0, ptr noundef nonnull align 8 dereferenceable(40) %2)
  %5 = getelementptr inbounds i8, ptr %0, i64 32
  tail call void @_ZN3JPH19PhysicsStepListenerC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %5) #8
  store ptr getelementptr inbounds inrange(-16, 136) (i8, ptr @_ZTVN3JPH17VehicleConstraintE, i64 16), ptr %0, align 16, !tbaa !5
  store ptr getelementptr inbounds inrange(-16, 24) (i8, ptr @_ZTVN3JPH17VehicleConstraintE, i64 168), ptr %5, align 16, !tbaa !5
  %6 = getelementptr inbounds i8, ptr %0, i64 40
  store i8 0, ptr %6, align 8, !tbaa !8
  %7 = invoke { double, double } @_ZN3JPH4Vec35sZeroEv()
          to label %8 unwind label %39

8:                                                ; preds = %3
  %9 = getelementptr inbounds i8, ptr %0, i64 48
  %10 = extractvalue { double, double } %7, 0
  store double %10, ptr %9, align 16
  %11 = getelementptr inbounds i8, ptr %0, i64 56
  %12 = extractvalue { double, double } %7, 1
  store double %12, ptr %11, align 8
  %13 = getelementptr inbounds i8, ptr %0, i64 64
  store ptr %1, ptr %13, align 16, !tbaa !30
  %14 = getelementptr inbounds i8, ptr %0, i64 80
  %15 = getelementptr inbounds i8, ptr %2, i64 64
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 16 dereferenceable(16) %15, i64 16, i1 false), !tbaa.struct !31
  %16 = getelementptr inbounds i8, ptr %0, i64 96
  %17 = getelementptr inbounds i8, ptr %2, i64 48
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %17, i64 16, i1 false), !tbaa.struct !31
  %18 = getelementptr inbounds i8, ptr %0, i64 112
  tail call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %18, ptr noundef nonnull align 16 dereferenceable(16) %17, i64 16, i1 false), !tbaa.struct !31
  %19 = getelementptr inbounds i8, ptr %0, i64 128
  tail call void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #8
  %20 = getelementptr inbounds i8, ptr %0, i64 152
  tail call void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #8
  %21 = getelementptr inbounds i8, ptr %0, i64 184
  store i8 0, ptr %21, align 8, !tbaa !33
  %22 = getelementptr inbounds i8, ptr %0, i64 188
  store i32 1, ptr %22, align 4, !tbaa !34
  %23 = getelementptr inbounds i8, ptr %0, i64 192
  store i32 1, ptr %23, align 16, !tbaa !35
  %24 = getelementptr inbounds i8, ptr %0, i64 196
  store i32 0, ptr %24, align 4, !tbaa !36
  %25 = getelementptr inbounds i8, ptr %0, i64 208
  invoke void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16) %25, float noundef 0.000000e+00, float noundef 1.000000e+00, float noundef 0.000000e+00)
          to label %26 unwind label %41

26:                                               ; preds = %8
  %27 = getelementptr inbounds i8, ptr %0, i64 224
  tail call void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48) %27) #8
  %28 = getelementptr inbounds i8, ptr %0, i64 272
  tail call void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28)
  %29 = getelementptr inbounds i8, ptr %0, i64 280
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %4) #8
  call void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2INS1_17VehicleConstraint16mCombineFrictionMUljS0_S0_S4_S7_E_EvEEOT_(ptr noundef nonnull align 8 dereferenceable(32) %29, ptr noundef nonnull align 1 dereferenceable(1) %4) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %4) #8
  %30 = getelementptr inbounds i8, ptr %0, i64 312
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #8
  %31 = getelementptr inbounds i8, ptr %0, i64 344
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %31) #8
  %32 = getelementptr inbounds i8, ptr %0, i64 376
  call void @_ZNSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32) %32) #8
  %33 = invoke noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16) %17, float noundef 0x3EB0C6F7A0000000)
          to label %34 unwind label %43

34:                                               ; preds = %26
  br i1 %33, label %45, label %35

35:                                               ; preds = %34
  %36 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, i32 noundef 86)
          to label %37 unwind label %43

37:                                               ; preds = %35
  br i1 %36, label %38, label %45

38:                                               ; preds = %37
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !37
  br label %45

39:                                               ; preds = %3
  %40 = landingpad { ptr, i32 }
          cleanup
  br label %120

41:                                               ; preds = %8
  %42 = landingpad { ptr, i32 }
          cleanup
  br label %119

43:                                               ; preds = %91, %._crit_edge, %62, %59, %55, %48, %45, %35, %26
  %44 = landingpad { ptr, i32 }
          cleanup
  br label %118

45:                                               ; preds = %34, %37, %38
  %46 = invoke noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16) %15, float noundef 0x3EB0C6F7A0000000)
          to label %47 unwind label %43

47:                                               ; preds = %45
  br i1 %46, label %52, label %48

48:                                               ; preds = %47
  %49 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.3, ptr noundef nonnull @.str.2, i32 noundef 87)
          to label %50 unwind label %43

50:                                               ; preds = %48
  br i1 %49, label %51, label %52

51:                                               ; preds = %50
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !38
  br label %52

52:                                               ; preds = %47, %50, %51
  %53 = getelementptr inbounds i8, ptr %2, i64 88
  %54 = call noundef zeroext i1 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(24) %53)
  br i1 %54, label %55, label %59

55:                                               ; preds = %52
  %56 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.4, ptr noundef nonnull @.str.2, i32 noundef 88)
          to label %57 unwind label %43

57:                                               ; preds = %55
  br i1 %56, label %58, label %59

58:                                               ; preds = %57
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !39
  br label %59

59:                                               ; preds = %58, %57, %52
  %60 = getelementptr inbounds i8, ptr %2, i64 80
  %61 = load float, ptr %60, align 16, !tbaa !40
  invoke void @_ZN3JPH17VehicleConstraint20SetMaxPitchRollAngleEf(ptr noundef nonnull align 16 dereferenceable(408) %0, float noundef %61)
          to label %62 unwind label %43

62:                                               ; preds = %59
  %63 = getelementptr inbounds i8, ptr %2, i64 112
  %64 = call noundef i64 @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %63)
  invoke void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %64)
          to label %.preheader37 unwind label %43

.preheader37:                                     ; preds = %62
  %65 = call noundef i64 @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %20)
  %.not = icmp eq i64 %65, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %86, %.preheader37
  %66 = getelementptr inbounds i8, ptr %2, i64 136
  %67 = call noundef ptr @_ZNK3JPH3RefINS_25VehicleControllerSettingsEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %66)
  %68 = load ptr, ptr %67, align 8, !tbaa !5
  %69 = getelementptr inbounds i8, ptr %68, i64 48
  %70 = load ptr, ptr %69, align 8
  %71 = invoke noundef ptr %70(ptr noundef nonnull align 8 dereferenceable(12) %67, ptr noundef nonnull align 16 dereferenceable(408) %0)
          to label %91 unwind label %43

.lr.ph:                                           ; preds = %.preheader37, %86
  %72 = phi i64 [ %88, %86 ], [ 0, %.preheader37 ]
  %.02838 = phi i32 [ %87, %86 ], [ 0, %.preheader37 ]
  %73 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %63, i64 noundef %72)
          to label %74 unwind label %84

74:                                               ; preds = %.lr.ph
  %75 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %72)
          to label %76 unwind label %84

76:                                               ; preds = %74
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(12) %75, ptr noundef nonnull align 4 dereferenceable(12) %73, i64 12, i1 false), !tbaa.struct !47
  %77 = getelementptr inbounds i8, ptr %73, i64 8
  %78 = load float, ptr %77, align 4, !tbaa !50
  %79 = fcmp ult float %78, 0.000000e+00
  br i1 %79, label %80, label %86

80:                                               ; preds = %76
  %81 = invoke noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.2, i32 noundef 99)
          to label %82 unwind label %84

82:                                               ; preds = %80
  br i1 %81, label %83, label %86

83:                                               ; preds = %82
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #8, !srcloc !52
  br label %86

84:                                               ; preds = %80, %74, %.lr.ph
  %85 = landingpad { ptr, i32 }
          cleanup
  br label %118

86:                                               ; preds = %83, %82, %76
  %87 = add i32 %.02838, 1
  %88 = zext i32 %87 to i64
  %89 = call noundef i64 @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %20)
  %90 = icmp ugt i64 %89, %88
  br i1 %90, label %.lr.ph, label %._crit_edge, !llvm.loop !53

91:                                               ; preds = %._crit_edge
  %92 = getelementptr inbounds i8, ptr %0, i64 176
  store ptr %71, ptr %92, align 16, !tbaa !55
  %93 = call noundef i64 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %53)
  invoke void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %93)
          to label %.preheader unwind label %43

.preheader:                                       ; preds = %91
  %94 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %19)
  %.not42 = icmp eq i64 %94, 0
  br i1 %.not42, label %._crit_edge41, label %.lr.ph40

._crit_edge41:                                    ; preds = %113, %.preheader
  %95 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %1)
  %96 = call noundef i32 @_ZNK3JPH6BodyID8GetIndexEv(ptr noundef nonnull align 4 dereferenceable(4) %95)
  %97 = zext i32 %96 to i64
  %98 = call noundef i64 @_ZN3JPH6Hash64Em(i64 noundef %97)
  %99 = trunc i64 %98 to i32
  store i32 %99, ptr %24, align 4, !tbaa !36
  ret void

100:                                              ; preds = %111, %105, %.lr.ph40
  %101 = landingpad { ptr, i32 }
          cleanup
  br label %118

.lr.ph40:                                         ; preds = %.preheader, %113
  %102 = phi i64 [ %115, %113 ], [ 0, %.preheader ]
  %.039 = phi i32 [ %114, %113 ], [ 0, %.preheader ]
  %103 = load ptr, ptr %92, align 16, !tbaa !55
  %104 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %53, i64 noundef %102)
          to label %105 unwind label %100

105:                                              ; preds = %.lr.ph40
  %106 = call noundef nonnull align 16 dereferenceable(145) ptr @_ZNK3JPH3RefINS_13WheelSettingsEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %104)
  %107 = load ptr, ptr %103, align 8, !tbaa !5
  %108 = getelementptr inbounds i8, ptr %107, i64 16
  %109 = load ptr, ptr %108, align 8
  %110 = invoke noundef ptr %109(ptr noundef nonnull align 8 dereferenceable(24) %103, ptr noundef nonnull align 16 dereferenceable(145) %106)
          to label %111 unwind label %100

111:                                              ; preds = %105
  %112 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %102)
          to label %113 unwind label %100

113:                                              ; preds = %111
  store ptr %110, ptr %112, align 8, !tbaa !56
  %114 = add i32 %.039, 1
  %115 = zext i32 %114 to i64
  %116 = call noundef i64 @_ZNK3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %19)
  %117 = icmp ugt i64 %116, %115
  br i1 %117, label %.lr.ph40, label %._crit_edge41, !llvm.loop !57

118:                                              ; preds = %100, %84, %43
  %.pn = phi { ptr, i32 } [ %85, %84 ], [ %101, %100 ], [ %44, %43 ]
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %32) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %31) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %30) #8
  call void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %29) #8
  call void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #8
  br label %119

119:                                              ; preds = %118, %41
  %.pn.pn = phi { ptr, i32 } [ %.pn, %118 ], [ %42, %41 ]
  call void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #8
  call void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #8
  br label %120

120:                                              ; preds = %119, %39
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %119 ], [ %40, %39 ]
  call void @_ZN3JPH19PhysicsStepListenerD2Ev(ptr noundef nonnull align 8 dereferenceable(8) %5) #8
  call void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %0) #8
  resume { ptr, i32 } %.pn.pn.pn
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH10ConstraintC2ERKNS_18ConstraintSettingsE(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19PhysicsStepListenerC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec35sZeroEv() local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZN3JPH4Vec3C2Efff(ptr noundef nonnull align 16 dereferenceable(16), float noundef, float noundef, float noundef) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19AngleConstraintPartC2Ev(ptr noundef nonnull align 16 dereferenceable(48)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEEC2INS1_17VehicleConstraint16mCombineFrictionMUljS0_S0_S4_S7_E_EvEEOT_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Vec312IsNormalizedEf(ptr noundef nonnull align 16 dereferenceable(16), float noundef) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEE5emptyEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH17VehicleConstraint20SetMaxPitchRollAngleEf(ptr noundef nonnull align 16 dereferenceable(408), float noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNK3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 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 @_ZNK3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(145) ptr @_ZNK3JPH3RefINS_13WheelSettingsEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) 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 #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZN3JPH6Hash64Em(i64 noundef) local_unnamed_addr #1

; 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 i32 @_ZNK3JPH6BodyID8GetIndexEv(ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt14_Function_baseD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8RefConstINS_22VehicleCollisionTesterEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH10ConstraintD2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH19PhysicsStepListenerD2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #6 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !16, i64 40}
!9 = !{!"_ZTSN3JPH17VehicleConstraintE", !10, i64 0, !18, i64 32, !16, i64 40, !19, i64 48, !20, i64 64, !19, i64 80, !19, i64 96, !19, i64 112, !21, i64 128, !22, i64 152, !20, i64 176, !16, i64 184, !14, i64 188, !14, i64 192, !14, i64 196, !23, i64 200, !23, i64 204, !19, i64 208, !24, i64 224, !26, i64 272, !27, i64 280, !29, i64 312, !29, i64 344, !29, i64 376}
!10 = !{!"_ZTSN3JPH10ConstraintE", !11, i64 8, !14, i64 12, !14, i64 16, !15, i64 20, !15, i64 21, !16, i64 22, !17, i64 24}
!11 = !{!"_ZTSN3JPH9RefTargetINS_10ConstraintEEE", !12, i64 0}
!12 = !{!"_ZTSSt6atomicIjE", !13, i64 0}
!13 = !{!"_ZTSSt13__atomic_baseIjE", !14, i64 0}
!14 = !{!"int", !15, i64 0}
!15 = !{!"omnipotent char", !7, i64 0}
!16 = !{!"bool", !15, i64 0}
!17 = !{!"long", !15, i64 0}
!18 = !{!"_ZTSN3JPH19PhysicsStepListenerE"}
!19 = !{!"_ZTSN3JPH4Vec3E", !15, i64 0}
!20 = !{!"any pointer", !15, i64 0}
!21 = !{!"_ZTSN3JPH5ArrayIPNS_5WheelENS_12STLAllocatorIS2_EEEE", !17, i64 0, !17, i64 8, !20, i64 16}
!22 = !{!"_ZTSN3JPH5ArrayINS_18VehicleAntiRollBarENS_12STLAllocatorIS1_EEEE", !17, i64 0, !17, i64 8, !20, i64 16}
!23 = !{!"float", !15, i64 0}
!24 = !{!"_ZTSN3JPH19AngleConstraintPartE", !19, i64 0, !19, i64 16, !23, i64 32, !25, i64 36, !23, i64 44}
!25 = !{!"_ZTSN3JPH10SpringPartE", !23, i64 0, !23, i64 4}
!26 = !{!"_ZTSN3JPH8RefConstINS_22VehicleCollisionTesterEEE", !20, i64 0}
!27 = !{!"_ZTSSt8functionIFvjRfS0_RKN3JPH4BodyERKNS1_10SubShapeIDEEE", !28, i64 0, !20, i64 24}
!28 = !{!"_ZTSSt14_Function_base", !15, i64 0, !20, i64 16}
!29 = !{!"_ZTSSt8functionIFvRN3JPH17VehicleConstraintEfRNS0_13PhysicsSystemEEE", !28, i64 0, !20, i64 24}
!30 = !{!9, !20, i64 64}
!31 = !{i64 0, i64 16, !32}
!32 = !{!15, !15, i64 0}
!33 = !{!9, !16, i64 184}
!34 = !{!9, !14, i64 188}
!35 = !{!9, !14, i64 192}
!36 = !{!9, !14, i64 196}
!37 = !{i64 2159240503}
!38 = !{i64 2159240880}
!39 = !{i64 2159241243}
!40 = !{!41, !23, i64 80}
!41 = !{!"_ZTSN3JPH25VehicleConstraintSettingsE", !42, i64 0, !19, i64 48, !19, i64 64, !23, i64 80, !45, i64 88, !22, i64 112, !46, i64 136}
!42 = !{!"_ZTSN3JPH18ConstraintSettingsE", !43, i64 0, !44, i64 8, !16, i64 12, !14, i64 16, !14, i64 20, !14, i64 24, !23, i64 28, !17, i64 32}
!43 = !{!"_ZTSN3JPH18SerializableObjectE"}
!44 = !{!"_ZTSN3JPH9RefTargetINS_18ConstraintSettingsEEE", !12, i64 0}
!45 = !{!"_ZTSN3JPH5ArrayINS_3RefINS_13WheelSettingsEEENS_12STLAllocatorIS3_EEEE", !17, i64 0, !17, i64 8, !20, i64 16}
!46 = !{!"_ZTSN3JPH3RefINS_25VehicleControllerSettingsEEE", !20, i64 0}
!47 = !{i64 0, i64 4, !48, i64 4, i64 4, !48, i64 8, i64 4, !49}
!48 = !{!14, !14, i64 0}
!49 = !{!23, !23, i64 0}
!50 = !{!51, !23, i64 8}
!51 = !{!"_ZTSN3JPH18VehicleAntiRollBarE", !14, i64 0, !14, i64 4, !23, i64 8}
!52 = !{i64 2159241592}
!53 = distinct !{!53, !54}
!54 = !{!"llvm.loop.mustprogress"}
!55 = !{!9, !20, i64 176}
!56 = !{!20, !20, i64 0}
!57 = distinct !{!57, !54}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass